From 4b0668fe2110b27c94ee6ae7fc69b9f94439a0ee Mon Sep 17 00:00:00 2001
From: DongHun Kwak <dh0128.kwak@samsung.com>
Date: Thu, 15 Apr 2021 10:21:03 +0900
Subject: [PATCH 1/1] Imported Upstream version ceres 1.13.0

---
 CMakeLists.txt                                     |    911 +
 LICENSE                                            |     27 +
 README.md                                          |     26 +
 cmake/AddCeresCXX11RequirementsToTarget.cmake      |     84 +
 cmake/AddGerritCommitHook.cmake                    |     84 +
 cmake/AppendTargetProperty.cmake                   |     61 +
 cmake/CeresCompileOptionsToComponents.cmake        |     91 +
 cmake/CeresConfig.cmake.in                         |    407 +
 cmake/CeresConfigVersion.cmake.in                  |     50 +
 ...kIfUnderscorePrefixedBesselFunctionsExist.cmake |     54 +
 cmake/CreateCeresConfig.cmake                      |    115 +
 cmake/FindCXSparse.cmake                           |    240 +
 cmake/FindEigen.cmake                              |    263 +
 cmake/FindGflags.cmake                             |    591 +
 cmake/FindGlog.cmake                               |    346 +
 cmake/FindSharedPtr.cmake                          |    108 +
 cmake/FindSphinx.cmake                             |     66 +
 cmake/FindSuiteSparse.cmake                        |    518 +
 cmake/FindUnorderedMap.cmake                       |     94 +
 cmake/ReadCeresVersionFromSource.cmake             |     81 +
 cmake/UpdateCacheVariable.cmake                    |     43 +
 cmake/config.h.in                                  |     96 +
 cmake/iOS.cmake                                    |    327 +
 cmake/uninstall.cmake.in                           |     97 +
 config/ceres/internal/config.h                     |     48 +
 data/2x2.foe                                       |      8 +
 data/3x3.foe                                       |     13 +
 data/5x5.foe                                       |     32 +
 data/README.foe                                    |     14 +
 data/ceres_noisy.pgm                               |      6 +
 data/libmv-ba-problems/Readme.txt                  |      5 +
 data/libmv-ba-problems/problem_01.bin              |    Bin 0 -> 104514 bytes
 data/libmv-ba-problems/problem_02.bin              |    Bin 0 -> 291550 bytes
 data/libmv-ba-problems/problem_03.bin              |    Bin 0 -> 125582 bytes
 data/nist/Bennett5.dat                             |    214 +
 data/nist/BoxBOD.dat                               |     66 +
 data/nist/Chwirut1.dat                             |    274 +
 data/nist/Chwirut2.dat                             |    114 +
 data/nist/DanWood.dat                              |     66 +
 data/nist/ENSO.dat                                 |    228 +
 data/nist/Eckerle4.dat                             |     95 +
 data/nist/Gauss1.dat                               |    310 +
 data/nist/Gauss2.dat                               |    310 +
 data/nist/Gauss3.dat                               |    310 +
 data/nist/Hahn1.dat                                |    296 +
 data/nist/Kirby2.dat                               |    211 +
 data/nist/Lanczos1.dat                             |     84 +
 data/nist/Lanczos2.dat                             |     84 +
 data/nist/Lanczos3.dat                             |     84 +
 data/nist/MGH09.dat                                |     71 +
 data/nist/MGH10.dat                                |     76 +
 data/nist/MGH17.dat                                |     93 +
 data/nist/Misra1a.dat                              |     74 +
 data/nist/Misra1b.dat                              |     74 +
 data/nist/Misra1c.dat                              |     74 +
 data/nist/Misra1d.dat                              |     74 +
 data/nist/Nelson.dat                               |    188 +
 data/nist/Rat42.dat                                |     69 +
 data/nist/Rat43.dat                                |     75 +
 data/nist/Roszman1.dat                             |     85 +
 data/nist/Thurber.dat                              |     97 +
 data/problem-16-22106-pre.txt                      | 150181 ++++++++++++++++++
 docs/CMakeLists.txt                                |     29 +
 docs/source/CMakeLists.txt                         |     19 +
 docs/source/_templates/layout.html                 |     13 +
 docs/source/analytical_derivatives.rst             |    192 +
 docs/source/automatic_derivatives.rst              |    307 +
 docs/source/bibliography.rst                       |    132 +
 docs/source/conf.py                                |    242 +
 docs/source/contributing.rst                       |    131 +
 docs/source/derivatives.rst                        |     60 +
 docs/source/faqs.rst                               |     29 +
 docs/source/features.rst                           |     86 +
 docs/source/forward_central_error.png              |    Bin 0 -> 57776 bytes
 docs/source/forward_central_ridders_error.png      |    Bin 0 -> 75579 bytes
 docs/source/gradient_solver.rst                    |    502 +
 docs/source/gradient_tutorial.rst                  |    138 +
 docs/source/index.rst                              |     67 +
 docs/source/installation.rst                       |   1052 +
 docs/source/interfacing_with_autodiff.rst          |    293 +
 docs/source/least_squares_fit.png                  |    Bin 0 -> 52627 bytes
 docs/source/license.rst                            |     30 +
 docs/source/loss.png                               |    Bin 0 -> 92462 bytes
 docs/source/manhattan_olson_3500_result.png        |    Bin 0 -> 109029 bytes
 docs/source/modeling_faqs.rst                      |    134 +
 docs/source/nnls_covariance.rst                    |    376 +
 docs/source/nnls_modeling.rst                      |   2041 +
 docs/source/nnls_solving.rst                       |   2257 +
 docs/source/nnls_tutorial.rst                      |   1037 +
 docs/source/non_robust_least_squares_fit.png       |    Bin 0 -> 55181 bytes
 docs/source/numerical_derivatives.rst              |    403 +
 docs/source/pose_graph_3d_ex.png                   |    Bin 0 -> 105676 bytes
 docs/source/robust_least_squares_fit.png           |    Bin 0 -> 53967 bytes
 docs/source/slam2d.png                             |    Bin 0 -> 10116 bytes
 docs/source/solving_faqs.rst                       |    171 +
 docs/source/spivak_notation.rst                    |     53 +
 docs/source/tutorial.rst                           |     11 +
 docs/source/users.rst                              |     75 +
 docs/source/version_history.rst                    |   1306 +
 examples/CMakeLists.txt                            |    113 +
 examples/Makefile.example                          |     82 +
 examples/bal_problem.cc                            |    339 +
 examples/bal_problem.h                             |    109 +
 examples/bundle_adjuster.cc                        |    343 +
 examples/circle_fit.cc                             |    164 +
 examples/curve_fitting.c                           |    187 +
 examples/curve_fitting.cc                          |    163 +
 examples/denoising.cc                              |    220 +
 examples/ellipse_approximation.cc                  |    452 +
 examples/fields_of_experts.cc                      |    152 +
 examples/fields_of_experts.h                       |    145 +
 examples/helloworld.cc                             |     83 +
 examples/helloworld_analytic_diff.cc               |    107 +
 examples/helloworld_numeric_diff.cc                |     79 +
 examples/libmv_bundle_adjuster.cc                  |    843 +
 examples/libmv_homography.cc                       |    414 +
 examples/more_garbow_hillstrom.cc                  |    674 +
 examples/nist.cc                                   |    646 +
 examples/pgm_image.h                               |    319 +
 examples/powell.cc                                 |    154 +
 examples/random.h                                  |     64 +
 examples/robot_pose_mle.cc                         |    316 +
 examples/robust_curve_fitting.cc                   |    165 +
 examples/rosenbrock.cc                             |     74 +
 examples/sampled_function/CMakeLists.txt           |     32 +
 examples/sampled_function/README.md                |     42 +
 examples/sampled_function/sampled_function.cc      |     94 +
 examples/simple_bundle_adjuster.cc                 |    218 +
 examples/slam/CMakeLists.txt                       |     33 +
 examples/slam/common/read_g2o.h                    |    141 +
 examples/slam/pose_graph_2d/CMakeLists.txt         |     39 +
 examples/slam/pose_graph_2d/README.md              |     46 +
 .../pose_graph_2d/angle_local_parameterization.h   |     63 +
 examples/slam/pose_graph_2d/normalize_angle.h      |     53 +
 examples/slam/pose_graph_2d/plot_results.py        |     45 +
 examples/slam/pose_graph_2d/pose_graph_2d.cc       |    182 +
 .../slam/pose_graph_2d/pose_graph_2d_error_term.h  |    112 +
 examples/slam/pose_graph_2d/types.h                |    105 +
 examples/slam/pose_graph_3d/CMakeLists.txt         |     34 +
 examples/slam/pose_graph_3d/README.md              |     54 +
 examples/slam/pose_graph_3d/plot_results.py        |     80 +
 examples/slam/pose_graph_3d/pose_graph_3d.cc       |    174 +
 .../slam/pose_graph_3d/pose_graph_3d_error_term.h  |    131 +
 examples/slam/pose_graph_3d/types.h                |    114 +
 examples/snavely_reprojection_error.h              |    177 +
 include/ceres/autodiff_cost_function.h             |    227 +
 include/ceres/autodiff_local_parameterization.h    |    154 +
 include/ceres/c_api.h                              |    146 +
 include/ceres/ceres.h                              |     59 +
 include/ceres/conditioned_cost_function.h          |     99 +
 include/ceres/cost_function.h                      |    147 +
 include/ceres/cost_function_to_functor.h           |    683 +
 include/ceres/covariance.h                         |    467 +
 include/ceres/crs_matrix.h                         |     86 +
 include/ceres/cubic_interpolation.h                |    439 +
 include/ceres/dynamic_autodiff_cost_function.h     |    251 +
 include/ceres/dynamic_cost_function.h              |     56 +
 include/ceres/dynamic_cost_function_to_functor.h   |    190 +
 include/ceres/dynamic_numeric_diff_cost_function.h |    180 +
 include/ceres/fpclassify.h                         |     70 +
 include/ceres/gradient_checker.h                   |    149 +
 include/ceres/gradient_problem.h                   |    127 +
 include/ceres/gradient_problem_solver.h            |    370 +
 include/ceres/internal/autodiff.h                  |    324 +
 include/ceres/internal/disable_warnings.h          |     44 +
 include/ceres/internal/eigen.h                     |     93 +
 include/ceres/internal/fixed_array.h               |    191 +
 include/ceres/internal/macros.h                    |    170 +
 include/ceres/internal/manual_constructor.h        |    208 +
 include/ceres/internal/numeric_diff.h              |    446 +
 include/ceres/internal/port.h                      |     98 +
 include/ceres/internal/reenable_warnings.h         |     38 +
 include/ceres/internal/scoped_ptr.h                |    310 +
 include/ceres/internal/variadic_evaluate.h         |    194 +
 include/ceres/iteration_callback.h                 |    225 +
 include/ceres/jet.h                                |    923 +
 include/ceres/local_parameterization.h             |    323 +
 include/ceres/loss_function.h                      |    428 +
 include/ceres/normal_prior.h                       |     78 +
 include/ceres/numeric_diff_cost_function.h         |    319 +
 include/ceres/numeric_diff_options.h               |     79 +
 include/ceres/ordered_groups.h                     |    208 +
 include/ceres/problem.h                            |    488 +
 include/ceres/rotation.h                           |    626 +
 include/ceres/sized_cost_function.h                |     96 +
 include/ceres/solver.h                             |   1059 +
 include/ceres/types.h                              |    514 +
 include/ceres/version.h                            |     48 +
 internal/ceres/CMakeLists.txt                      |    363 +
 internal/ceres/array_utils.cc                      |    108 +
 internal/ceres/array_utils.h                       |     87 +
 internal/ceres/array_utils_test.cc                 |    124 +
 internal/ceres/autodiff_cost_function_test.cc      |    172 +
 .../ceres/autodiff_local_parameterization_test.cc  |    224 +
 internal/ceres/autodiff_test.cc                    |    677 +
 internal/ceres/blas.cc                             |     81 +
 internal/ceres/blas.h                              |     57 +
 internal/ceres/block_evaluate_preparer.cc          |     83 +
 internal/ceres/block_evaluate_preparer.h           |     77 +
 internal/ceres/block_jacobi_preconditioner.cc      |    106 +
 internal/ceres/block_jacobi_preconditioner.h       |     75 +
 internal/ceres/block_jacobi_preconditioner_test.cc |    105 +
 internal/ceres/block_jacobian_writer.cc            |    214 +
 internal/ceres/block_jacobian_writer.h             |    128 +
 internal/ceres/block_random_access_dense_matrix.cc |     88 +
 internal/ceres/block_random_access_dense_matrix.h  |     98 +
 .../ceres/block_random_access_dense_matrix_test.cc |    115 +
 .../ceres/block_random_access_diagonal_matrix.cc   |    154 +
 .../ceres/block_random_access_diagonal_matrix.h    |    101 +
 .../block_random_access_diagonal_matrix_test.cc    |    160 +
 internal/ceres/block_random_access_matrix.cc       |     40 +
 internal/ceres/block_random_access_matrix.h        |    132 +
 .../ceres/block_random_access_sparse_matrix.cc     |    196 +
 internal/ceres/block_random_access_sparse_matrix.h |    129 +
 .../block_random_access_sparse_matrix_test.cc      |    186 +
 internal/ceres/block_sparse_matrix.cc              |    398 +
 internal/ceres/block_sparse_matrix.h               |    143 +
 internal/ceres/block_sparse_matrix_test.cc         |    218 +
 internal/ceres/block_structure.cc                  |     44 +
 internal/ceres/block_structure.h                   |     98 +
 internal/ceres/bundle_adjustment_test.cc           |    561 +
 internal/ceres/c_api.cc                            |    188 +
 internal/ceres/c_api_test.cc                       |    221 +
 internal/ceres/callbacks.cc                        |    111 +
 internal/ceres/callbacks.h                         |     71 +
 internal/ceres/canonical_views_clustering.cc       |    240 +
 internal/ceres/canonical_views_clustering.h        |    130 +
 internal/ceres/canonical_views_clustering_test.cc  |    143 +
 internal/ceres/casts.h                             |    108 +
 internal/ceres/cgnr_linear_operator.h              |    120 +
 internal/ceres/cgnr_solver.cc                      |     88 +
 internal/ceres/cgnr_solver.h                       |     69 +
 internal/ceres/collections_port.h                  |    196 +
 .../ceres/compressed_col_sparse_matrix_utils.cc    |    122 +
 .../ceres/compressed_col_sparse_matrix_utils.h     |    144 +
 .../compressed_col_sparse_matrix_utils_test.cc     |    255 +
 internal/ceres/compressed_row_jacobian_writer.cc   |    245 +
 internal/ceres/compressed_row_jacobian_writer.h    |    112 +
 internal/ceres/compressed_row_sparse_matrix.cc     |    567 +
 internal/ceres/compressed_row_sparse_matrix.h      |    234 +
 .../ceres/compressed_row_sparse_matrix_test.cc     |    414 +
 internal/ceres/conditioned_cost_function.cc        |    130 +
 internal/ceres/conditioned_cost_function_test.cc   |    126 +
 internal/ceres/conjugate_gradients_solver.cc       |    248 +
 internal/ceres/conjugate_gradients_solver.h        |     74 +
 internal/ceres/conjugate_gradients_solver_test.cc  |    135 +
 internal/ceres/coordinate_descent_minimizer.cc     |    278 +
 internal/ceres/coordinate_descent_minimizer.h      |    102 +
 internal/ceres/corrector.cc                        |    158 +
 internal/ceres/corrector.h                         |     90 +
 internal/ceres/corrector_test.cc                   |    276 +
 internal/ceres/cost_function_to_functor_test.cc    |    351 +
 internal/ceres/covariance.cc                       |     99 +
 internal/ceres/covariance_impl.cc                  |    928 +
 internal/ceres/covariance_impl.h                   |    101 +
 internal/ceres/covariance_test.cc                  |   1277 +
 internal/ceres/cubic_interpolation_test.cc         |    510 +
 internal/ceres/cxsparse.cc                         |    283 +
 internal/ceres/cxsparse.h                          |    178 +
 internal/ceres/dense_jacobian_writer.h             |    108 +
 internal/ceres/dense_linear_solver_test.cc         |    134 +
 internal/ceres/dense_normal_cholesky_solver.cc     |    166 +
 internal/ceres/dense_normal_cholesky_solver.h      |    107 +
 internal/ceres/dense_qr_solver.cc                  |    170 +
 internal/ceres/dense_qr_solver.h                   |    115 +
 internal/ceres/dense_sparse_matrix.cc              |    183 +
 internal/ceres/dense_sparse_matrix.h               |    109 +
 internal/ceres/dense_sparse_matrix_test.cc         |    169 +
 internal/ceres/detect_structure.cc                 |    120 +
 internal/ceres/detect_structure.h                  |     67 +
 internal/ceres/detect_structure_test.cc            |    294 +
 internal/ceres/dogleg_strategy.cc                  |    718 +
 internal/ceres/dogleg_strategy.h                   |    165 +
 internal/ceres/dogleg_strategy_test.cc             |    287 +
 .../ceres/dynamic_autodiff_cost_function_test.cc   |    775 +
 internal/ceres/dynamic_compressed_row_finalizer.h  |     51 +
 .../dynamic_compressed_row_jacobian_writer.cc      |    102 +
 .../ceres/dynamic_compressed_row_jacobian_writer.h |     83 +
 .../ceres/dynamic_compressed_row_sparse_matrix.cc  |    107 +
 .../ceres/dynamic_compressed_row_sparse_matrix.h   |    101 +
 .../dynamic_compressed_row_sparse_matrix_test.cc   |    219 +
 .../dynamic_numeric_diff_cost_function_test.cc     |    521 +
 .../ceres/dynamic_sparse_normal_cholesky_solver.cc |    285 +
 .../ceres/dynamic_sparse_normal_cholesky_solver.h  |     85 +
 .../dynamic_sparse_normal_cholesky_solver_test.cc  |    128 +
 internal/ceres/dynamic_sparsity_test.cc            |    449 +
 internal/ceres/eigensparse.cc                      |    143 +
 internal/ceres/eigensparse.h                       |     69 +
 internal/ceres/evaluator.cc                        |     86 +
 internal/ceres/evaluator.h                         |    205 +
 internal/ceres/evaluator_test.cc                   |    668 +
 internal/ceres/evaluator_test_utils.cc             |     89 +
 internal/ceres/evaluator_test_utils.h              |     60 +
 internal/ceres/execution_summary.h                 |     90 +
 internal/ceres/file.cc                             |     95 +
 internal/ceres/file.h                              |     53 +
 internal/ceres/function_sample.cc                  |     73 +
 internal/ceres/function_sample.h                   |     94 +
 .../ceres/generate_template_specializations.py     |    244 +
 .../generated/partitioned_matrix_view_2_2_2.cc     |     58 +
 .../generated/partitioned_matrix_view_2_2_3.cc     |     58 +
 .../generated/partitioned_matrix_view_2_2_4.cc     |     58 +
 .../generated/partitioned_matrix_view_2_2_d.cc     |     58 +
 .../generated/partitioned_matrix_view_2_3_3.cc     |     58 +
 .../generated/partitioned_matrix_view_2_3_4.cc     |     58 +
 .../generated/partitioned_matrix_view_2_3_6.cc     |     58 +
 .../generated/partitioned_matrix_view_2_3_9.cc     |     58 +
 .../generated/partitioned_matrix_view_2_3_d.cc     |     58 +
 .../generated/partitioned_matrix_view_2_4_3.cc     |     58 +
 .../generated/partitioned_matrix_view_2_4_4.cc     |     58 +
 .../generated/partitioned_matrix_view_2_4_8.cc     |     58 +
 .../generated/partitioned_matrix_view_2_4_9.cc     |     58 +
 .../generated/partitioned_matrix_view_2_4_d.cc     |     58 +
 .../generated/partitioned_matrix_view_2_d_d.cc     |     58 +
 .../generated/partitioned_matrix_view_4_4_2.cc     |     58 +
 .../generated/partitioned_matrix_view_4_4_3.cc     |     58 +
 .../generated/partitioned_matrix_view_4_4_4.cc     |     58 +
 .../generated/partitioned_matrix_view_4_4_d.cc     |     58 +
 .../generated/partitioned_matrix_view_d_d_d.cc     |     52 +
 internal/ceres/generated/schur_eliminator_2_2_2.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_2_3.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_2_4.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_2_d.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_3_3.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_3_4.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_3_6.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_3_9.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_3_d.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_4_3.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_4_4.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_4_8.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_4_9.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_4_d.cc |     58 +
 internal/ceres/generated/schur_eliminator_2_d_d.cc |     58 +
 internal/ceres/generated/schur_eliminator_4_4_2.cc |     58 +
 internal/ceres/generated/schur_eliminator_4_4_3.cc |     58 +
 internal/ceres/generated/schur_eliminator_4_4_4.cc |     58 +
 internal/ceres/generated/schur_eliminator_4_4_d.cc |     58 +
 internal/ceres/generated/schur_eliminator_d_d_d.cc |     52 +
 internal/ceres/gmock/gmock.h                       |  14978 ++
 internal/ceres/gmock/mock-log.h                    |    153 +
 internal/ceres/gmock_gtest_all.cc                  |  12265 ++
 internal/ceres/gmock_main.cc                       |     69 +
 internal/ceres/gradient_checker.cc                 |    276 +
 internal/ceres/gradient_checker_test.cc            |    586 +
 internal/ceres/gradient_checking_cost_function.cc  |    277 +
 internal/ceres/gradient_checking_cost_function.h   |    112 +
 .../ceres/gradient_checking_cost_function_test.cc  |    414 +
 internal/ceres/gradient_problem.cc                 |     81 +
 internal/ceres/gradient_problem_evaluator.h        |    107 +
 internal/ceres/gradient_problem_solver.cc          |    289 +
 internal/ceres/gradient_problem_solver_test.cc     |     76 +
 internal/ceres/gradient_problem_test.cc            |    111 +
 internal/ceres/graph.h                             |    225 +
 internal/ceres/graph_algorithms.h                  |    364 +
 internal/ceres/graph_algorithms_test.cc            |    246 +
 internal/ceres/graph_test.cc                       |    152 +
 internal/ceres/gtest/gtest.h                       |  21202 +++
 internal/ceres/householder_vector.h                |     85 +
 internal/ceres/householder_vector_test.cc          |    115 +
 internal/ceres/implicit_schur_complement.cc        |    225 +
 internal/ceres/implicit_schur_complement.h         |    167 +
 internal/ceres/implicit_schur_complement_test.cc   |    200 +
 internal/ceres/inner_product_computer.cc           |    372 +
 internal/ceres/inner_product_computer.h            |    157 +
 internal/ceres/inner_product_computer_test.cc      |    228 +
 internal/ceres/integral_types.h                    |     91 +
 internal/ceres/invert_psd_matrix.h                 |     78 +
 internal/ceres/invert_psd_matrix_test.cc           |     86 +
 internal/ceres/is_close.cc                         |     59 +
 internal/ceres/is_close.h                          |     51 +
 internal/ceres/is_close_test.cc                    |    177 +
 .../ceres/iterative_schur_complement_solver.cc     |    174 +
 internal/ceres/iterative_schur_complement_solver.h |     94 +
 .../iterative_schur_complement_solver_test.cc      |    132 +
 internal/ceres/jet_test.cc                         |    674 +
 internal/ceres/lapack.cc                           |    193 +
 internal/ceres/lapack.h                            |    100 +
 internal/ceres/levenberg_marquardt_strategy.cc     |    167 +
 internal/ceres/levenberg_marquardt_strategy.h      |     87 +
 .../ceres/levenberg_marquardt_strategy_test.cc     |    169 +
 internal/ceres/line_search.cc                      |    852 +
 internal/ceres/line_search.h                       |    329 +
 internal/ceres/line_search_direction.cc            |    372 +
 internal/ceres/line_search_direction.h             |     72 +
 internal/ceres/line_search_minimizer.cc            |    444 +
 internal/ceres/line_search_minimizer.h             |     77 +
 internal/ceres/line_search_minimizer_test.cc       |     67 +
 internal/ceres/line_search_preprocessor.cc         |    106 +
 internal/ceres/line_search_preprocessor.h          |     50 +
 internal/ceres/line_search_preprocessor_test.cc    |    136 +
 internal/ceres/linear_least_squares_problems.cc    |    732 +
 internal/ceres/linear_least_squares_problems.h     |     85 +
 internal/ceres/linear_operator.cc                  |     40 +
 internal/ceres/linear_operator.h                   |     59 +
 internal/ceres/linear_solver.cc                    |    124 +
 internal/ceres/linear_solver.h                     |    372 +
 internal/ceres/local_parameterization.cc           |    377 +
 internal/ceres/local_parameterization_test.cc      |    775 +
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 create mode 100644 internal/ceres/implicit_schur_complement.h
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diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..0174824
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,911 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Authors: keir@google.com (Keir Mierle)
+#          alexs.mac@gmail.com (Alex Stewart)
+
+cmake_minimum_required(VERSION 2.8.0)
+cmake_policy(VERSION 2.8)
+
+cmake_policy(SET CMP0003 NEW)
+if (POLICY CMP0042)
+  cmake_policy(SET CMP0042 NEW)
+endif()
+
+project(Ceres C CXX)
+
+# NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be
+#       used.  Always use the project-specific variants (generated by CMake):
+#       <PROJECT_NAME_MATCHING_CASE>_[SOURCE/BINARY]_DIR, e.g.
+#       Ceres_SOURCE_DIR (note, *not* CERES_SOURCE_DIR) instead, as these will
+#       always point to the correct directories for the Ceres project, even if
+#       it is nested inside another source tree, whereas the 'generic'
+#       CMake variables refer to the *first* project() declaration, i.e. the
+#       top-level project, not Ceres, if Ceres is nested.
+
+# Make CMake aware of the cmake folder for local FindXXX scripts,
+# append rather than set in case the user has passed their own
+# additional paths via -D.
+list(APPEND CMAKE_MODULE_PATH "${Ceres_SOURCE_DIR}/cmake")
+include(UpdateCacheVariable)
+
+# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
+include(AddGerritCommitHook)
+add_gerrit_commit_hook(${Ceres_SOURCE_DIR} ${Ceres_BINARY_DIR})
+
+# On OS X, add the Homebrew prefix to the set of prefixes searched by
+# CMake in find_path & find_library.  This should ensure that we can
+# still build Ceres even if Homebrew is installed in a non-standard
+# location (not /usr/local).
+if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+  find_program(HOMEBREW_EXECUTABLE brew)
+  mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
+  if (HOMEBREW_EXECUTABLE)
+    # Detected a Homebrew install, query for its install prefix.
+    execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
+      OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
+      OUTPUT_STRIP_TRAILING_WHITESPACE)
+    message(STATUS "Detected Homebrew with install prefix: "
+      "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
+    list(APPEND CMAKE_PREFIX_PATH "${HOMEBREW_INSTALL_PREFIX}")
+  endif()
+endif()
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib)
+# Set postfixes for generated libraries based on buildtype.
+set(CMAKE_RELEASE_POSTFIX "")
+set(CMAKE_DEBUG_POSTFIX "-debug")
+
+# Read the Ceres version from the source, such that we only ever have a single
+# definition of the Ceres version.
+include(ReadCeresVersionFromSource)
+read_ceres_version_from_source(${Ceres_SOURCE_DIR})
+
+enable_testing()
+
+option(MINIGLOG "Use a stripped down version of glog." OFF)
+option(GFLAGS "Enable Google Flags." ON)
+option(SUITESPARSE "Enable SuiteSparse." ON)
+option(CXSPARSE "Enable CXSparse." ON)
+option(LAPACK "Enable use of LAPACK." ON)
+# Template specializations for the Schur complement based solvers. If
+# compile time, binary size or compiler performance is an issue, you
+# may consider disabling this.
+option(SCHUR_SPECIALIZATIONS "Enable fixed-size schur specializations." ON)
+option(CUSTOM_BLAS
+       "Use handcoded BLAS routines (usually faster) instead of Eigen."
+       ON)
+# Multithreading using OpenMP
+option(OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON)
+# Enable the use of Eigen as a sparse linear algebra library for
+# solving the nonlinear least squares problems. Enabling this
+# option will result in an LGPL licensed version of Ceres Solver
+# as the Simplicial Cholesky factorization in Eigen is licensed under the LGPL.
+# This does not affect the covariance estimation algorithm, as it
+# depends on the sparse QR factorization algorithm, which is licensed
+# under the MPL.
+OPTION(EIGENSPARSE
+  "Enable Eigen as a sparse linear algebra library, WARNING: results in an LGPL licensed Ceres." OFF)
+if (NOT MSVC)
+  # Ceres does not use C++11 internally, however it does use shared_ptr
+  # (required) and unordered_map (if available), both of which were present in
+  # previous iterations of what became C++11.  GCC & Clang can have both TR1 &
+  # C++11 versions of both shared_ptr & unordered_map and by default on Linux,
+  # we will detect the TR1 versions if they exist, as they do NOT require
+  # -std=c++11 to be passed when compiling Ceres, and any client code that uses
+  # Ceres.  This will result in conflicts if the client code uses C++11.
+  # Enabling this option forces the use of the C++11 versions (& -std=c++11) if
+  # available.
+  #
+  # This option is not available on Windows when using MSVC, as there, any new
+  # (C++11 etc) features available are on by default and there is no analogue to
+  # -std=c++11.  It will however be available for MinGW & CygWin, which can
+  # support -std=c++11.
+  option(CXX11 "Enable use of C++11 headers if available (requires client code use C++11)." OFF)
+endif(NOT MSVC)
+option(EXPORT_BUILD_DIR
+  "Export build directory using CMake (enables external use without install)." OFF)
+option(BUILD_TESTING "Enable tests" ON)
+option(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF)
+option(BUILD_EXAMPLES "Build examples" ON)
+option(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF)
+if (MSVC)
+  option(MSVC_USE_STATIC_CRT
+    "MS Visual Studio: Use static C-Run Time Library in place of shared." OFF)
+
+  if (BUILD_TESTING AND BUILD_SHARED_LIBS)
+    message(
+      "-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS"
+      " are incompatible with MSVC.")
+    update_cache_variable(BUILD_TESTING OFF)
+  endif (BUILD_TESTING AND BUILD_SHARED_LIBS)
+endif (MSVC)
+# Allow user to specify a suffix for the library install directory, the only
+# really sensible option (other than "") being "64", such that:
+# ${CMAKE_INSTALL_PREFIX}/lib -> ${CMAKE_INSTALL_PREFIX}/lib64.
+#
+# Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems
+# install native libraries to lib64 rather than lib. Most distros seem to
+# follow this convention with a couple notable exceptions (Debian-based and
+# Arch-based distros) which we try to detect here.
+if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+    NOT DEFINED LIB_SUFFIX AND
+    NOT CMAKE_CROSSCOMPILING AND
+    CMAKE_SIZEOF_VOID_P EQUAL "8" AND
+    NOT EXISTS "/etc/debian_version" AND
+    NOT EXISTS "/etc/arch-release")
+  message("-- Detected non-Debian/Arch-based 64-bit Linux distribution. "
+    "Defaulting to library install directory: lib${LIB_SUFFIX}. You can "
+    "override this by specifying LIB_SUFFIX.")
+  set(LIB_SUFFIX "64")
+endif ()
+# Only create the cache variable (for the CMake GUI) after attempting to detect
+# the suffix *if not specified by the user* (NOT DEFINED LIB_SUFFIX in if())
+# s/t the user could override our autodetected suffix with "" if desired.
+set(LIB_SUFFIX "${LIB_SUFFIX}" CACHE STRING
+  "Suffix of library install directory (to support lib/lib64)." FORCE)
+
+# IOS is defined iff using the iOS.cmake CMake toolchain to build a static
+# library for iOS.
+if (IOS)
+  message(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}")
+
+  # Ceres requires at least iOS 7.0+.
+  if (IOS_DEPLOYMENT_TARGET VERSION_LESS 7.0)
+    message(FATAL_ERROR "Unsupported iOS version: ${IOS_DEPLOYMENT_TARGET}, Ceres "
+      "requires at least iOS version 7.0")
+  endif()
+
+  update_cache_variable(MINIGLOG ON)
+  message(STATUS "Building for iOS: Forcing use of miniglog instead of glog.")
+
+  update_cache_variable(SUITESPARSE OFF)
+  update_cache_variable(CXSPARSE OFF)
+  update_cache_variable(GFLAGS OFF)
+  update_cache_variable(OPENMP OFF)
+  # Apple claims that the BLAS call dsyrk_ is a private API, and will not allow
+  # you to submit to the Apple Store if the symbol is present.
+  update_cache_variable(LAPACK OFF)
+  message(STATUS "Building for iOS: SuiteSparse, CXSparse, LAPACK, gflags, "
+    "and OpenMP are not available.")
+
+  update_cache_variable(BUILD_EXAMPLES OFF)
+  message(STATUS "Building for iOS: Will not build examples.")
+endif (IOS)
+
+unset(CERES_COMPILE_OPTIONS)
+
+# Eigen.
+find_package(Eigen REQUIRED)
+if (EIGEN_FOUND)
+  if (EIGEN_VERSION VERSION_LESS 3.1.0)
+    message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.1.0 in order "
+      "that Eigen/SparseCore be available, detected version of Eigen is: "
+      "${EIGEN_VERSION}")
+  endif (EIGEN_VERSION VERSION_LESS 3.1.0)
+
+  message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
+  # Ensure that only MPL2 licensed code is part of the default build.
+  message("")
+  message("   ===============================================================")
+  if (EIGENSPARSE)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
+    message("   Enabling the use of Eigen as a sparse linear algebra library ")
+    message("   for solving the nonlinear least squares problems. Enabling ")
+    message("   this option results in an LGPL licensed version of ")
+    message("   Ceres Solver as the Simplicial Cholesky factorization in Eigen")
+    message("   is licensed under the LGPL. ")
+
+    if (EIGEN_VERSION VERSION_LESS 3.2.2)
+      message("   WARNING:")
+      message("")
+      message("   Your version of Eigen is older than version 3.2.2.")
+      message("   The performance of SPARSE_NORMAL_CHOLESKY and SPARSE_SCHUR")
+      message("   linear solvers will suffer. ")
+    endif (EIGEN_VERSION VERSION_LESS 3.2.2)
+
+  else (EIGENSPARSE)
+    message("   Disabling the use of Eigen as a sparse linear algebra library.")
+    message("   This does not affect the covariance estimation algorithm ")
+    message("   which can still use the EIGEN_SPARSE_QR algorithm.")
+    add_definitions(-DEIGEN_MPL2_ONLY)
+  endif (EIGENSPARSE)
+    message("   ===============================================================")
+    message("")
+endif (EIGEN_FOUND)
+
+# LAPACK (& BLAS).
+if (LAPACK)
+  find_package(LAPACK QUIET)
+  if (LAPACK_FOUND)
+    message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
+  else (LAPACK_FOUND)
+    message("-- Did not find LAPACK library, disabling LAPACK support.")
+  endif (LAPACK_FOUND)
+
+  find_package(BLAS QUIET)
+  if (BLAS_FOUND)
+    message("-- Found BLAS library: ${BLAS_LIBRARIES}")
+  else (BLAS_FOUND)
+    message("-- Did not find BLAS library, disabling LAPACK support.")
+  endif (BLAS_FOUND)
+
+  if (NOT (LAPACK_FOUND AND BLAS_FOUND))
+    update_cache_variable(LAPACK OFF)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
+  endif (NOT (LAPACK_FOUND AND BLAS_FOUND))
+else (LAPACK)
+  message("-- Building without LAPACK.")
+  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
+endif (LAPACK)
+
+# SuiteSparse.
+if (SUITESPARSE AND NOT LAPACK)
+  # If user has disabled LAPACK, but left SUITESPARSE ON, turn it OFF,
+  # LAPACK controls whether Ceres will be linked, directly or indirectly
+  # via SuiteSparse to LAPACK.
+  message("-- Disabling SuiteSparse as use of LAPACK has been disabled, "
+    "turn ON LAPACK to enable (optional) building with SuiteSparse.")
+  update_cache_variable(SUITESPARSE OFF)
+endif (SUITESPARSE AND NOT LAPACK)
+if (SUITESPARSE)
+  # By default, if SuiteSparse and all dependencies are found, Ceres is
+  # built with SuiteSparse support.
+
+  # Check for SuiteSparse and dependencies.
+  find_package(SuiteSparse)
+  if (SUITESPARSE_FOUND)
+    # On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
+    # Ubuntu 13.10 cannot be used to link shared libraries.
+    if (BUILD_SHARED_LIBS AND
+        SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
+      message(FATAL_ERROR "You are attempting to build Ceres as a shared "
+        "library on Ubuntu using a system package install of SuiteSparse "
+        "3.4.0. This package is broken and does not support the "
+        "construction of shared libraries (you can still build Ceres as "
+        "a static library).  If you wish to build a shared version of Ceres "
+        "you should uninstall the system install of SuiteSparse "
+        "(libsuitesparse-dev) and perform a source install of SuiteSparse "
+        "(we recommend that you use the latest version), "
+        "see http://ceres-solver.org/building.html for more information.")
+    endif (BUILD_SHARED_LIBS AND
+      SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
+
+    # By default, if all of SuiteSparse's dependencies are found, Ceres is
+    # built with SuiteSparse support.
+    message("-- Found SuiteSparse ${SUITESPARSE_VERSION}, "
+            "building with SuiteSparse.")
+  else (SUITESPARSE_FOUND)
+    # Disable use of SuiteSparse if it cannot be found and continue.
+    message("-- Did not find all SuiteSparse dependencies, disabling "
+      "SuiteSparse support.")
+    update_cache_variable(SUITESPARSE OFF)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
+  endif (SUITESPARSE_FOUND)
+else (SUITESPARSE)
+  message("-- Building without SuiteSparse.")
+  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
+endif (SUITESPARSE)
+
+# CXSparse.
+if (CXSPARSE)
+  # Don't search with REQUIRED as we can continue without CXSparse.
+  find_package(CXSparse)
+  if (CXSPARSE_FOUND)
+    # By default, if CXSparse and all dependencies are found, Ceres is
+    # built with CXSparse support.
+    message("-- Found CXSparse version: ${CXSPARSE_VERSION}, "
+      "building with CXSparse.")
+  else (CXSPARSE_FOUND)
+    # Disable use of CXSparse if it cannot be found and continue.
+    message("-- Did not find CXSparse, Building without CXSparse.")
+    update_cache_variable(CXSPARSE OFF)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
+  endif (CXSPARSE_FOUND)
+else (CXSPARSE)
+  message("-- Building without CXSparse.")
+  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
+  # Mark as advanced (remove from default GUI view) the CXSparse search
+  # variables in case user enabled CXSPARSE, FindCXSparse did not find it, so
+  # made search variables visible in GUI for user to set, but then user disables
+  # CXSPARSE instead of setting them.
+  mark_as_advanced(FORCE CXSPARSE_INCLUDE_DIR
+                         CXSPARSE_LIBRARY)
+endif (CXSPARSE)
+
+# Ensure that the user understands they have disabled all sparse libraries.
+if (NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
+  message("   ===============================================================")
+  message("   Compiling without any sparse library: SuiteSparse, CXSparse ")
+  message("   & Eigen (Sparse) are all disabled or unavailable.  No sparse ")
+  message("   linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)")
+  message("   will be available when Ceres is used.")
+  message("   ===============================================================")
+endif(NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
+
+# GFlags.
+if (GFLAGS)
+  # Don't search with REQUIRED as we can continue without gflags.
+  find_package(Gflags)
+  if (GFLAGS_FOUND)
+    message("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}, "
+      "in namespace: ${GFLAGS_NAMESPACE}")
+    add_definitions(-DCERES_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
+  else (GFLAGS_FOUND)
+    message("-- Did not find Google Flags (gflags), Building without gflags "
+      "- no tests or tools will be built!")
+    update_cache_variable(GFLAGS OFF)
+  endif (GFLAGS_FOUND)
+else (GFLAGS)
+  message("-- Google Flags disabled; no tests or tools will be built!")
+  # Mark as advanced (remove from default GUI view) the gflags search
+  # variables in case user enabled GFLAGS, FindGflags did not find it, so
+  # made search variables visible in GUI for user to set, but then user disables
+  # GFLAGS instead of setting them.
+  mark_as_advanced(FORCE GFLAGS_INCLUDE_DIR
+                         GFLAGS_LIBRARY
+                         GFLAGS_NAMESPACE)
+endif (GFLAGS)
+
+# MiniGLog.
+if (MINIGLOG)
+  message("-- Compiling minimal glog substitute into Ceres.")
+  set(GLOG_INCLUDE_DIRS internal/ceres/miniglog)
+  set(MINIGLOG_MAX_LOG_LEVEL 2 CACHE STRING "The maximum message severity level to be logged")
+  add_definitions("-DMAX_LOG_LEVEL=${MINIGLOG_MAX_LOG_LEVEL}")
+  message("-- Using minimal glog substitute (include): ${GLOG_INCLUDE_DIRS}")
+  message("-- Max log level for minimal glog substitute: ${MINIGLOG_MAX_LOG_LEVEL}")
+
+  # Mark as advanced (remove from default GUI view) the glog search
+  # variables in case user disables MINIGLOG, FindGlog did not find it, so
+  # made search variables visible in GUI for user to set, but then user enables
+  # MINIGLOG instead of setting them.
+  mark_as_advanced(FORCE GLOG_INCLUDE_DIR
+                         GLOG_LIBRARY)
+else (MINIGLOG)
+  unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
+  # Don't search with REQUIRED so that configuration continues if not found and
+  # we can output an error messages explaining MINIGLOG option.
+  find_package(Glog)
+  if (NOT GLOG_FOUND)
+    message(FATAL_ERROR "Can't find Google Log (glog). Please set either: "
+      "glog_DIR (newer CMake built versions of glog) or GLOG_INCLUDE_DIR & "
+      "GLOG_LIBRARY or enable MINIGLOG option to use minimal glog "
+      "implementation.")
+  endif(NOT GLOG_FOUND)
+  # By default, assume gflags was found, updating the message if it was not.
+  set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
+    " Assuming glog was built with gflags support as gflags was found. "
+    "This will make gflags a public dependency of Ceres.")
+  if (NOT GFLAGS_FOUND)
+    set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
+      " Assuming glog was NOT built with gflags support as gflags was "
+      "not found.  If glog was built with gflags, please set the "
+      "gflags search locations such that it can be found by Ceres.  "
+      "Otherwise, Ceres may fail to link due to missing gflags symbols.")
+  endif(NOT GFLAGS_FOUND)
+  message("-- Found Google Log (glog)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE})
+endif (MINIGLOG)
+
+if (NOT SCHUR_SPECIALIZATIONS)
+  list(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION)
+  message("-- Disabling Schur specializations (faster compiles)")
+endif (NOT SCHUR_SPECIALIZATIONS)
+
+if (NOT CUSTOM_BLAS)
+  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUSTOM_BLAS)
+  message("-- Disabling custom blas")
+endif (NOT CUSTOM_BLAS)
+
+if (OPENMP)
+  # Find quietly, as we can continue without OpenMP if it is not found.
+  find_package(OpenMP QUIET)
+  if (OPENMP_FOUND)
+    message("-- Building with OpenMP.")
+    list(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    if (UNIX)
+      # At least on Linux, we need pthreads to be enabled for mutex to
+      # compile.  This may not work on Windows or Android.
+      find_package(Threads REQUIRED)
+      list(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_PTHREAD)
+      list(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_RWLOCK)
+    endif (UNIX)
+  else (OPENMP_FOUND)
+    message("-- Failed to find OpenMP, disabling. This is expected on "
+      "Clang < 3.8, and at least Xcode <= 7.")
+    update_cache_variable(OPENMP OFF)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
+  endif (OPENMP_FOUND)
+else (OPENMP)
+  message("-- Building without OpenMP (disabling multithreading).")
+  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
+endif (OPENMP)
+
+# Initialise CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles with the
+# contents of CMAKE_CXX_FLAGS such that if the user has passed extra flags
+# they are used when discovering shared_ptr/unordered_map.
+set(CMAKE_REQUIRED_FLAGS ${CMAKE_CXX_FLAGS})
+
+include(CheckCXXCompilerFlag)
+check_cxx_compiler_flag("-std=c++11" COMPILER_HAS_CXX11_FLAG)
+if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
+  # Update CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles to include
+  # -std=c++11 s/t we will detect the C++11 versions of unordered_map &
+  # shared_ptr if they exist.
+  set(CMAKE_REQUIRED_FLAGS "${CMAKE_REQUIRED_FLAGS} -std=c++11")
+endif (CXX11 AND COMPILER_HAS_CXX11_FLAG)
+
+# Set the Ceres compile definitions for the unordered_map configuration.
+include(FindUnorderedMap)
+find_unordered_map()
+if (UNORDERED_MAP_FOUND)
+  if (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP)
+  endif(HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+  if (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
+  endif(HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+  if (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_UNORDERED_MAP)
+  endif(HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+else (UNORDERED_MAP_FOUND)
+  message("-- Replacing unordered_map/set with map/set (warning: slower!), "
+    "try enabling CXX11 option if you expect C++11 to be available.")
+  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP)
+endif()
+
+# Set the Ceres compile definitions for the shared_ptr configuration.
+include(FindSharedPtr)
+find_shared_ptr()
+if (SHARED_PTR_FOUND)
+  if (SHARED_PTR_TR1_MEMORY_HEADER)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_MEMORY_HEADER)
+  endif (SHARED_PTR_TR1_MEMORY_HEADER)
+  if (SHARED_PTR_TR1_NAMESPACE)
+    list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_SHARED_PTR)
+  endif (SHARED_PTR_TR1_NAMESPACE)
+else (SHARED_PTR_FOUND)
+  message(FATAL_ERROR "Unable to find shared_ptr, try enabling CXX11 option "
+    "if you expect C++11 to be available.")
+endif (SHARED_PTR_FOUND)
+
+# To ensure that CXX11 accurately reflects whether we are using C++11,
+# check if it is required given where the potentially C++11 features Ceres
+# uses were found, and disable it if C++11 is not being used.
+if (CXX11)
+  if (NOT HAVE_SHARED_PTR_IN_STD_NAMESPACE AND
+      NOT HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+    message("-- Failed to find C++11 components in C++11 locations & "
+      "namespaces, disabling CXX11.")
+    update_cache_variable(CXX11 OFF)
+  else()
+    message("   ==============================================================")
+    message("   Compiling Ceres using C++11.  This will result in a version ")
+    message("   of Ceres that will require the use of C++11 in client code.")
+    message("   ==============================================================")
+    list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11)
+    if (COMPILER_HAS_CXX11_FLAG AND
+        CMAKE_VERSION VERSION_LESS "2.8.12")
+      # For CMake versions > 2.8.12, the C++11 dependency is rolled into the
+      # Ceres target, and all dependent targets, but for older versions of CMake
+      # the flag must be specified explicitly both for Ceres and the
+      # examples/tests.
+      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+    endif()
+  endif()
+endif(CXX11)
+
+include_directories(
+  include
+  internal
+  internal/ceres
+  ${GLOG_INCLUDE_DIRS})
+# Eigen SparseQR generates various compiler warnings related to unused and
+# uninitialised local variables.  To avoid having to individually suppress these
+# warnings around the #include statments for Eigen headers across all GCC/Clang
+# versions, we tell CMake to treat Eigen headers as system headers.  This
+# results in all compiler warnings from them being suppressed.
+#
+# Note that this is *not* propagated to clients, ie CERES_INCLUDE_DIRS
+# used by clients after find_package(Ceres) does not identify Eigen as
+# as system headers.
+include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
+
+if (SUITESPARSE)
+  include_directories(${SUITESPARSE_INCLUDE_DIRS})
+endif (SUITESPARSE)
+
+if (CXSPARSE)
+  include_directories(${CXSPARSE_INCLUDE_DIRS})
+endif (CXSPARSE)
+
+if (GFLAGS)
+  include_directories(${GFLAGS_INCLUDE_DIRS})
+endif (GFLAGS)
+
+if (BUILD_SHARED_LIBS)
+  message("-- Building Ceres as a shared library.")
+  # The CERES_BUILDING_SHARED_LIBRARY compile definition is NOT stored in
+  # CERES_COMPILE_OPTIONS as it must only be defined when Ceres is compiled
+  # not when it is used as it controls the CERES_EXPORT macro which provides
+  # dllimport/export support in MSVC.
+  add_definitions(-DCERES_BUILDING_SHARED_LIBRARY)
+  list(APPEND CERES_COMPILE_OPTIONS CERES_USING_SHARED_LIBRARY)
+else (BUILD_SHARED_LIBS)
+  message("-- Building Ceres as a static library.")
+endif (BUILD_SHARED_LIBS)
+
+# Change the default build type from Debug to Release, while still
+# supporting overriding the build type.
+#
+# The CACHE STRING logic here and elsewhere is needed to force CMake
+# to pay attention to the value of these variables.
+if (NOT CMAKE_BUILD_TYPE)
+  message("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.")
+  set(CMAKE_BUILD_TYPE Release CACHE STRING
+    "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
+    FORCE)
+else (NOT CMAKE_BUILD_TYPE)
+  if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+    message("\n=================================================================================")
+    message("\n-- Build type: Debug. Performance will be terrible!")
+    message("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.")
+    message("\n=================================================================================")
+  endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
+endif (NOT CMAKE_BUILD_TYPE)
+
+# Set the default Ceres flags to an empty string.
+set (CERES_CXX_FLAGS)
+
+if (CMAKE_BUILD_TYPE STREQUAL "Release")
+  if (CMAKE_COMPILER_IS_GNUCXX)
+    # Linux
+    if (CMAKE_SYSTEM_NAME MATCHES "Linux")
+      if (NOT GCC_VERSION VERSION_LESS 4.2)
+        set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
+      endif (NOT GCC_VERSION VERSION_LESS 4.2)
+    endif (CMAKE_SYSTEM_NAME MATCHES "Linux")
+    # Mac OS X
+    if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+      set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -msse3")
+      # Use of -fast only applicable for Apple's GCC
+      # Assume this is being used if GCC version < 4.3 on OSX
+      execute_process(COMMAND ${CMAKE_C_COMPILER}
+        ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
+        OUTPUT_VARIABLE GCC_VERSION
+        OUTPUT_STRIP_TRAILING_WHITESPACE)
+      if (GCC_VERSION VERSION_LESS 4.3)
+        set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast")
+      endif (GCC_VERSION VERSION_LESS 4.3)
+    endif (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+  endif (CMAKE_COMPILER_IS_GNUCXX)
+endif (CMAKE_BUILD_TYPE STREQUAL "Release")
+
+set (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}")
+
+if (MINGW)
+  # MinGW produces code that segfaults when performing matrix multiplications
+  # in Eigen when compiled with -O3 (see [1]), as such force the use of -O2
+  # which works.
+  #
+  # [1] http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556
+  message("-- MinGW detected, forcing -O2 instead of -O3 in Release for Eigen due "
+          "to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556")
+  string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
+  update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
+endif (MINGW)
+
+# After the tweaks for the compile settings, disable some warnings on MSVC.
+if (MSVC)
+  # On MSVC, math constants are not included in <cmath> or <math.h> unless
+  # _USE_MATH_DEFINES is defined [1].  As we use M_PI in the examples, ensure
+  # that _USE_MATH_DEFINES is defined before the first inclusion of <cmath>.
+  #
+  # [1] https://msdn.microsoft.com/en-us/library/4hwaceh6.aspx
+  add_definitions("-D_USE_MATH_DEFINES")
+  # Disable signed/unsigned int conversion warnings.
+  add_definitions("/wd4018")
+  # Disable warning about using struct/class for the same symobl.
+  add_definitions("/wd4099")
+  # Disable warning about the insecurity of using "std::copy".
+  add_definitions("/wd4996")
+  # Disable performance warning about int-to-bool conversion.
+  add_definitions("/wd4800")
+  # Disable performance warning about fopen insecurity.
+  add_definitions("/wd4996")
+  # Disable warning about int64 to int32 conversion. Disabling
+  # this warning may not be correct; needs investigation.
+  # TODO(keir): Investigate these warnings in more detail.
+  add_definitions("/wd4244")
+  # It's not possible to use STL types in DLL interfaces in a portable and
+  # reliable way. However, that's what happens with Google Log and Google Flags
+  # on Windows. MSVC gets upset about this and throws warnings that we can't do
+  # much about. The real solution is to link static versions of Google Log and
+  # Google Test, but that seems tricky on Windows. So, disable the warning.
+  add_definitions("/wd4251")
+
+  # Google Flags doesn't have their DLL import/export stuff set up correctly,
+  # which results in linker warnings. This is irrelevant for Ceres, so ignore
+  # the warnings.
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049")
+
+  # Update the C/CXX flags for MSVC to use either the static or shared
+  # C-Run Time (CRT) library based on the user option: MSVC_USE_STATIC_CRT.
+  list(APPEND C_CXX_FLAGS
+    CMAKE_CXX_FLAGS
+    CMAKE_CXX_FLAGS_DEBUG
+    CMAKE_CXX_FLAGS_RELEASE
+    CMAKE_CXX_FLAGS_MINSIZEREL
+    CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+
+  foreach(FLAG_VAR ${C_CXX_FLAGS})
+    if (MSVC_USE_STATIC_CRT)
+      # Use static CRT.
+      if (${FLAG_VAR} MATCHES "/MD")
+        string(REGEX REPLACE "/MD" "/MT" ${FLAG_VAR} "${${FLAG_VAR}}")
+      endif (${FLAG_VAR} MATCHES "/MD")
+    else (MSVC_USE_STATIC_CRT)
+      # Use shared, not static, CRT.
+      if (${FLAG_VAR} MATCHES "/MT")
+        string(REGEX REPLACE "/MT" "/MD" ${FLAG_VAR} "${${FLAG_VAR}}")
+      endif (${FLAG_VAR} MATCHES "/MT")
+    endif (MSVC_USE_STATIC_CRT)
+  endforeach()
+
+  # Tuple sizes of 10 are used by Gtest.
+  add_definitions("-D_VARIADIC_MAX=10")
+
+  include(CheckIfUnderscorePrefixedBesselFunctionsExist)
+  check_if_underscore_prefixed_bessel_functions_exist(
+    HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+  if (HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+    list(APPEND CERES_COMPILE_OPTIONS
+      CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+  endif()
+endif (MSVC)
+
+if (UNIX)
+  # GCC is not strict enough by default, so enable most of the warnings.
+  set(CMAKE_CXX_FLAGS
+    "${CMAKE_CXX_FLAGS} -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
+endif (UNIX)
+
+# Use a larger inlining threshold for Clang, since it hobbles Eigen,
+# resulting in an unreasonably slow version of the blas routines. The
+# -Qunused-arguments is needed because CMake passes the inline
+# threshold to the linker and clang complains about it and dies.
+if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  set(CMAKE_CXX_FLAGS
+    "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600")
+
+  # Older versions of Clang (<= 2.9) do not support the 'return-type-c-linkage'
+  # option, so check for its presence before adding it to the default flags set.
+  include(CheckCXXCompilerFlag)
+  check_cxx_compiler_flag("-Wno-return-type-c-linkage"
+                          HAVE_RETURN_TYPE_C_LINKAGE)
+  if (HAVE_RETURN_TYPE_C_LINKAGE)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-return-type-c-linkage")
+  endif(HAVE_RETURN_TYPE_C_LINKAGE)
+endif ()
+
+# Xcode 4.5.x used Clang 4.1 (Apple version), this has a bug that prevents
+# compilation of Ceres.
+if (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  execute_process(COMMAND ${CMAKE_CXX_COMPILER}
+    ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
+    OUTPUT_VARIABLE CLANG_VERSION
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  # Use version > 4.0 & < 4.2 to catch all 4.1(.x) versions.
+  if (CLANG_VERSION VERSION_GREATER 4.0 AND
+      CLANG_VERSION VERSION_LESS 4.2)
+    message(FATAL_ERROR "You are attempting to build Ceres on OS X using Xcode "
+      "4.5.x (Clang version: ${CLANG_VERSION}). This version of Clang has a "
+      "bug that prevents compilation of Ceres, please update to "
+      "Xcode >= 4.6.3.")
+  endif (CLANG_VERSION VERSION_GREATER 4.0 AND
+    CLANG_VERSION VERSION_LESS 4.2)
+endif (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+
+# Configure the Ceres config.h compile options header using the current
+# compile options and put the configured header into the Ceres build
+# directory.  Note that the ceres/internal subdir in <build>/config where
+# the configured config.h is placed is important, because Ceres will be
+# built against this configured header, it needs to have the same relative
+# include path as it would if it were in the source tree (or installed).
+list(REMOVE_DUPLICATES CERES_COMPILE_OPTIONS)
+include(CreateCeresConfig)
+create_ceres_config("${CERES_COMPILE_OPTIONS}"
+  ${Ceres_BINARY_DIR}/config/ceres/internal)
+# Force the location containing the configured config.h to the front of the
+# include_directories list (by default it is appended to the back) to ensure
+# that if the user has an installed version of Ceres in the same location as one
+# of the dependencies (e.g. /usr/local) that we find the config.h we just
+# configured, not the (older) installed config.h.
+include_directories(BEFORE ${Ceres_BINARY_DIR}/config)
+
+add_subdirectory(internal/ceres)
+
+if (BUILD_DOCUMENTATION)
+  set(CERES_DOCS_INSTALL_DIR "share/doc/ceres" CACHE STRING
+      "Ceres docs install path relative to CMAKE_INSTALL_PREFIX")
+
+  find_package(Sphinx QUIET)
+  if (NOT SPHINX_FOUND)
+    message("-- Failed to find Sphinx, disabling build of documentation.")
+    update_cache_variable(BUILD_DOCUMENTATION OFF)
+  else()
+    # Generate the User's Guide (html).
+    # The corresponding target is ceres_docs, but is included in ALL.
+    message("-- Build the HTML documentation.")
+    add_subdirectory(docs)
+  endif()
+endif (BUILD_DOCUMENTATION)
+
+if (BUILD_EXAMPLES)
+  message("-- Build the examples.")
+  add_subdirectory(examples)
+else (BUILD_EXAMPLES)
+  message("-- Do not build any example.")
+endif (BUILD_EXAMPLES)
+
+# Setup installation of Ceres public headers.
+file(GLOB CERES_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
+install(FILES ${CERES_HDRS} DESTINATION include/ceres)
+
+file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
+install(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal)
+
+# Also setup installation of Ceres config.h configured with the current
+# build options into the installed headers directory.
+install(FILES ${Ceres_BINARY_DIR}/config/ceres/internal/config.h
+        DESTINATION include/ceres/internal)
+
+if (MINIGLOG)
+  # Install miniglog header if being used as logging #includes appear in
+  # installed public Ceres headers.
+  install(FILES ${Ceres_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h
+          DESTINATION include/ceres/internal/miniglog/glog)
+endif (MINIGLOG)
+
+# Ceres supports two mechanisms by which it can be detected & imported into
+# client code which uses CMake via find_package(Ceres):
+#
+#   1) Installation (e.g. to /usr/local), using CMake's install() function.
+#
+#   2) (Optional) Export of the current build directory into the local CMake
+#      package registry, using CMake's export() function.  This allows use of
+#      Ceres from other projects without requiring installation.
+#
+# In both cases, we need to generate a configured CeresConfig.cmake which
+# includes additional autogenerated files which in concert create an imported
+# target for Ceres in a client project when find_package(Ceres) is invoked.
+# The key distinctions are where this file is located, and whether client code
+# references installed copies of the compiled Ceres headers/libraries,
+# (option #1: installation), or the originals in the source/build directories
+# (option #2: export of build directory).
+#
+# NOTE: If Ceres is both exported and installed, provided that the installation
+#       path is present in CMAKE_MODULE_PATH when find_package(Ceres) is called,
+#       the installed version is preferred.
+
+# Build the list of Ceres components for CeresConfig.cmake from the current set
+# of compile options.
+include(CeresCompileOptionsToComponents)
+ceres_compile_options_to_components("${CERES_COMPILE_OPTIONS}"
+  CERES_COMPILED_COMPONENTS)
+
+# Create a CeresConfigVersion.cmake file containing the version information,
+# used by both export() & install().
+configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in"
+               "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY)
+
+# Install method #1: Put Ceres in CMAKE_INSTALL_PREFIX: /usr/local or equivalent.
+
+# Set the install path for the installed CeresConfig.cmake configuration file
+# relative to CMAKE_INSTALL_PREFIX.
+if (WIN32)
+  set(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake)
+else ()
+  set(RELATIVE_CMAKECONFIG_INSTALL_DIR lib${LIB_SUFFIX}/cmake/Ceres)
+endif ()
+
+# This "exports" for installation all targets which have been put into the
+# export set "CeresExport". This generates a CeresTargets.cmake file which,
+# when read in by a client project as part of find_package(Ceres) creates
+# imported library targets for Ceres (with dependency relations) which can be
+# used in target_link_libraries() calls in the client project to use Ceres.
+install(EXPORT CeresExport
+        DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake)
+
+# Save the relative path from the installed CeresConfig.cmake file to the
+# install prefix.  We do not save an absolute path in case the installed package
+# is subsequently relocated after installation (on Windows).
+file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
+     ${CMAKE_INSTALL_PREFIX}/${RELATIVE_CMAKECONFIG_INSTALL_DIR}
+     ${CMAKE_INSTALL_PREFIX})
+
+# Configure a CeresConfig.cmake file for an installed version of Ceres from the
+# template, reflecting the current build options.
+#
+# NOTE: The -install suffix is necessary to distinguish the install version from
+#       the exported version, which must be named CeresConfig.cmake in
+#       Ceres_BINARY_DIR to be detected.  The suffix is removed when
+#       it is installed.
+set(SETUP_CERES_CONFIG_FOR_INSTALLATION TRUE)
+configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
+               "${Ceres_BINARY_DIR}/CeresConfig-install.cmake" @ONLY)
+
+# Install the configuration files into the same directory as the autogenerated
+# CeresTargets.cmake file.  We include the find_package() scripts for libraries
+# whose headers are included in the public API of Ceres and should thus be
+# present in CERES_INCLUDE_DIRS.
+install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
+        RENAME CeresConfig.cmake
+        DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake"
+              "${Ceres_SOURCE_DIR}/cmake/FindEigen.cmake"
+              "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
+              "${Ceres_SOURCE_DIR}/cmake/FindGflags.cmake"
+        DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+
+# Create an uninstall target to remove all installed files.
+configure_file("${Ceres_SOURCE_DIR}/cmake/uninstall.cmake.in"
+               "${Ceres_BINARY_DIR}/cmake/uninstall.cmake"
+               @ONLY)
+add_custom_target(uninstall
+                  COMMAND ${CMAKE_COMMAND} -P ${Ceres_BINARY_DIR}/cmake/uninstall.cmake)
+
+# Install method #2: Put Ceres build into local CMake registry.
+#
+# Optionally export the Ceres build directory into the local CMake package
+# registry (~/.cmake/packages on *nix & OS X).  This allows the detection &
+# use of Ceres without requiring that it be installed.
+if (EXPORT_BUILD_DIR)
+  message("-- Export Ceres build directory to local CMake package registry.")
+
+  # Save the relative path from the build directory to the source directory.
+  file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
+    ${Ceres_BINARY_DIR}
+    ${Ceres_SOURCE_DIR})
+
+  # Analogously to install(EXPORT ...), export the Ceres target from the build
+  # directory as a package called Ceres into the local CMake package registry.
+  export(TARGETS ceres FILE ${Ceres_BINARY_DIR}/CeresTargets.cmake)
+  export(PACKAGE ${CMAKE_PROJECT_NAME})
+
+  # Configure a CeresConfig.cmake file for the export of the Ceres build
+  # directory from the template, reflecting the current build options.
+  set(SETUP_CERES_CONFIG_FOR_INSTALLATION FALSE)
+  configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
+    "${Ceres_BINARY_DIR}/CeresConfig.cmake" @ONLY)
+
+endif (EXPORT_BUILD_DIR)
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..cae4255
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,27 @@
+Ceres Solver - A fast non-linear least squares minimizer
+Copyright 2015 Google Inc. All rights reserved.
+http://ceres-solver.org/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice,
+  this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+* Neither the name of Google Inc. nor the names of its contributors may be
+  used to endorse or promote products derived from this software without
+  specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..3f8dbe1
--- /dev/null
+++ b/README.md
@@ -0,0 +1,26 @@
+Ceres Solver
+============
+
+Ceres Solver is an open source C++ library for modeling and solving
+large, complicated optimization problems. It is a feature rich, mature
+and performant library which has been used in production at Google
+since 2010. Ceres Solver can solve two kinds of problems.
+
+1. Non-linear Least Squares problems with bounds constraints.
+2. General unconstrained optimization problems.
+
+Please see [ceres-solver.org](http://ceres-solver.org/) for more
+information.
+
+WARNING - Do not make GitHub pull requests!
+-------------------------------------------
+
+Ceres development happens on
+[Gerrit](https://ceres-solver.googlesource.com/), including both
+repository hosting and code reviews. The GitHub Repository is a
+continuously updated mirror which is primarily meant for issue
+tracking. Please see our [Contributing to Ceres Guide](http://ceres-solver.org/contributing.html) for more details.
+
+The upstream Gerrit repository is
+
+    https://ceres-solver.googlesource.com/ceres-solver
diff --git a/cmake/AddCeresCXX11RequirementsToTarget.cmake b/cmake/AddCeresCXX11RequirementsToTarget.cmake
new file mode 100644
index 0000000..107eb58
--- /dev/null
+++ b/cmake/AddCeresCXX11RequirementsToTarget.cmake
@@ -0,0 +1,84 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+
+# Adds Ceres' C++11 requirements to a target such that they are exported when
+# the target is exported (if the version of CMake supports it).
+#
+#    add_ceres_cxx11_requirements_to_target( [target1 [target2 [...]]] )
+function(add_ceres_cxx11_requirements_to_target)
+  include(CheckCXXCompilerFlag)
+  check_cxx_compiler_flag("-std=c++11" COMPILER_HAS_CXX11_FLAG)
+
+  foreach(TARGET ${ARGN})
+    if (NOT TARGET ${TARGET})
+      message(FATAL_ERROR "Specified target to append Ceres C++11 requirements "
+        "to: ${TARGET} is not a declared CMake target.")
+    endif()
+
+    if (COMPILER_HAS_CXX11_FLAG)
+      # IMPORTANT: It is not sufficient to specify the
+      #            CXX_STANDARD/CXX_STANDARD_REQUIRED target properties
+      #            as these target properties are NOT exported.
+      if (CMAKE_VERSION VERSION_LESS "2.8.12")
+        # CMake version < 2.8.12 does not support target_compile_options(), warn
+        # user that they will have to add compile flags to their own projects
+        # manually.
+        message(WARNING "-- Warning: Detected CMake version: ${CMAKE_VERSION} "
+          "< 2.8.12, which is the minimum required for compile options to be "
+          "included in an exported CMake target and the detected. compiler "
+          "requires -std=c++11. The client is responsible for adding "
+          "-std=c++11 when linking against: ${TARGET}.")
+      elseif (COMMAND target_compile_features)
+        # CMake >= 3.1, use new target_compile_features() to specify Ceres'
+        # C++11 requirements as used in the public API.  This assumes that
+        # C++11 STL features are available if the specified features are
+        # available.  We do not use the cxx_std_11 feature to specify this as
+        # this did not come in until CMake 3.8.
+        #
+        # The reason to prefer using target_compile_features() if it exists is
+        # that this handles 'upgrading' of the C++ standard required more
+        # gracefully, e.g. if a client of Ceres requires C++14, but Ceres was
+        # compiled against C++11 then target_compile_options() may not work as
+        # expected.
+        target_compile_features(
+          ${TARGET} PUBLIC cxx_alignas cxx_alignof cxx_constexpr)
+      else()
+        # CMake version >= 2.8.12 && < 3.1 supports target_compile_options()
+        # but not target_compile_features(). For these intermediary versions,
+        # we use target_compile_options() to manually specify the C++11 flag and
+        # export it for client targets that depend on the target iff they are
+        # NOT compiling for C.  We check for not C, rather than C++ as
+        # LINKER_LANGUAGE is often NOTFOUND and then uses the default (C++).
+        target_compile_options(${TARGET} PUBLIC
+          $<$<NOT:$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>>:-std=c++11>)
+      endif()
+    endif()
+  endforeach()
+endfunction()
diff --git a/cmake/AddGerritCommitHook.cmake b/cmake/AddGerritCommitHook.cmake
new file mode 100644
index 0000000..65b2fab
--- /dev/null
+++ b/cmake/AddGerritCommitHook.cmake
@@ -0,0 +1,84 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Authors: keir@google.com (Keir Mierle)
+#          alexs.mac@gmail.com (Alex Stewart)
+
+# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
+function(ADD_GERRIT_COMMIT_HOOK SOURCE_DIR BINARY_DIR)
+  if (NOT (EXISTS ${SOURCE_DIR} AND IS_DIRECTORY ${SOURCE_DIR}))
+    message(FATAL_ERROR "Specified SOURCE_DIR: ${SOURCE_DIR} does not exist, "
+      "or is not a directory, cannot add Gerrit commit hook.")
+  endif()
+  if (NOT (EXISTS ${BINARY_DIR} AND IS_DIRECTORY ${BINARY_DIR}))
+    message(FATAL_ERROR "Specified BINARY_DIR: ${BINARY_DIR} does not exist, "
+      "or is not a directory, cannot add Gerrit commit hook.")
+  endif()
+  unset (LOCAL_GIT_DIRECTORY)
+  if (EXISTS ${SOURCE_DIR}/.git)
+    if (IS_DIRECTORY ${SOURCE_DIR}/.git)
+      # .git directory can be found on Unix based system, or on Windows with
+      # Git Bash (shipped with msysgit).
+      set (LOCAL_GIT_DIRECTORY ${SOURCE_DIR}/.git)
+    else(IS_DIRECTORY ${SOURCE_DIR}/.git)
+      # .git is a file, this means Ceres is a git submodule of another project
+      # and our .git file contains the path to the git directory which manages
+      # Ceres, so we should add the gerrit hook there.
+      file(READ ${SOURCE_DIR}/.git GIT_SUBMODULE_FILE_CONTENTS)
+      # Strip any trailing newline characters, s/t we get a valid path.
+      string(REGEX REPLACE "gitdir:[ ]*([^$].*)[\n].*" "${SOURCE_DIR}/\\1"
+        GIT_SUBMODULE_GIT_DIRECTORY_PATH "${GIT_SUBMODULE_FILE_CONTENTS}")
+      get_filename_component(GIT_SUBMODULE_GIT_DIRECTORY_PATH
+        "${GIT_SUBMODULE_GIT_DIRECTORY_PATH}" ABSOLUTE)
+      if (EXISTS ${GIT_SUBMODULE_GIT_DIRECTORY_PATH}
+          AND IS_DIRECTORY ${GIT_SUBMODULE_GIT_DIRECTORY_PATH})
+        set(LOCAL_GIT_DIRECTORY "${GIT_SUBMODULE_GIT_DIRECTORY_PATH}")
+      endif()
+    endif()
+  else (EXISTS ${SOURCE_DIR}/.git)
+    # TODO(keir) Add proper Windows support.
+  endif (EXISTS ${SOURCE_DIR}/.git)
+
+  if (EXISTS ${LOCAL_GIT_DIRECTORY})
+    if (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
+      message(STATUS "Detected Ceres being used as a git submodule, adding "
+        "commit hook for Gerrit to: ${LOCAL_GIT_DIRECTORY}")
+      # Download the hook only if it is not already present.
+      file(DOWNLOAD https://ceres-solver-review.googlesource.com/tools/hooks/commit-msg
+        ${BINARY_DIR}/commit-msg)
+
+      # Make the downloaded file executable, since it is not by default.
+      file(COPY ${BINARY_DIR}/commit-msg
+        DESTINATION ${LOCAL_GIT_DIRECTORY}/hooks/
+        FILE_PERMISSIONS
+        OWNER_READ OWNER_WRITE OWNER_EXECUTE
+        GROUP_READ GROUP_WRITE GROUP_EXECUTE
+        WORLD_READ WORLD_EXECUTE)
+    endif (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
+  endif (EXISTS ${LOCAL_GIT_DIRECTORY})
+endfunction()
diff --git a/cmake/AppendTargetProperty.cmake b/cmake/AppendTargetProperty.cmake
new file mode 100644
index 0000000..e0bc3a4
--- /dev/null
+++ b/cmake/AppendTargetProperty.cmake
@@ -0,0 +1,61 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+
+# Append item(s) to a property on a declared CMake target:
+#
+#    append_target_property(target property item_to_append1
+#                                           [... item_to_appendN])
+#
+# The set_target_properties() CMake function will overwrite the contents of the
+# specified target property.  This function instead appends to it, so can
+# be called multiple times with the same target & property to iteratively
+# populate it.
+function(append_target_property TARGET PROPERTY)
+  if (NOT TARGET ${TARGET})
+    message(FATAL_ERROR "Invalid target: ${TARGET} cannot append: ${ARGN} "
+      "to property: ${PROPERTY}")
+  endif()
+  if (NOT PROPERTY)
+    message(FATAL_ERROR "Invalid property to update for target: ${TARGET}")
+  endif()
+  # Get the initial state of the specified property for the target s/t
+  # we can append to it (not overwrite it).
+  get_target_property(INITIAL_PROPERTY_STATE ${TARGET} ${PROPERTY})
+  if (NOT INITIAL_PROPERTY_STATE)
+    # Ensure that if the state is unset, we do not insert the XXX-NOTFOUND
+    # returned by CMake into the property.
+    set(INITIAL_PROPERTY_STATE "")
+  endif()
+  # Delistify (remove ; separators) the potentially set of items to append
+  # to the specified target property.
+  string(REPLACE ";" " " ITEMS_TO_APPEND "${ARGN}")
+  set_target_properties(${TARGET} PROPERTIES ${PROPERTY}
+    "${INITIAL_PROPERTY_STATE} ${ITEMS_TO_APPEND}")
+endfunction()
diff --git a/cmake/CeresCompileOptionsToComponents.cmake b/cmake/CeresCompileOptionsToComponents.cmake
new file mode 100644
index 0000000..7177475
--- /dev/null
+++ b/cmake/CeresCompileOptionsToComponents.cmake
@@ -0,0 +1,91 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Authors: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# Conditionally add a value to the output list based on whether the specified
+# value is found in the input list.
+function(update_output_if_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_FOUND VAR_TO_COPY_IF_NOT_FOUND)
+  list(FIND ${INPUT_LIST_VAR} "${ITEM_TO_FIND}" HAVE_ITEM)
+  # list(FIND ..) returns -1 if the element was not in the list, but CMake
+  # interprets if (VAR) to be true if VAR is any non-zero number, even
+  # negative ones, hence we have to explicitly check for >= 0.
+  if (HAVE_ITEM GREATER -1)
+    list(APPEND ${OUTPUT_LIST_VAR} "${VAR_TO_COPY_IF_FOUND}")
+  else()
+    list(APPEND ${OUTPUT_LIST_VAR} "${VAR_TO_COPY_IF_NOT_FOUND}")
+  endif()
+  set(${OUTPUT_LIST_VAR} ${${OUTPUT_LIST_VAR}} PARENT_SCOPE)
+endfunction()
+
+# Helpers for update_output_if_found() to improve legibility when dealing with
+# USE_XXX & NO_XXX option types in ceres_compile_options_to_components().
+macro(add_to_output_if_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_FOUND)
+  update_output_if_found(${INPUT_LIST_VAR}
+    ${OUTPUT_LIST_VAR}
+    "${ITEM_TO_FIND}"
+    "${VAR_TO_COPY_IF_FOUND}"
+    "") # Copy nothing if not found.
+endmacro()
+
+macro(add_to_output_if_not_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_NOT_FOUND)
+  update_output_if_found(${INPUT_LIST_VAR}
+    ${OUTPUT_LIST_VAR}
+    "${ITEM_TO_FIND}"
+    "" # Copy nothing if found
+    "${VAR_TO_COPY_IF_NOT_FOUND}")
+endmacro()
+
+# Convert the Ceres compile options specified by: CURRENT_CERES_COMPILE_OPTIONS
+# into the correponding list of Ceres components (names), which may be used in:
+# find_package(Ceres COMPONENTS <XXX>).
+function(ceres_compile_options_to_components CURRENT_CERES_COMPILE_OPTIONS CERES_COMPONENTS_VAR)
+  # To enable users to specify that they want *a* sparse linear algebra backend
+  # without having to specify explicitly which one, for each sparse library we
+  # add the 'meta-module': SparseLinearAlgebraLibrary in addition to their own
+  # module name.
+  add_to_output_if_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+    CERES_USE_EIGEN_SPARSE "EigenSparse;SparseLinearAlgebraLibrary")
+  add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+    CERES_NO_LAPACK "LAPACK")
+  add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+    CERES_NO_SUITESPARSE "SuiteSparse;SparseLinearAlgebraLibrary")
+  add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+    CERES_NO_CXSPARSE "CXSparse;SparseLinearAlgebraLibrary")
+  add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+    CERES_RESTRICT_SCHUR_SPECIALIZATION "SchurSpecializations")
+  add_to_output_if_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+    CERES_USE_CXX11 "C++11")
+  add_to_output_if_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
+    CERES_USE_OPENMP "OpenMP")
+  # Remove duplicates of SparseLinearAlgebraLibrary if multiple sparse backends
+  # are present.
+  list(REMOVE_DUPLICATES ${CERES_COMPONENTS_VAR})
+  set(${CERES_COMPONENTS_VAR} "${${CERES_COMPONENTS_VAR}}" PARENT_SCOPE)
+endfunction()
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
new file mode 100644
index 0000000..fa0697a
--- /dev/null
+++ b/cmake/CeresConfig.cmake.in
@@ -0,0 +1,407 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Authors: pablo.speciale@gmail.com (Pablo Speciale)
+#          alexs.mac@gmail.com (Alex Stewart)
+#
+
+# Config file for Ceres Solver - Find Ceres & dependencies.
+#
+# This file is used by CMake when find_package(Ceres) is invoked and either
+# the directory containing this file either is present in CMAKE_MODULE_PATH
+# (if Ceres was installed), or exists in the local CMake package registry if
+# the Ceres build directory was exported.
+#
+# This module defines the following variables:
+#
+# Ceres_FOUND / CERES_FOUND: True if Ceres has been successfully
+#                            found. Both variables are set as although
+#                            FindPackage() only references Ceres_FOUND
+#                            in Config mode, given the conventions for
+#                            <package>_FOUND when FindPackage() is
+#                            called in Module mode, users could
+#                            reasonably expect to use CERES_FOUND
+#                            instead.
+#
+# CERES_VERSION: Version of Ceres found.
+#
+# CERES_INCLUDE_DIRS: Include directories for Ceres and the
+#                     dependencies which appear in the Ceres public
+#                     API and are thus required to use Ceres.
+#
+# CERES_LIBRARIES: Libraries for Ceres and all
+#                  dependencies against which Ceres was
+#                  compiled. This will not include any optional
+#                  dependencies that were disabled when Ceres was
+#                  compiled.
+#
+# The following variables are also defined for legacy compatibility
+# only.  Any new code should not use them as they do not conform to
+# the standard CMake FindPackage naming conventions.
+#
+# CERES_INCLUDES = ${CERES_INCLUDE_DIRS}.
+
+# Called if we failed to find Ceres or any of its required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(CERES_REPORT_NOT_FOUND REASON_MSG)
+  # FindPackage() only references Ceres_FOUND, and requires it to be
+  # explicitly set FALSE to denote not found (not merely undefined).
+  set(Ceres_FOUND FALSE)
+  set(CERES_FOUND FALSE)
+  unset(CERES_INCLUDE_DIRS)
+  unset(CERES_LIBRARIES)
+
+  # Reset the CMake module path to its state when this script was called.
+  set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
+  # FindPackage() use the camelcase library name, not uppercase.
+  if (Ceres_FIND_QUIETLY)
+    message(STATUS "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+  elseif (Ceres_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
+    # that prevents generation, but continues configuration.
+    message(SEND_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(CERES_REPORT_NOT_FOUND)
+
+# ceres_pretty_print_cmake_list( OUTPUT_VAR [item1 [item2 ... ]] )
+#
+# Sets ${OUTPUT_VAR} in the caller's scope to a human-readable string
+# representation of the list passed as the remaining arguments formed
+# as: "[item1, item2, ..., itemN]".
+function(ceres_pretty_print_cmake_list OUTPUT_VAR)
+  string(REPLACE ";" ", " PRETTY_LIST_STRING "[${ARGN}]")
+  set(${OUTPUT_VAR} "${PRETTY_LIST_STRING}" PARENT_SCOPE)
+endfunction()
+
+# The list of (optional) components this version of Ceres was compiled with.
+set(CERES_COMPILED_COMPONENTS "@CERES_COMPILED_COMPONENTS@")
+
+# If Ceres was not installed, then by definition it was exported
+# from a build directory.
+set(CERES_WAS_INSTALLED @SETUP_CERES_CONFIG_FOR_INSTALLATION@)
+
+# Record the state of the CMake module path when this script was
+# called so that we can ensure that we leave it in the same state on
+# exit as it was on entry, but modify it locally.
+set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
+
+# Get the (current, i.e. installed) directory containing this file.
+get_filename_component(CERES_CURRENT_CONFIG_DIR
+  "${CMAKE_CURRENT_LIST_FILE}" PATH)
+
+if (CERES_WAS_INSTALLED)
+  # Reset CMake module path to the installation directory of this
+  # script, thus we will use the FindPackage() scripts shipped with
+  # Ceres to find Ceres' dependencies, even if the user has equivalently
+  # named FindPackage() scripts in their project.
+  set(CMAKE_MODULE_PATH ${CERES_CURRENT_CONFIG_DIR})
+
+  # Build the absolute root install directory as a relative path
+  # (determined when Ceres was configured & built) from the current
+  # install directory for this this file.  This allows for the install
+  # tree to be relocated, after Ceres was built, outside of CMake.
+  get_filename_component(CURRENT_ROOT_INSTALL_DIR
+    ${CERES_CURRENT_CONFIG_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
+    ABSOLUTE)
+  if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+    ceres_report_not_found(
+      "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+      "determined from relative path from CeresConfig.cmake install location: "
+      "${CERES_CURRENT_CONFIG_DIR}, does not exist. Either the install "
+      "directory was deleted, or the install tree was only partially relocated "
+      "outside of CMake after Ceres was built.")
+  endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+
+  # Set the include directories for Ceres (itself).
+  set(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include")
+  if (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+    ceres_report_not_found(
+      "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+      "determined from relative path from CeresConfig.cmake install location: "
+      "${CERES_CURRENT_CONFIG_DIR}, does not contain Ceres headers. "
+      "Either the install directory was deleted, or the install tree was only "
+      "partially relocated outside of CMake after Ceres was built.")
+  endif (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+  list(APPEND CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
+
+else(CERES_WAS_INSTALLED)
+  # Ceres was exported from the build tree.
+  set(CERES_EXPORTED_BUILD_DIR ${CERES_CURRENT_CONFIG_DIR})
+  get_filename_component(CERES_EXPORTED_SOURCE_DIR
+    ${CERES_EXPORTED_BUILD_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
+    ABSOLUTE)
+  if (NOT EXISTS ${CERES_EXPORTED_SOURCE_DIR})
+    ceres_report_not_found(
+      "Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, "
+      "determined from relative path from CeresConfig.cmake exported build "
+      "directory: ${CERES_EXPORTED_BUILD_DIR} does not exist.")
+  endif()
+
+  # Reset CMake module path to the cmake directory in the Ceres source
+  # tree which was exported, thus we will use the FindPackage() scripts shipped
+  # with Ceres to find Ceres' dependencies, even if the user has equivalently
+  # named FindPackage() scripts in their project.
+  set(CMAKE_MODULE_PATH ${CERES_EXPORTED_SOURCE_DIR}/cmake)
+
+  # Set the include directories for Ceres (itself).
+  set(CERES_INCLUDE_DIR "${CERES_EXPORTED_SOURCE_DIR}/include")
+  if (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+    ceres_report_not_found(
+      "Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, "
+      "determined from relative path from CeresConfig.cmake exported build "
+      "directory: ${CERES_EXPORTED_BUILD_DIR}, does not contain Ceres headers.")
+  endif (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
+  list(APPEND CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
+
+  # Append the path to the configured config.h in the exported build directory
+  # to the Ceres include directories.
+  set(CERES_CONFIG_FILE
+    ${CERES_EXPORTED_BUILD_DIR}/config/ceres/internal/config.h)
+  if (NOT EXISTS ${CERES_CONFIG_FILE})
+    ceres_report_not_found(
+      "Ceres exported build directory: ${CERES_EXPORTED_BUILD_DIR}, "
+      "does not contain required configured Ceres config.h, it is not here: "
+      "${CERES_CONFIG_FILE}.")
+  endif (NOT EXISTS ${CERES_CONFIG_FILE})
+  list(APPEND CERES_INCLUDE_DIRS ${CERES_EXPORTED_BUILD_DIR}/config)
+endif(CERES_WAS_INSTALLED)
+
+# Set the version.
+set(CERES_VERSION @CERES_VERSION@ )
+
+# Eigen.
+# Flag set during configuration and build of Ceres.
+set(CERES_EIGEN_VERSION @EIGEN_VERSION@)
+set(EIGEN_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION@)
+# Append the locations of Eigen when Ceres was built to the search path hints.
+if (EIGEN_WAS_BUILT_WITH_CMAKE)
+  set(Eigen3_DIR @Eigen3_DIR@)
+  set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
+else()
+  list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@)
+endif()
+# Search quietly to control the timing of the error message if not found. The
+# search should be for an exact match, but for usability reasons do a soft
+# match and reject with an explanation below.
+find_package(Eigen ${CERES_EIGEN_VERSION} QUIET)
+if (EIGEN_FOUND)
+  if (NOT EIGEN_VERSION VERSION_EQUAL CERES_EIGEN_VERSION)
+    # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
+    # specified version. However, only version = is supported. Improve
+    # usability by explaining why we don't accept non-exact version matching.
+    ceres_report_not_found("Found Eigen dependency, but the version of Eigen "
+      "found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
+      "Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle "
+      "bugs by triggering violations of the One Definition Rule. See the "
+      "Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
+      "for more details")
+  endif ()
+  message(STATUS "Found required Ceres dependency: "
+    "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
+else (EIGEN_FOUND)
+  ceres_report_not_found("Missing required Ceres "
+    "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set "
+    "EIGEN_INCLUDE_DIR.")
+endif (EIGEN_FOUND)
+list(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+
+# Glog.
+# Flag set during configuration and build of Ceres.
+set(CERES_USES_MINIGLOG @MINIGLOG@)
+set(CERES_USES_GFLAGS @GFLAGS@)
+if (CERES_USES_MINIGLOG)
+  set(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog)
+  if (NOT CERES_WAS_INSTALLED)
+    # When Ceres was exported from the build tree, the miniglog headers
+    # will be in Ceres internal source directory, not in the public headers
+    # directory (they are copied with the public headers when installed).
+    set(MINIGLOG_INCLUDE_DIR
+      ${CERES_EXPORTED_SOURCE_DIR}/internal/ceres/miniglog)
+  endif()
+  if (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
+    ceres_report_not_found(
+      "Failed to find miniglog headers in expected include directory: "
+      "${MINIGLOG_INCLUDE_DIR}, but Ceres was compiled with MINIGLOG enabled "
+      "(in place of glog).")
+  endif (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
+  list(APPEND CERES_INCLUDE_DIRS ${MINIGLOG_INCLUDE_DIR})
+  # Output message at standard log level (not the lower STATUS) so that
+  # the message is output in GUI during configuration to warn user.
+  message("-- Found Ceres compiled with miniglog substitute "
+    "for glog, beware this will likely cause problems if glog is later linked.")
+else (CERES_USES_MINIGLOG)
+  # Append the locations of glog when Ceres was built to the search path hints.
+  set(GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@)
+  if (GLOG_WAS_BUILT_WITH_CMAKE)
+    set(glog_DIR @glog_DIR@)
+    set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
+  else()
+    list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
+    get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
+    list(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR})
+  endif()
+
+  # Search quietly s/t we control the timing of the error message if not found.
+  find_package(Glog QUIET)
+  if (GLOG_FOUND)
+    message(STATUS "Found required Ceres dependency: glog")
+  else (GLOG_FOUND)
+    ceres_report_not_found("Missing required Ceres "
+      "dependency: glog. Searched using GLOG_INCLUDE_DIR_HINTS: "
+      "${GLOG_INCLUDE_DIR_HINTS} and glog_DIR: ${glog_DIR}.")
+  endif (GLOG_FOUND)
+  list(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
+
+  # gflags is only a public dependency of Ceres via glog, thus is not required
+  # if Ceres was built with MINIGLOG.
+  if (CERES_USES_GFLAGS)
+    # If gflags was found as an imported CMake target, we need to call
+    # find_packge(Gflags) again here, as imported CMake targets are not
+    # re-exported.  Without this, the 'gflags-shared' target name which is
+    # present in CERES_LIBRARIES in this case would not be defined, and so
+    # CMake will assume it is a library name (which it is not) and fail to link.
+    #
+    # Append the locations of gflags when Ceres was built to the search path
+    # hints.
+    set(GFLAGS_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION@)
+    if (GFLAGS_WAS_BUILT_WITH_CMAKE)
+      set(gflags_DIR @gflags_DIR@)
+      set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
+    else()
+      list(APPEND GFLAGS_INCLUDE_DIR_HINTS @GFLAGS_INCLUDE_DIR@)
+      get_filename_component(CERES_BUILD_GFLAGS_LIBRARY_DIR @GFLAGS_LIBRARY@ PATH)
+      list(APPEND GFLAGS_LIBRARY_DIR_HINTS ${CERES_BUILD_GFLAGS_LIBRARY_DIR})
+    endif()
+
+    # Search quietly s/t we control the timing of the error message if not found.
+    find_package(Gflags QUIET)
+    if (GFLAGS_FOUND)
+      message(STATUS "Found required Ceres dependency: gflags")
+    else()
+      ceres_report_not_found("Missing required Ceres "
+        "dependency: gflags. Searched using GFLAGS_INCLUDE_DIR_HINTS: "
+        "${GFLAGS_INCLUDE_DIR_HINTS} and gflags_DIR: ${gflags_DIR}.")
+    endif()
+    list(APPEND CERES_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIR_HINTS})
+  endif()
+endif (CERES_USES_MINIGLOG)
+
+# Import exported Ceres targets, if they have not already been imported.
+if (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
+  include(${CERES_CURRENT_CONFIG_DIR}/CeresTargets.cmake)
+endif (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
+# Set the expected XX_LIBRARIES variable for FindPackage().
+set(CERES_LIBRARIES ceres)
+
+# Make user aware of any compile flags that will be added to their targets
+# which use Ceres (i.e. flags exported in the Ceres target).  Only CMake
+# versions >= 2.8.12 support target_compile_options().
+if (TARGET ${CERES_LIBRARIES} AND
+    NOT CMAKE_VERSION VERSION_LESS "2.8.12")
+  get_target_property(CERES_INTERFACE_COMPILE_OPTIONS
+    ${CERES_LIBRARIES} INTERFACE_COMPILE_OPTIONS)
+
+  if (CERES_WAS_INSTALLED)
+    set(CERES_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
+  else()
+    set(CERES_LOCATION "${CERES_EXPORTED_BUILD_DIR}")
+  endif()
+
+  # Check for -std=c++11 flags.
+  if (CERES_INTERFACE_COMPILE_OPTIONS MATCHES ".*std=c\\+\\+11.*")
+    message(STATUS "Ceres version ${CERES_VERSION} detected here: "
+      "${CERES_LOCATION} was built with C++11. Ceres target will add "
+      "C++11 flags to compile options for targets using it.")
+  endif()
+endif()
+
+# Set legacy include directories variable for backwards compatibility.
+set(CERES_INCLUDES ${CERES_INCLUDE_DIRS})
+
+# Reset CMake module path to its state when this script was called.
+set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+# Build the detected Ceres version string to correctly capture whether it
+# was installed, or exported.
+ceres_pretty_print_cmake_list(CERES_COMPILED_COMPONENTS_STRING
+  ${CERES_COMPILED_COMPONENTS})
+if (CERES_WAS_INSTALLED)
+  set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
+    "installed in: ${CURRENT_ROOT_INSTALL_DIR} with components: "
+    "${CERES_COMPILED_COMPONENTS_STRING}")
+else (CERES_WAS_INSTALLED)
+  set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
+    "exported from build directory: ${CERES_EXPORTED_BUILD_DIR} with "
+    "components: ${CERES_COMPILED_COMPONENTS_STRING}")
+endif()
+
+# If the user called this script through find_package() whilst specifying
+# particular Ceres components that should be found via:
+# find_package(Ceres COMPONENTS XXX YYY), check the requested components against
+# those with which Ceres was compiled.  In this case, we should only report
+# Ceres as found if all the requested components have been found.
+if (Ceres_FIND_COMPONENTS)
+  foreach (REQUESTED_COMPONENT ${Ceres_FIND_COMPONENTS})
+    list(FIND CERES_COMPILED_COMPONENTS ${REQUESTED_COMPONENT} HAVE_REQUESTED_COMPONENT)
+    # list(FIND ..) returns -1 if the element was not in the list, but CMake
+    # interprets if (VAR) to be true if VAR is any non-zero number, even
+    # negative ones, hence we have to explicitly check for >= 0.
+    if (HAVE_REQUESTED_COMPONENT EQUAL -1)
+      # Check for the presence of all requested components before reporting
+      # not found, such that we report all of the missing components rather
+      # than just the first.
+      list(APPEND MISSING_CERES_COMPONENTS ${REQUESTED_COMPONENT})
+    endif()
+  endforeach()
+  if (MISSING_CERES_COMPONENTS)
+    ceres_pretty_print_cmake_list(REQUESTED_CERES_COMPONENTS_STRING
+      ${Ceres_FIND_COMPONENTS})
+    ceres_pretty_print_cmake_list(MISSING_CERES_COMPONENTS_STRING
+      ${MISSING_CERES_COMPONENTS})
+    ceres_report_not_found("Missing requested Ceres components: "
+      "${MISSING_CERES_COMPONENTS_STRING} (components requested: "
+      "${REQUESTED_CERES_COMPONENTS_STRING}). Detected "
+      "${CERES_DETECTED_VERSION_STRING}.")
+  endif()
+endif()
+
+# As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have
+# found Ceres and all required dependencies.
+message(STATUS "Found " ${CERES_DETECTED_VERSION_STRING})
+
+# Set CERES_FOUND to be equivalent to Ceres_FOUND, which is set to
+# TRUE by FindPackage() if this file is found and run, and after which
+# Ceres_FOUND is not (explicitly, i.e. undefined does not count) set
+# to FALSE.
+set(CERES_FOUND TRUE)
diff --git a/cmake/CeresConfigVersion.cmake.in b/cmake/CeresConfigVersion.cmake.in
new file mode 100644
index 0000000..5ff36eb
--- /dev/null
+++ b/cmake/CeresConfigVersion.cmake.in
@@ -0,0 +1,50 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: pablo.speciale@gmail.com (Pablo Speciale)
+#
+# FIND_PACKAGE() searches for a <package>Config.cmake file and an associated
+# <package>Version.cmake file, which it loads to check the version number.
+#
+# This file can be used with CONFIGURE_FILE() to generate such a file for a
+# project with very basic logic.
+#
+# It sets PACKAGE_VERSION_EXACT if the current version string and the requested
+# version string are exactly the same and it sets PACKAGE_VERSION_COMPATIBLE
+# if the current version is >= requested version.
+
+set(PACKAGE_VERSION @CERES_VERSION@)
+
+if ("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+   set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else ("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+   set(PACKAGE_VERSION_COMPATIBLE TRUE)
+   if ("${PACKAGE_FIND_VERSION}" STREQUAL "${PACKAGE_VERSION}")
+      set(PACKAGE_VERSION_EXACT TRUE)
+   endif ("${PACKAGE_FIND_VERSION}" STREQUAL "${PACKAGE_VERSION}")
+endif ("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
diff --git a/cmake/CheckIfUnderscorePrefixedBesselFunctionsExist.cmake b/cmake/CheckIfUnderscorePrefixedBesselFunctionsExist.cmake
new file mode 100644
index 0000000..a05721c
--- /dev/null
+++ b/cmake/CheckIfUnderscorePrefixedBesselFunctionsExist.cmake
@@ -0,0 +1,54 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+
+# Microsoft deprecated the POSIX Bessel functions: j[0,1,n]() in favour
+# of _j[0,1,n](), it appears since at least MSVC 2005 [1].  This function
+# checks if the underscore prefixed versions of the Bessel functions are
+# defined, and sets ${HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS_VAR} to
+# TRUE if they do.
+#
+# [1] https://msdn.microsoft.com/en-us/library/ms235384(v=vs.100).aspx
+function(check_if_underscore_prefixed_bessel_functions_exist
+    HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS_VAR)
+  include(CheckCXXSourceCompiles)
+  check_cxx_source_compiles(
+    "#include <math.h>
+     int main(int argc, char * argv[]) {
+       double result;
+       result = _j0(1.2345);
+       result = _j1(1.2345);
+       result = _jn(2, 1.2345);
+       return 0;
+     }"
+     HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+   set(${HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS_VAR}
+     ${HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS}
+     PARENT_SCOPE)
+endfunction()
diff --git a/cmake/CreateCeresConfig.cmake b/cmake/CreateCeresConfig.cmake
new file mode 100644
index 0000000..89db68c
--- /dev/null
+++ b/cmake/CreateCeresConfig.cmake
@@ -0,0 +1,115 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+
+# This must take place outside of CONFIGURE_CERES_CONFIG() in order that
+# we can determine where *this* file is, and thus the relative path to
+# config.h.in.  Inside of CONFIGURE_CERES_CONFIG(), CMAKE_CURRENT_LIST_DIR
+# refers to the caller of CONFIGURE_CERES_CONFIG(), not this file.
+set(CERES_CONFIG_IN_FILE "${CMAKE_CURRENT_LIST_DIR}/config.h.in")
+
+# CreateCeresConfig.cmake - Create the config.h for Ceres.
+#
+# This function configures the Ceres config.h file based on the current
+# compile options and copies it into the specified location.  It should be
+# called before Ceres is built so that the correct config.h is used when
+# Ceres is compiled.
+#
+# INPUTS:
+#   CURRENT_CERES_COMPILE_OPTIONS: List of currently enabled Ceres compile
+#                                  options. These are compared against the
+#                                  full list of valid options, which are read
+#                                  from config.h.in.  Any options present
+#                                  which are not part of the valid set will
+#                                  invoke an error.  Any valid option present
+#                                  will be enabled in the resulting config.h,
+#                                  all other options will be disabled.
+#
+#   CERES_CONFIG_OUTPUT_DIRECTORY: Path to output directory in which to save
+#                                  the configured config.h.  Typically this
+#                                  will be <src>/include/ceres/internal.
+
+function(CREATE_CERES_CONFIG CURRENT_CERES_COMPILE_OPTIONS CERES_CONFIG_OUTPUT_DIRECTORY)
+  # Create the specified output directory if it does not exist.
+  if (NOT EXISTS "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+    message(STATUS "Creating configured Ceres config.h output directory: "
+      "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+    file(MAKE_DIRECTORY "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+  endif()
+  if (EXISTS "${CERES_CONFIG_OUTPUT_DIRECTORY}" AND
+      NOT IS_DIRECTORY "${CERES_CONFIG_OUTPUT_DIRECTORY}")
+    message(FATAL_ERROR "Ceres Bug: Specified CERES_CONFIG_OUTPUT_DIRECTORY: "
+      "${CERES_CONFIG_OUTPUT_DIRECTORY} exists, but is not a directory.")
+  endif()
+
+  # Read all possible configurable compile options from config.h.in, this avoids
+  # us having to hard-code in this file what the valid options are.
+  file(READ ${CERES_CONFIG_IN_FILE} CERES_CONFIG_IN_CONTENTS)
+  string(REGEX MATCHALL "@[^@ $]+@"
+    ALL_CONFIGURABLE_CERES_OPTIONS "${CERES_CONFIG_IN_CONTENTS}")
+  # Removing @ symbols at beginning and end of each option.
+  string(REPLACE "@" ""
+    ALL_CONFIGURABLE_CERES_OPTIONS "${ALL_CONFIGURABLE_CERES_OPTIONS}")
+
+  # Ensure that there are no repetitions in the current compile options.
+  list(REMOVE_DUPLICATES CURRENT_CERES_COMPILE_OPTIONS)
+
+  foreach (CERES_OPTION ${ALL_CONFIGURABLE_CERES_OPTIONS})
+    # Try and find the option in the list of current compile options, if it
+    # is present, then the option is enabled, otherwise it is disabled.
+    list(FIND CURRENT_CERES_COMPILE_OPTIONS ${CERES_OPTION} OPTION_ENABLED)
+
+    # list(FIND ..) returns -1 if the element was not in the list, but CMake
+    # interprets if (VAR) to be true if VAR is any non-zero number, even
+    # negative ones, hence we have to explicitly check for >= 0.
+    if (OPTION_ENABLED GREATER -1)
+      message(STATUS "Enabling ${CERES_OPTION} in Ceres config.h")
+      set(${CERES_OPTION} "#define ${CERES_OPTION}")
+
+      # Remove the item from the list of current options so that we can identify
+      # any options that were in CURRENT_CERES_COMPILE_OPTIONS, but not in
+      # ALL_CONFIGURABLE_CERES_OPTIONS (which is an error).
+      list(REMOVE_ITEM CURRENT_CERES_COMPILE_OPTIONS ${CERES_OPTION})
+    else()
+      set(${CERES_OPTION} "// #define ${CERES_OPTION}")
+    endif()
+  endforeach()
+
+  # CURRENT_CERES_COMPILE_OPTIONS should now be an empty list, any elements
+  # remaining were not present in ALL_CONFIGURABLE_CERES_OPTIONS read from
+  # config.h.in.
+  if (CURRENT_CERES_COMPILE_OPTIONS)
+    message(FATAL_ERROR "Ceres Bug: CURRENT_CERES_COMPILE_OPTIONS contained "
+      "the following options which were not present in config.h.in: "
+      "${CURRENT_CERES_COMPILE_OPTIONS}")
+  endif()
+
+  configure_file(${CERES_CONFIG_IN_FILE}
+    "${CERES_CONFIG_OUTPUT_DIRECTORY}/config.h" @ONLY)
+endfunction()
diff --git a/cmake/FindCXSparse.cmake b/cmake/FindCXSparse.cmake
new file mode 100644
index 0000000..3f4b015
--- /dev/null
+++ b/cmake/FindCXSparse.cmake
@@ -0,0 +1,240 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindCXSparse.cmake - Find CXSparse libraries & dependencies.
+#
+# This module defines the following variables which should be referenced
+# by the caller to use the library.
+#
+# CXSPARSE_FOUND: TRUE iff CXSparse and all dependencies have been found.
+# CXSPARSE_INCLUDE_DIRS: Include directories for CXSparse.
+# CXSPARSE_LIBRARIES: Libraries for CXSparse and all dependencies.
+#
+# CXSPARSE_VERSION: Extracted from cs.h.
+# CXSPARSE_MAIN_VERSION: Equal to 3 if CXSPARSE_VERSION = 3.1.2
+# CXSPARSE_SUB_VERSION: Equal to 1 if CXSPARSE_VERSION = 3.1.2
+# CXSPARSE_SUBSUB_VERSION: Equal to 2 if CXSPARSE_VERSION = 3.1.2
+#
+# The following variables control the behaviour of this module:
+#
+# CXSPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                             search for CXSparse includes,
+#                             e.g: /timbuktu/include.
+# CXSPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to
+#                             search for CXSparse libraries, e.g: /timbuktu/lib.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead).  These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# CXSPARSE_INCLUDE_DIR: Include directory for CXSparse, not including the
+#                       include directory of any dependencies.
+# CXSPARSE_LIBRARY: CXSparse library, not including the libraries of any
+#                   dependencies.
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindCXSparse was invoked.
+macro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX)
+  if (MSVC)
+    set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+  endif (MSVC)
+endmacro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find CXSparse or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(CXSPARSE_REPORT_NOT_FOUND REASON_MSG)
+  unset(CXSPARSE_FOUND)
+  unset(CXSPARSE_INCLUDE_DIRS)
+  unset(CXSPARSE_LIBRARIES)
+  # Make results of search visible in the CMake GUI if CXSparse has not
+  # been found so that user does not have to toggle to advanced view.
+  mark_as_advanced(CLEAR CXSPARSE_INCLUDE_DIR
+                         CXSPARSE_LIBRARY)
+
+  cxsparse_reset_find_library_prefix()
+
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (CXSparse_FIND_QUIETLY)
+    message(STATUS "Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
+  elseif (CXSparse_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(CXSPARSE_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set CXSPARSE_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(CXSPARSE_FOUND)
+
+# Handle possible presence of lib prefix for libraries on MSVC, see
+# also CXSPARSE_RESET_FIND_LIBRARY_PREFIX().
+if (MSVC)
+  # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+  # s/t we can set it back before returning.
+  set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+  # The empty string in this list is important, it represents the case when
+  # the libraries have no prefix (shared libraries / DLLs).
+  set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+endif (MSVC)
+
+# Search user-installed locations first, so that we prefer user installs
+# to system installs where both exist.
+#
+# TODO: Add standard Windows search locations for CXSparse.
+list(APPEND CXSPARSE_CHECK_INCLUDE_DIRS
+  /usr/local/include
+  /usr/local/homebrew/include # Mac OS X
+  /opt/local/var/macports/software # Mac OS X.
+  /opt/local/include
+  /usr/include)
+list(APPEND CXSPARSE_CHECK_LIBRARY_DIRS
+  /usr/local/lib
+  /usr/local/homebrew/lib # Mac OS X.
+  /opt/local/lib
+  /usr/lib)
+# Additional suffixes to try appending to each search path.
+list(APPEND CXSPARSE_CHECK_PATH_SUFFIXES
+  suitesparse) # Linux/Windows
+
+# Search supplied hint directories first if supplied.
+find_path(CXSPARSE_INCLUDE_DIR
+  NAMES cs.h
+  HINTS ${CXSPARSE_INCLUDE_DIR_HINTS}
+  PATHS ${CXSPARSE_CHECK_INCLUDE_DIRS}
+  PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES})
+if (NOT CXSPARSE_INCLUDE_DIR OR
+    NOT EXISTS ${CXSPARSE_INCLUDE_DIR})
+  cxsparse_report_not_found(
+    "Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR "
+    "to directory containing cs.h")
+endif (NOT CXSPARSE_INCLUDE_DIR OR
+       NOT EXISTS ${CXSPARSE_INCLUDE_DIR})
+
+find_library(CXSPARSE_LIBRARY NAMES cxsparse
+  HINTS ${CXSPARSE_LIBRARY_DIR_HINTS}
+  PATHS ${CXSPARSE_CHECK_LIBRARY_DIRS}
+  PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES})
+if (NOT CXSPARSE_LIBRARY OR
+    NOT EXISTS ${CXSPARSE_LIBRARY})
+  cxsparse_report_not_found(
+    "Could not find CXSparse library, set CXSPARSE_LIBRARY "
+    "to full path to libcxsparse.")
+endif (NOT CXSPARSE_LIBRARY OR
+       NOT EXISTS ${CXSPARSE_LIBRARY})
+
+# Mark internally as found, then verify. CXSPARSE_REPORT_NOT_FOUND() unsets
+# if called.
+set(CXSPARSE_FOUND TRUE)
+
+# Extract CXSparse version from cs.h
+if (CXSPARSE_INCLUDE_DIR)
+  set(CXSPARSE_VERSION_FILE ${CXSPARSE_INCLUDE_DIR}/cs.h)
+  if (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+    cxsparse_report_not_found(
+      "Could not find file: ${CXSPARSE_VERSION_FILE} "
+      "containing version information in CXSparse install located at: "
+      "${CXSPARSE_INCLUDE_DIR}.")
+  else (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+    file(READ ${CXSPARSE_INCLUDE_DIR}/cs.h CXSPARSE_VERSION_FILE_CONTENTS)
+
+    string(REGEX MATCH "#define CS_VER [0-9]+"
+      CXSPARSE_MAIN_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define CS_VER ([0-9]+)" "\\1"
+      CXSPARSE_MAIN_VERSION "${CXSPARSE_MAIN_VERSION}")
+
+    string(REGEX MATCH "#define CS_SUBVER [0-9]+"
+      CXSPARSE_SUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define CS_SUBVER ([0-9]+)" "\\1"
+      CXSPARSE_SUB_VERSION "${CXSPARSE_SUB_VERSION}")
+
+    string(REGEX MATCH "#define CS_SUBSUB [0-9]+"
+      CXSPARSE_SUBSUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define CS_SUBSUB ([0-9]+)" "\\1"
+      CXSPARSE_SUBSUB_VERSION "${CXSPARSE_SUBSUB_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 3.;1.;2 nonsense.
+    set(CXSPARSE_VERSION "${CXSPARSE_MAIN_VERSION}.${CXSPARSE_SUB_VERSION}.${CXSPARSE_SUBSUB_VERSION}")
+  endif (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+endif (CXSPARSE_INCLUDE_DIR)
+
+# Catch the case when the caller has set CXSPARSE_LIBRARY in the cache / GUI and
+# thus FIND_LIBRARY was not called, but specified library is invalid, otherwise
+# we would report CXSparse as found.
+# TODO: This regex for CXSparse library is pretty primitive, we use lowercase
+#       for comparison to handle Windows using CamelCase library names, could
+#       this check be better?
+string(TOLOWER "${CXSPARSE_LIBRARY}" LOWERCASE_CXSPARSE_LIBRARY)
+if (CXSPARSE_LIBRARY AND
+    EXISTS ${CXSPARSE_LIBRARY} AND
+    NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*")
+  cxsparse_report_not_found(
+    "Caller defined CXSPARSE_LIBRARY: "
+    "${CXSPARSE_LIBRARY} does not match CXSparse.")
+endif (CXSPARSE_LIBRARY AND
+       EXISTS ${CXSPARSE_LIBRARY} AND
+       NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*")
+
+# Set standard CMake FindPackage variables if found.
+if (CXSPARSE_FOUND)
+  set(CXSPARSE_INCLUDE_DIRS ${CXSPARSE_INCLUDE_DIR})
+  set(CXSPARSE_LIBRARIES ${CXSPARSE_LIBRARY})
+endif (CXSPARSE_FOUND)
+
+cxsparse_reset_find_library_prefix()
+
+# Handle REQUIRED / QUIET optional arguments and version.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CXSparse
+  REQUIRED_VARS CXSPARSE_INCLUDE_DIRS CXSPARSE_LIBRARIES
+  VERSION_VAR CXSPARSE_VERSION)
+
+# Only mark internal variables as advanced if we found CXSparse, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+if (CXSPARSE_FOUND)
+  mark_as_advanced(FORCE CXSPARSE_INCLUDE_DIR
+                         CXSPARSE_LIBRARY)
+endif (CXSPARSE_FOUND)
diff --git a/cmake/FindEigen.cmake b/cmake/FindEigen.cmake
new file mode 100644
index 0000000..f6d2664
--- /dev/null
+++ b/cmake/FindEigen.cmake
@@ -0,0 +1,263 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindEigen.cmake - Find Eigen library, version >= 3.
+#
+# This module defines the following variables:
+#
+# EIGEN_FOUND: TRUE iff Eigen is found.
+# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
+# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
+# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
+# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
+# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
+# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen
+#                                            found was built & installed /
+#                                            exported as a CMake package.
+#
+# The following variables control the behaviour of this module:
+#
+# EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
+#                           then prefer using an exported CMake configuration
+#                           generated by Eigen over searching for the
+#                           Eigen components manually.  Otherwise (FALSE)
+#                           ignore any exported Eigen CMake configurations and
+#                           always perform a manual search for the components.
+#                           Default: TRUE iff user does not define this variable
+#                           before we are called, and does NOT specify
+#                           EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.
+# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                          search for eigen includes, e.g: /timbuktu/eigen3.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead).  These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
+#                    include directory of any dependencies.
+
+# Called if we failed to find Eigen or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
+  unset(EIGEN_FOUND)
+  unset(EIGEN_INCLUDE_DIRS)
+  unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)
+  # Make results of search visible in the CMake GUI if Eigen has not
+  # been found so that user does not have to toggle to advanced view.
+  mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (Eigen_FIND_QUIETLY)
+    message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  elseif (Eigen_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(EIGEN_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set EIGEN_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(EIGEN_FOUND)
+
+# -----------------------------------------------------------------
+# By default, if the user has expressed no preference for using an exported
+# Eigen CMake configuration over performing a search for the installed
+# components, and has not specified any hints for the search locations, then
+# prefer an exported configuration if available.
+if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION
+    AND NOT EIGEN_INCLUDE_DIR_HINTS)
+  message(STATUS "No preference for use of exported Eigen CMake configuration "
+    "set, and no hints for include directory provided. "
+    "Defaulting to preferring an installed/exported Eigen CMake configuration "
+    "if available.")
+  set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
+endif()
+
+if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)
+  # Try to find an exported CMake configuration for Eigen.
+  #
+  # We search twice, s/t we can invert the ordering of precedence used by
+  # find_package() for exported package build directories, and installed
+  # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
+  # respectively in [1].
+  #
+  # By default, exported build directories are (in theory) detected first, and
+  # this is usually the case on Windows.  However, on OS X & Linux, the install
+  # path (/usr/local) is typically present in the PATH environment variable
+  # which is checked in item 4) in [1] (i.e. before both of the above, unless
+  # NO_SYSTEM_ENVIRONMENT_PATH is passed).  As such on those OSs installed
+  # packages are usually detected in preference to exported package build
+  # directories.
+  #
+  # To ensure a more consistent response across all OSs, and as users usually
+  # want to prefer an installed version of a package over a locally built one
+  # where both exist (esp. as the exported build directory might be removed
+  # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
+  # means any build directories exported by the user are ignored, and thus
+  # installed directories are preferred.  If this fails to find the package
+  # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
+  # exported build directories will now be detected.
+  #
+  # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
+  # is item 5) in [1]), to not preferentially use projects that were built
+  # recently with the CMake GUI to ensure that we always prefer an installed
+  # version if available.
+  #
+  # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
+  find_package(Eigen3 QUIET
+                      NO_MODULE
+                      NO_CMAKE_PACKAGE_REGISTRY
+                      NO_CMAKE_BUILDS_PATH)
+  if (EIGEN3_FOUND)
+    message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")
+  else()
+    # Failed to find an installed version of Eigen, repeat search allowing
+    # exported build directories.
+    message(STATUS "Failed to find installed Eigen CMake configuration, "
+      "searching for Eigen build directories exported with CMake.")
+    # Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and
+    # do not want to treat projects built with the CMake GUI preferentially.
+    find_package(Eigen3 QUIET
+                        NO_MODULE
+                        NO_CMAKE_BUILDS_PATH)
+    if (EIGEN3_FOUND)
+      message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")
+    endif()
+  endif()
+  if (EIGEN3_FOUND)
+    set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)
+    set(EIGEN_FOUND ${EIGEN3_FOUND})
+    set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING
+      "Eigen include directory" FORCE)
+  else()
+    message(STATUS "Failed to find an installed/exported CMake configuration "
+      "for Eigen, will perform search for installed Eigen components.")
+  endif()
+endif()
+
+if (NOT EIGEN_FOUND)
+  # Search user-installed locations first, so that we prefer user installs
+  # to system installs where both exist.
+  list(APPEND EIGEN_CHECK_INCLUDE_DIRS
+    /usr/local/include
+    /usr/local/homebrew/include # Mac OS X
+    /opt/local/var/macports/software # Mac OS X.
+    /opt/local/include
+    /usr/include)
+  # Additional suffixes to try appending to each search path.
+  list(APPEND EIGEN_CHECK_PATH_SUFFIXES
+    eigen3 # Default root directory for Eigen.
+    Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
+    Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
+
+  # Search supplied hint directories first if supplied.
+  find_path(EIGEN_INCLUDE_DIR
+    NAMES Eigen/Core
+    HINTS ${EIGEN_INCLUDE_DIR_HINTS}
+    PATHS ${EIGEN_CHECK_INCLUDE_DIRS}
+    PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
+
+  if (NOT EIGEN_INCLUDE_DIR OR
+      NOT EXISTS ${EIGEN_INCLUDE_DIR})
+    eigen_report_not_found(
+      "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
+      "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
+  endif (NOT EIGEN_INCLUDE_DIR OR
+    NOT EXISTS ${EIGEN_INCLUDE_DIR})
+
+  # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
+  # if called.
+  set(EIGEN_FOUND TRUE)
+endif()
+
+# Extract Eigen version from Eigen/src/Core/util/Macros.h
+if (EIGEN_INCLUDE_DIR)
+  set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)
+  if (NOT EXISTS ${EIGEN_VERSION_FILE})
+    eigen_report_not_found(
+      "Could not find file: ${EIGEN_VERSION_FILE} "
+      "containing version information in Eigen install located at: "
+      "${EIGEN_INCLUDE_DIR}.")
+  else (NOT EXISTS ${EIGEN_VERSION_FILE})
+    file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
+
+    string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
+      EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
+      EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
+
+    string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
+      EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
+      EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
+
+    string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
+      EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
+    string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
+      EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
+    set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
+  endif (NOT EXISTS ${EIGEN_VERSION_FILE})
+endif (EIGEN_INCLUDE_DIR)
+
+# Set standard CMake FindPackage variables if found.
+if (EIGEN_FOUND)
+  set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+endif (EIGEN_FOUND)
+
+# Handle REQUIRED / QUIET optional arguments and version.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen
+  REQUIRED_VARS EIGEN_INCLUDE_DIRS
+  VERSION_VAR EIGEN_VERSION)
+
+# Only mark internal variables as advanced if we found Eigen, otherwise
+# leave it visible in the standard GUI for the user to set manually.
+if (EIGEN_FOUND)
+  mark_as_advanced(FORCE EIGEN_INCLUDE_DIR
+    Eigen3_DIR) # Autogenerated by find_package(Eigen3)
+endif (EIGEN_FOUND)
diff --git a/cmake/FindGflags.cmake b/cmake/FindGflags.cmake
new file mode 100644
index 0000000..32c04ea
--- /dev/null
+++ b/cmake/FindGflags.cmake
@@ -0,0 +1,591 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindGflags.cmake - Find Google gflags logging library.
+#
+# This module will attempt to find gflags, either via an exported CMake
+# configuration (generated by gflags >= 2.1 which are built with CMake), or
+# by performing a standard search for all gflags components.  The order of
+# precedence for these two methods of finding gflags is controlled by:
+# GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION.
+#
+# This module defines the following variables:
+#
+# GFLAGS_FOUND: TRUE iff gflags is found.
+# GFLAGS_INCLUDE_DIRS: Include directories for gflags.
+# GFLAGS_LIBRARIES: Libraries required to link gflags.
+# GFLAGS_NAMESPACE: The namespace in which gflags is defined.  In versions of
+#                   gflags < 2.1, this was google, for versions >= 2.1 it is
+#                   by default gflags, although can be configured when building
+#                   gflags to be something else (i.e. google for legacy
+#                   compatibility).
+# FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION: True iff the version of gflags
+#                                             found was built & installed /
+#                                             exported as a CMake package.
+#
+# The following variables control the behaviour of this module when an exported
+# gflags CMake configuration is not found.
+#
+# GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
+#                           then prefer using an exported CMake configuration
+#                           generated by gflags >= 2.1 over searching for the
+#                           gflags components manually.  Otherwise (FALSE)
+#                           ignore any exported gflags CMake configurations and
+#                           always perform a manual search for the components.
+#                           Default: TRUE iff user does not define this variable
+#                           before we are called, and does NOT specify either
+#                           GFLAGS_INCLUDE_DIR_HINTS or GFLAGS_LIBRARY_DIR_HINTS
+#                           otherwise FALSE.
+# GFLAGS_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                           search for gflags includes, e.g: /timbuktu/include.
+# GFLAGS_LIBRARY_DIR_HINTS: List of additional directories in which to
+#                           search for gflags libraries, e.g: /timbuktu/lib.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead).  These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# GFLAGS_INCLUDE_DIR: Include directory for gflags, not including the
+#                     include directory of any dependencies.
+# GFLAGS_LIBRARY: gflags library, not including the libraries of any
+#                 dependencies.
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when FindGflags was
+# invoked, necessary for MSVC.
+macro(GFLAGS_RESET_FIND_LIBRARY_PREFIX)
+  if (MSVC AND CALLERS_CMAKE_FIND_LIBRARY_PREFIXES)
+    set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+  endif()
+endmacro(GFLAGS_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find gflags or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(GFLAGS_REPORT_NOT_FOUND REASON_MSG)
+  unset(GFLAGS_FOUND)
+  unset(GFLAGS_INCLUDE_DIRS)
+  unset(GFLAGS_LIBRARIES)
+  # Do not use unset, as we want to keep GFLAGS_NAMESPACE in the cache,
+  # but simply clear its value.
+  set(GFLAGS_NAMESPACE "" CACHE STRING
+    "gflags namespace (google or gflags)" FORCE)
+
+  # Make results of search visible in the CMake GUI if gflags has not
+  # been found so that user does not have to toggle to advanced view.
+  mark_as_advanced(CLEAR GFLAGS_INCLUDE_DIR
+                         GFLAGS_LIBRARY
+                         GFLAGS_NAMESPACE)
+
+  gflags_reset_find_library_prefix()
+
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (Gflags_FIND_QUIETLY)
+    message(STATUS "Failed to find gflags - " ${REASON_MSG} ${ARGN})
+  elseif (Gflags_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find gflags - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find gflags - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(GFLAGS_REPORT_NOT_FOUND)
+
+# Verify that all variable names passed as arguments are defined (can be empty
+# but must be defined) or raise a fatal error.
+macro(GFLAGS_CHECK_VARS_DEFINED)
+  foreach(CHECK_VAR ${ARGN})
+    if (NOT DEFINED ${CHECK_VAR})
+      message(FATAL_ERROR "Ceres Bug: ${CHECK_VAR} is not defined.")
+    endif()
+  endforeach()
+endmacro(GFLAGS_CHECK_VARS_DEFINED)
+
+# Use check_cxx_source_compiles() to compile trivial test programs to determine
+# the gflags namespace.  This works on all OSs except Windows.  If using Visual
+# Studio, it fails because msbuild forces check_cxx_source_compiles() to use
+# CMAKE_BUILD_TYPE=Debug for the test project, which usually breaks detection
+# because MSVC requires that the test project use the same build type as gflags,
+# which would normally be built in Release.
+#
+# Defines: GFLAGS_NAMESPACE in the caller's scope with the detected namespace,
+#          which is blank (empty string, will test FALSE is CMake conditionals)
+#          if detection failed.
+function(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_TRY_COMPILE)
+  # Verify that all required variables are defined.
+  gflags_check_vars_defined(
+    GFLAGS_INCLUDE_DIR GFLAGS_LIBRARY)
+  # Ensure that GFLAGS_NAMESPACE is always unset on completion unless
+  # we explicitly set if after having the correct namespace.
+  set(GFLAGS_NAMESPACE "" PARENT_SCOPE)
+
+  include(CheckCXXSourceCompiles)
+  # Setup include path & link library for gflags for CHECK_CXX_SOURCE_COMPILES.
+  set(CMAKE_REQUIRED_INCLUDES ${GFLAGS_INCLUDE_DIR})
+  set(CMAKE_REQUIRED_LIBRARIES ${GFLAGS_LIBRARY} ${GFLAGS_LINK_LIBRARIES})
+  # First try the (older) google namespace.  Note that the output variable
+  # MUST be unique to the build type as otherwise the test is not repeated as
+  # it is assumed to have already been performed.
+  check_cxx_source_compiles(
+    "#include <gflags/gflags.h>
+     int main(int argc, char * argv[]) {
+       google::ParseCommandLineFlags(&argc, &argv, true);
+       return 0;
+     }"
+     GFLAGS_IN_GOOGLE_NAMESPACE)
+  if (GFLAGS_IN_GOOGLE_NAMESPACE)
+    set(GFLAGS_NAMESPACE google PARENT_SCOPE)
+    return()
+  endif()
+
+  # Try (newer) gflags namespace instead.  Note that the output variable
+  # MUST be unique to the build type as otherwise the test is not repeated as
+  # it is assumed to have already been performed.
+  set(CMAKE_REQUIRED_INCLUDES ${GFLAGS_INCLUDE_DIR})
+  set(CMAKE_REQUIRED_LIBRARIES ${GFLAGS_LIBRARY} ${GFLAGS_LINK_LIBRARIES})
+  check_cxx_source_compiles(
+    "#include <gflags/gflags.h>
+     int main(int argc, char * argv[]) {
+        gflags::ParseCommandLineFlags(&argc, &argv, true);
+        return 0;
+     }"
+     GFLAGS_IN_GFLAGS_NAMESPACE)
+  if (GFLAGS_IN_GFLAGS_NAMESPACE)
+    set(GFLAGS_NAMESPACE gflags PARENT_SCOPE)
+    return()
+  endif (GFLAGS_IN_GFLAGS_NAMESPACE)
+endfunction(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_TRY_COMPILE)
+
+# Use regex on the gflags headers to attempt to determine the gflags namespace.
+# Checks both gflags.h (contained namespace on versions < 2.1.2) and
+# gflags_declare.h, which contains the namespace on versions >= 2.1.2.
+# In general, this method should only be used when
+# GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_TRY_COMPILE() cannot be used, or has
+# failed.
+#
+# Defines: GFLAGS_NAMESPACE in the caller's scope with the detected namespace,
+#          which is blank (empty string, will test FALSE is CMake conditionals)
+#          if detection failed.
+function(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_REGEX)
+  # Verify that all required variables are defined.
+  gflags_check_vars_defined(GFLAGS_INCLUDE_DIR)
+  # Ensure that GFLAGS_NAMESPACE is always undefined on completion unless
+  # we explicitly set if after having the correct namespace.
+  set(GFLAGS_NAMESPACE "" PARENT_SCOPE)
+
+  # Scan gflags.h to identify what namespace gflags was built with.  On
+  # versions of gflags < 2.1.2, gflags.h was configured with the namespace
+  # directly, on >= 2.1.2, gflags.h uses the GFLAGS_NAMESPACE #define which
+  # is defined in gflags_declare.h, we try each location in turn.
+  set(GFLAGS_HEADER_FILE ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h)
+  if (NOT EXISTS ${GFLAGS_HEADER_FILE})
+    gflags_report_not_found(
+      "Could not find file: ${GFLAGS_HEADER_FILE} "
+      "containing namespace information in gflags install located at: "
+      "${GFLAGS_INCLUDE_DIR}.")
+  endif()
+  file(READ ${GFLAGS_HEADER_FILE} GFLAGS_HEADER_FILE_CONTENTS)
+
+  string(REGEX MATCH "namespace [A-Za-z]+"
+    GFLAGS_NAMESPACE "${GFLAGS_HEADER_FILE_CONTENTS}")
+  string(REGEX REPLACE "namespace ([A-Za-z]+)" "\\1"
+    GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}")
+
+  if (NOT GFLAGS_NAMESPACE)
+    gflags_report_not_found(
+      "Failed to extract gflags namespace from header file: "
+      "${GFLAGS_HEADER_FILE}.")
+  endif (NOT GFLAGS_NAMESPACE)
+
+  if (GFLAGS_NAMESPACE STREQUAL "google" OR
+      GFLAGS_NAMESPACE STREQUAL "gflags")
+    # Found valid gflags namespace from gflags.h.
+    set(GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}" PARENT_SCOPE)
+    return()
+  endif()
+
+  # Failed to find gflags namespace from gflags.h, gflags is likely a new
+  # version, check gflags_declare.h, which in newer versions (>= 2.1.2) contains
+  # the GFLAGS_NAMESPACE #define, which is then referenced in gflags.h.
+  set(GFLAGS_DECLARE_FILE ${GFLAGS_INCLUDE_DIR}/gflags/gflags_declare.h)
+  if (NOT EXISTS ${GFLAGS_DECLARE_FILE})
+    gflags_report_not_found(
+      "Could not find file: ${GFLAGS_DECLARE_FILE} "
+      "containing namespace information in gflags install located at: "
+      "${GFLAGS_INCLUDE_DIR}.")
+  endif()
+  file(READ ${GFLAGS_DECLARE_FILE} GFLAGS_DECLARE_FILE_CONTENTS)
+
+  string(REGEX MATCH "#define GFLAGS_NAMESPACE [A-Za-z]+"
+    GFLAGS_NAMESPACE "${GFLAGS_DECLARE_FILE_CONTENTS}")
+  string(REGEX REPLACE "#define GFLAGS_NAMESPACE ([A-Za-z]+)" "\\1"
+    GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}")
+
+  if (NOT GFLAGS_NAMESPACE)
+    gflags_report_not_found(
+      "Failed to extract gflags namespace from declare file: "
+      "${GFLAGS_DECLARE_FILE}.")
+  endif (NOT GFLAGS_NAMESPACE)
+
+  if (GFLAGS_NAMESPACE STREQUAL "google" OR
+      GFLAGS_NAMESPACE STREQUAL "gflags")
+    # Found valid gflags namespace from gflags.h.
+    set(GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}" PARENT_SCOPE)
+    return()
+  endif()
+endfunction(GFLAGS_CHECK_GFLAGS_NAMESPACE_USING_REGEX)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set GFLAGS_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(GFLAGS_FOUND)
+
+# -----------------------------------------------------------------
+# By default, if the user has expressed no preference for using an exported
+# gflags CMake configuration over performing a search for the installed
+# components, and has not specified any hints for the search locations, then
+# prefer a gflags exported configuration if available.
+if (NOT DEFINED GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION
+    AND NOT GFLAGS_INCLUDE_DIR_HINTS
+    AND NOT GFLAGS_LIBRARY_DIR_HINTS)
+  message(STATUS "No preference for use of exported gflags CMake configuration "
+    "set, and no hints for include/library directories provided. "
+    "Defaulting to preferring an installed/exported gflags CMake configuration "
+    "if available.")
+  set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
+endif()
+
+if (GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION)
+  # Try to find an exported CMake configuration for gflags, as generated by
+  # gflags versions >= 2.1.
+  #
+  # We search twice, s/t we can invert the ordering of precedence used by
+  # find_package() for exported package build directories, and installed
+  # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
+  # respectively in [1].
+  #
+  # By default, exported build directories are (in theory) detected first, and
+  # this is usually the case on Windows.  However, on OS X & Linux, the install
+  # path (/usr/local) is typically present in the PATH environment variable
+  # which is checked in item 4) in [1] (i.e. before both of the above, unless
+  # NO_SYSTEM_ENVIRONMENT_PATH is passed).  As such on those OSs installed
+  # packages are usually detected in preference to exported package build
+  # directories.
+  #
+  # To ensure a more consistent response across all OSs, and as users usually
+  # want to prefer an installed version of a package over a locally built one
+  # where both exist (esp. as the exported build directory might be removed
+  # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
+  # means any build directories exported by the user are ignored, and thus
+  # installed directories are preferred.  If this fails to find the package
+  # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
+  # exported build directories will now be detected.
+  #
+  # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
+  # is item 5) in [1]), to not preferentially use projects that were built
+  # recently with the CMake GUI to ensure that we always prefer an installed
+  # version if available.
+  #
+  # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
+  find_package(gflags QUIET
+                      NO_MODULE
+                      NO_CMAKE_PACKAGE_REGISTRY
+                      NO_CMAKE_BUILDS_PATH)
+  if (gflags_FOUND)
+    message(STATUS "Found installed version of gflags: ${gflags_DIR}")
+  else(gflags_FOUND)
+    # Failed to find an installed version of gflags, repeat search allowing
+    # exported build directories.
+    message(STATUS "Failed to find installed gflags CMake configuration, "
+      "searching for gflags build directories exported with CMake.")
+    # Again pass NO_CMAKE_BUILDS_PATH, as we know that gflags is exported and
+    # do not want to treat projects built with the CMake GUI preferentially.
+    find_package(gflags QUIET
+                        NO_MODULE
+                        NO_CMAKE_BUILDS_PATH)
+    if (gflags_FOUND)
+      message(STATUS "Found exported gflags build directory: ${gflags_DIR}")
+    endif(gflags_FOUND)
+  endif(gflags_FOUND)
+
+  set(FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION ${gflags_FOUND})
+
+  # gflags v2.1 - 2.1.2 shipped with a bug in their gflags-config.cmake [1]
+  # whereby gflags_LIBRARIES = "gflags", but there was no imported target
+  # called "gflags", they were called: gflags[_nothreads]-[static/shared].
+  # As this causes linker errors when gflags is not installed in a location
+  # on the current library paths, detect if this problem is present and
+  # fix it.
+  #
+  # [1] https://github.com/gflags/gflags/issues/110
+  if (gflags_FOUND)
+    # NOTE: This is not written as additional conditions in the outer
+    #       if (gflags_FOUND) as the NOT TARGET "${gflags_LIBRARIES}"
+    #       condition causes problems if gflags is not found.
+    if (${gflags_VERSION} VERSION_LESS 2.1.3 AND
+        NOT TARGET "${gflags_LIBRARIES}")
+      message(STATUS "Detected broken gflags install in: ${gflags_DIR}, "
+        "version: ${gflags_VERSION} <= 2.1.2 which defines gflags_LIBRARIES = "
+        "${gflags_LIBRARIES} which is not an imported CMake target, see: "
+        "https://github.com/gflags/gflags/issues/110.  Attempting to fix by "
+        "detecting correct gflags target.")
+      # Ordering here expresses preference for detection, specifically we do not
+      # want to use the _nothreads variants if the full library is available.
+      list(APPEND CHECK_GFLAGS_IMPORTED_TARGET_NAMES
+        gflags-shared gflags-static
+        gflags_nothreads-shared gflags_nothreads-static)
+      foreach(CHECK_GFLAGS_TARGET ${CHECK_GFLAGS_IMPORTED_TARGET_NAMES})
+        if (TARGET ${CHECK_GFLAGS_TARGET})
+          message(STATUS "Found valid gflags target: ${CHECK_GFLAGS_TARGET}, "
+            "updating gflags_LIBRARIES.")
+          set(gflags_LIBRARIES ${CHECK_GFLAGS_TARGET})
+          break()
+        endif()
+      endforeach()
+      if (NOT TARGET ${gflags_LIBRARIES})
+        message(STATUS "Failed to fix detected broken gflags install in: "
+          "${gflags_DIR}, version: ${gflags_VERSION} <= 2.1.2, none of the "
+          "imported targets for gflags: ${CHECK_GFLAGS_IMPORTED_TARGET_NAMES} "
+          "are defined.  Will continue with a manual search for gflags "
+          "components.  We recommend you build/install a version of gflags > "
+          "2.1.2 (or master).")
+        set(FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION FALSE)
+      endif()
+    endif()
+  endif()
+
+  if (FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION)
+    message(STATUS "Detected gflags version: ${gflags_VERSION}")
+    set(GFLAGS_FOUND ${gflags_FOUND})
+    set(GFLAGS_INCLUDE_DIR ${gflags_INCLUDE_DIR})
+    set(GFLAGS_LIBRARY ${gflags_LIBRARIES})
+
+    # gflags does not export the namespace in their CMake configuration, so
+    # use our function to determine what it should be, as it can be either
+    # gflags or google dependent upon version & configuration.
+    #
+    # NOTE: We use the regex method to determine the namespace here, as
+    #       check_cxx_source_compiles() will not use imported targets, which
+    #       is what gflags will be in this case.
+    gflags_check_gflags_namespace_using_regex()
+
+    if (NOT GFLAGS_NAMESPACE)
+      gflags_report_not_found(
+        "Failed to determine gflags namespace using regex for gflags "
+        "version: ${gflags_VERSION} exported here: ${gflags_DIR} using CMake.")
+    endif (NOT GFLAGS_NAMESPACE)
+  else (FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION)
+    message(STATUS "Failed to find an installed/exported CMake configuration "
+      "for gflags, will perform search for installed gflags components.")
+  endif (FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION)
+endif(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION)
+
+if (NOT GFLAGS_FOUND)
+  # Either failed to find an exported gflags CMake configuration, or user
+  # told us not to use one.  Perform a manual search for all gflags components.
+
+  # Handle possible presence of lib prefix for libraries on MSVC, see
+  # also GFLAGS_RESET_FIND_LIBRARY_PREFIX().
+  if (MSVC)
+    # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+    # s/t we can set it back before returning.
+    set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+    # The empty string in this list is important, it represents the case when
+    # the libraries have no prefix (shared libraries / DLLs).
+    set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+  endif (MSVC)
+
+  # Search user-installed locations first, so that we prefer user installs
+  # to system installs where both exist.
+  list(APPEND GFLAGS_CHECK_INCLUDE_DIRS
+    /usr/local/include
+    /usr/local/homebrew/include # Mac OS X
+    /opt/local/var/macports/software # Mac OS X.
+    /opt/local/include
+    /usr/include)
+  list(APPEND GFLAGS_CHECK_PATH_SUFFIXES
+    gflags/include # Windows (for C:/Program Files prefix).
+    gflags/Include ) # Windows (for C:/Program Files prefix).
+
+  list(APPEND GFLAGS_CHECK_LIBRARY_DIRS
+    /usr/local/lib
+    /usr/local/homebrew/lib # Mac OS X.
+    /opt/local/lib
+    /usr/lib)
+  list(APPEND GFLAGS_CHECK_LIBRARY_SUFFIXES
+    gflags/lib # Windows (for C:/Program Files prefix).
+    gflags/Lib ) # Windows (for C:/Program Files prefix).
+
+  # Search supplied hint directories first if supplied.
+  find_path(GFLAGS_INCLUDE_DIR
+    NAMES gflags/gflags.h
+    HINTS ${GFLAGS_INCLUDE_DIR_HINTS}
+    PATHS ${GFLAGS_CHECK_INCLUDE_DIRS}
+    PATH_SUFFIXES ${GFLAGS_CHECK_PATH_SUFFIXES})
+  if (NOT GFLAGS_INCLUDE_DIR OR
+      NOT EXISTS ${GFLAGS_INCLUDE_DIR})
+    gflags_report_not_found(
+      "Could not find gflags include directory, set GFLAGS_INCLUDE_DIR "
+      "to directory containing gflags/gflags.h")
+  endif (NOT GFLAGS_INCLUDE_DIR OR
+    NOT EXISTS ${GFLAGS_INCLUDE_DIR})
+
+  find_library(GFLAGS_LIBRARY NAMES gflags
+    HINTS ${GFLAGS_LIBRARY_DIR_HINTS}
+    PATHS ${GFLAGS_CHECK_LIBRARY_DIRS}
+    PATH_SUFFIXES ${GFLAGS_CHECK_LIBRARY_SUFFIXES})
+  if (NOT GFLAGS_LIBRARY OR
+      NOT EXISTS ${GFLAGS_LIBRARY})
+    gflags_report_not_found(
+      "Could not find gflags library, set GFLAGS_LIBRARY "
+      "to full path to libgflags.")
+  endif (NOT GFLAGS_LIBRARY OR
+    NOT EXISTS ${GFLAGS_LIBRARY})
+
+  # gflags typically requires a threading library (which is OS dependent), note
+  # that this defines the CMAKE_THREAD_LIBS_INIT variable.  If we are able to
+  # detect threads, we assume that gflags requires it.
+  find_package(Threads QUIET)
+  set(GFLAGS_LINK_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
+  # On Windows (including MinGW), the Shlwapi library is used by gflags if
+  # available.
+  if (WIN32)
+    include(CheckIncludeFileCXX)
+    check_include_file_cxx("shlwapi.h" HAVE_SHLWAPI)
+    if (HAVE_SHLWAPI)
+      list(APPEND GFLAGS_LINK_LIBRARIES shlwapi.lib)
+    endif(HAVE_SHLWAPI)
+  endif (WIN32)
+
+  # Mark internally as found, then verify. GFLAGS_REPORT_NOT_FOUND() unsets
+  # if called.
+  set(GFLAGS_FOUND TRUE)
+
+  # Identify what namespace gflags was built with.
+  if (GFLAGS_INCLUDE_DIR AND NOT GFLAGS_NAMESPACE)
+    # To handle Windows peculiarities / CMake bugs on MSVC we try two approaches
+    # to detect the gflags namespace:
+    #
+    # 1) Try to use check_cxx_source_compiles() to compile a trivial program
+    #    with the two choices for the gflags namespace.
+    #
+    # 2) [In the event 1) fails] Use regex on the gflags headers to try to
+    #    determine the gflags namespace.  Whilst this is less robust than 1),
+    #    it does avoid any interaction with msbuild.
+    gflags_check_gflags_namespace_using_try_compile()
+
+    if (NOT GFLAGS_NAMESPACE)
+      # Failed to determine gflags namespace using check_cxx_source_compiles()
+      # method, try and obtain it using regex on the gflags headers instead.
+      message(STATUS "Failed to find gflags namespace using using "
+        "check_cxx_source_compiles(), trying namespace regex instead, "
+        "this is expected on Windows.")
+      gflags_check_gflags_namespace_using_regex()
+
+      if (NOT GFLAGS_NAMESPACE)
+        gflags_report_not_found(
+          "Failed to determine gflags namespace either by "
+          "check_cxx_source_compiles(), or namespace regex.")
+      endif (NOT GFLAGS_NAMESPACE)
+    endif (NOT GFLAGS_NAMESPACE)
+  endif (GFLAGS_INCLUDE_DIR AND NOT GFLAGS_NAMESPACE)
+
+  # Make the GFLAGS_NAMESPACE a cache variable s/t the user can view it, and could
+  # overwrite it in the CMake GUI.
+  set(GFLAGS_NAMESPACE "${GFLAGS_NAMESPACE}" CACHE STRING
+    "gflags namespace (google or gflags)" FORCE)
+
+  # gflags does not seem to provide any record of the version in its
+  # source tree, thus cannot extract version.
+
+  # Catch case when caller has set GFLAGS_NAMESPACE in the cache / GUI
+  # with an invalid value.
+  if (GFLAGS_NAMESPACE AND
+      NOT GFLAGS_NAMESPACE STREQUAL "google" AND
+      NOT GFLAGS_NAMESPACE STREQUAL "gflags")
+    gflags_report_not_found(
+      "Caller defined GFLAGS_NAMESPACE:"
+      " ${GFLAGS_NAMESPACE} is not valid, not google or gflags.")
+  endif ()
+  # Catch case when caller has set GFLAGS_INCLUDE_DIR in the cache / GUI and
+  # thus FIND_[PATH/LIBRARY] are not called, but specified locations are
+  # invalid, otherwise we would report the library as found.
+  if (GFLAGS_INCLUDE_DIR AND
+      NOT EXISTS ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h)
+    gflags_report_not_found(
+      "Caller defined GFLAGS_INCLUDE_DIR:"
+      " ${GFLAGS_INCLUDE_DIR} does not contain gflags/gflags.h header.")
+  endif (GFLAGS_INCLUDE_DIR AND
+    NOT EXISTS ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h)
+  # TODO: This regex for gflags library is pretty primitive, we use lowercase
+  #       for comparison to handle Windows using CamelCase library names, could
+  #       this check be better?
+  string(TOLOWER "${GFLAGS_LIBRARY}" LOWERCASE_GFLAGS_LIBRARY)
+  if (GFLAGS_LIBRARY AND
+      NOT "${LOWERCASE_GFLAGS_LIBRARY}" MATCHES ".*gflags[^/]*")
+    gflags_report_not_found(
+      "Caller defined GFLAGS_LIBRARY: "
+      "${GFLAGS_LIBRARY} does not match gflags.")
+  endif (GFLAGS_LIBRARY AND
+    NOT "${LOWERCASE_GFLAGS_LIBRARY}" MATCHES ".*gflags[^/]*")
+
+  gflags_reset_find_library_prefix()
+
+endif(NOT GFLAGS_FOUND)
+
+# Set standard CMake FindPackage variables if found.
+if (GFLAGS_FOUND)
+  set(GFLAGS_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIR})
+  set(GFLAGS_LIBRARIES ${GFLAGS_LIBRARY} ${GFLAGS_LINK_LIBRARIES})
+endif (GFLAGS_FOUND)
+
+# Handle REQUIRED / QUIET optional arguments.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Gflags DEFAULT_MSG
+  GFLAGS_INCLUDE_DIRS GFLAGS_LIBRARIES GFLAGS_NAMESPACE)
+
+# Only mark internal variables as advanced if we found gflags, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+if (GFLAGS_FOUND)
+  mark_as_advanced(FORCE GFLAGS_INCLUDE_DIR
+    GFLAGS_LIBRARY
+    GFLAGS_NAMESPACE
+    gflags_DIR) # Autogenerated by find_package(gflags)
+endif (GFLAGS_FOUND)
diff --git a/cmake/FindGlog.cmake b/cmake/FindGlog.cmake
new file mode 100644
index 0000000..979dced
--- /dev/null
+++ b/cmake/FindGlog.cmake
@@ -0,0 +1,346 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindGlog.cmake - Find Google glog logging library.
+#
+# This module defines the following variables:
+#
+# GLOG_FOUND: TRUE iff glog is found.
+# GLOG_INCLUDE_DIRS: Include directories for glog.
+# GLOG_LIBRARIES: Libraries required to link glog.
+# FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION: True iff the version of glog found
+#                                           was built & installed / exported
+#                                           as a CMake package.
+#
+# The following variables control the behaviour of this module:
+#
+# GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
+#                           then prefer using an exported CMake configuration
+#                           generated by glog > 0.3.4 over searching for the
+#                           glog components manually.  Otherwise (FALSE)
+#                           ignore any exported glog CMake configurations and
+#                           always perform a manual search for the components.
+#                           Default: TRUE iff user does not define this variable
+#                           before we are called, and does NOT specify either
+#                           GLOG_INCLUDE_DIR_HINTS or GLOG_LIBRARY_DIR_HINTS
+#                           otherwise FALSE.
+# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                         search for glog includes, e.g: /timbuktu/include.
+# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to
+#                         search for glog libraries, e.g: /timbuktu/lib.
+#
+# The following variables are also defined by this module, but in line with
+# CMake recommended FindPackage() module style should NOT be referenced directly
+# by callers (use the plural variables detailed above instead).  These variables
+# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
+# are NOT re-called (i.e. search for library is not repeated) if these variables
+# are set with valid values _in the CMake cache_. This means that if these
+# variables are set directly in the cache, either by the user in the CMake GUI,
+# or by the user passing -DVAR=VALUE directives to CMake when called (which
+# explicitly defines a cache variable), then they will be used verbatim,
+# bypassing the HINTS variables and other hard-coded search locations.
+#
+# GLOG_INCLUDE_DIR: Include directory for glog, not including the
+#                   include directory of any dependencies.
+# GLOG_LIBRARY: glog library, not including the libraries of any
+#               dependencies.
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindGlog was invoked.
+macro(GLOG_RESET_FIND_LIBRARY_PREFIX)
+  if (MSVC AND CALLERS_CMAKE_FIND_LIBRARY_PREFIXES)
+    set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+  endif()
+endmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find glog or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(GLOG_REPORT_NOT_FOUND REASON_MSG)
+  unset(GLOG_FOUND)
+  unset(GLOG_INCLUDE_DIRS)
+  unset(GLOG_LIBRARIES)
+  # Make results of search visible in the CMake GUI if glog has not
+  # been found so that user does not have to toggle to advanced view.
+  mark_as_advanced(CLEAR GLOG_INCLUDE_DIR
+                         GLOG_LIBRARY)
+
+  glog_reset_find_library_prefix()
+
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (Glog_FIND_QUIETLY)
+    message(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN})
+  elseif (Glog_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find glog - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find glog - " ${REASON_MSG} ${ARGN})
+  endif ()
+  return()
+endmacro(GLOG_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set GLOG_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(GLOG_FOUND)
+
+# -----------------------------------------------------------------
+# By default, if the user has expressed no preference for using an exported
+# glog CMake configuration over performing a search for the installed
+# components, and has not specified any hints for the search locations, then
+# prefer a glog exported configuration if available.
+if (NOT DEFINED GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION
+    AND NOT GLOG_INCLUDE_DIR_HINTS
+    AND NOT GLOG_LIBRARY_DIR_HINTS)
+  message(STATUS "No preference for use of exported glog CMake configuration "
+    "set, and no hints for include/library directories provided. "
+    "Defaulting to preferring an installed/exported glog CMake configuration "
+    "if available.")
+  set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
+endif()
+
+if (GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)
+  # Try to find an exported CMake configuration for glog, as generated by
+  # glog versions > 0.3.4
+  #
+  # We search twice, s/t we can invert the ordering of precedence used by
+  # find_package() for exported package build directories, and installed
+  # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
+  # respectively in [1].
+  #
+  # By default, exported build directories are (in theory) detected first, and
+  # this is usually the case on Windows.  However, on OS X & Linux, the install
+  # path (/usr/local) is typically present in the PATH environment variable
+  # which is checked in item 4) in [1] (i.e. before both of the above, unless
+  # NO_SYSTEM_ENVIRONMENT_PATH is passed).  As such on those OSs installed
+  # packages are usually detected in preference to exported package build
+  # directories.
+  #
+  # To ensure a more consistent response across all OSs, and as users usually
+  # want to prefer an installed version of a package over a locally built one
+  # where both exist (esp. as the exported build directory might be removed
+  # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
+  # means any build directories exported by the user are ignored, and thus
+  # installed directories are preferred.  If this fails to find the package
+  # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
+  # exported build directories will now be detected.
+  #
+  # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
+  # is item 5) in [1]), to not preferentially use projects that were built
+  # recently with the CMake GUI to ensure that we always prefer an installed
+  # version if available.
+  #
+  # NOTE: We use the NAMES option as glog erroneously uses 'google-glog' as its
+  #       project name when built with CMake, but exports itself as just 'glog'.
+  #       On Linux/OS X this does not break detection as the project name is
+  #       not used as part of the install path for the CMake package files,
+  #       e.g. /usr/local/lib/cmake/glog, where the <glog> suffix is hardcoded
+  #       in glog's CMakeLists.  However, on Windows the project name *is*
+  #       part of the install prefix: C:/Program Files/google-glog/[include,lib].
+  #       However, by default CMake checks:
+  #       C:/Program Files/<FIND_PACKAGE_ARGUMENT_NAME='glog'> which does not
+  #       exist and thus detection fails.  Thus we use the NAMES to force the
+  #       search to use both google-glog & glog.
+  #
+  # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
+  find_package(glog QUIET
+                    NAMES google-glog glog
+                    NO_MODULE
+                    NO_CMAKE_PACKAGE_REGISTRY
+                    NO_CMAKE_BUILDS_PATH)
+  if (glog_FOUND)
+    message(STATUS "Found installed version of glog: ${glog_DIR}")
+  else()
+    # Failed to find an installed version of glog, repeat search allowing
+    # exported build directories.
+    message(STATUS "Failed to find installed glog CMake configuration, "
+      "searching for glog build directories exported with CMake.")
+    # Again pass NO_CMAKE_BUILDS_PATH, as we know that glog is exported and
+    # do not want to treat projects built with the CMake GUI preferentially.
+    find_package(glog QUIET
+                      NAMES google-glog glog
+                      NO_MODULE
+                      NO_CMAKE_BUILDS_PATH)
+    if (glog_FOUND)
+      message(STATUS "Found exported glog build directory: ${glog_DIR}")
+    endif(glog_FOUND)
+  endif(glog_FOUND)
+
+  set(FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION ${glog_FOUND})
+
+  if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+    message(STATUS "Detected glog version: ${glog_VERSION}")
+    set(GLOG_FOUND ${glog_FOUND})
+    # glog wraps the include directories into the exported glog::glog target.
+    set(GLOG_INCLUDE_DIR "")
+    set(GLOG_LIBRARY glog::glog)
+  else (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+    message(STATUS "Failed to find an installed/exported CMake configuration "
+      "for glog, will perform search for installed glog components.")
+  endif (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+endif(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)
+
+if (NOT GLOG_FOUND)
+  # Either failed to find an exported glog CMake configuration, or user
+  # told us not to use one.  Perform a manual search for all glog components.
+
+  # Handle possible presence of lib prefix for libraries on MSVC, see
+  # also GLOG_RESET_FIND_LIBRARY_PREFIX().
+  if (MSVC)
+    # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+    # s/t we can set it back before returning.
+    set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+    # The empty string in this list is important, it represents the case when
+    # the libraries have no prefix (shared libraries / DLLs).
+    set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+  endif (MSVC)
+
+  # Search user-installed locations first, so that we prefer user installs
+  # to system installs where both exist.
+  list(APPEND GLOG_CHECK_INCLUDE_DIRS
+    /usr/local/include
+    /usr/local/homebrew/include # Mac OS X
+    /opt/local/var/macports/software # Mac OS X.
+    /opt/local/include
+    /usr/include)
+  # Windows (for C:/Program Files prefix).
+  list(APPEND GLOG_CHECK_PATH_SUFFIXES
+    glog/include
+    glog/Include
+    Glog/include
+    Glog/Include
+    google-glog/include # CMake installs with project name prefix.
+    google-glog/Include)
+
+  list(APPEND GLOG_CHECK_LIBRARY_DIRS
+    /usr/local/lib
+    /usr/local/homebrew/lib # Mac OS X.
+    /opt/local/lib
+    /usr/lib)
+  # Windows (for C:/Program Files prefix).
+  list(APPEND GLOG_CHECK_LIBRARY_SUFFIXES
+    glog/lib
+    glog/Lib
+    Glog/lib
+    Glog/Lib
+    google-glog/lib # CMake installs with project name prefix.
+    google-glog/Lib)
+
+  # Search supplied hint directories first if supplied.
+  find_path(GLOG_INCLUDE_DIR
+    NAMES glog/logging.h
+    HINTS ${GLOG_INCLUDE_DIR_HINTS}
+    PATHS ${GLOG_CHECK_INCLUDE_DIRS}
+    PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES})
+  if (NOT GLOG_INCLUDE_DIR OR
+      NOT EXISTS ${GLOG_INCLUDE_DIR})
+    glog_report_not_found(
+      "Could not find glog include directory, set GLOG_INCLUDE_DIR "
+      "to directory containing glog/logging.h")
+  endif (NOT GLOG_INCLUDE_DIR OR
+    NOT EXISTS ${GLOG_INCLUDE_DIR})
+
+  find_library(GLOG_LIBRARY NAMES glog
+    HINTS ${GLOG_LIBRARY_DIR_HINTS}
+    PATHS ${GLOG_CHECK_LIBRARY_DIRS}
+    PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES})
+  if (NOT GLOG_LIBRARY OR
+      NOT EXISTS ${GLOG_LIBRARY})
+    glog_report_not_found(
+      "Could not find glog library, set GLOG_LIBRARY "
+      "to full path to libglog.")
+  endif (NOT GLOG_LIBRARY OR
+    NOT EXISTS ${GLOG_LIBRARY})
+
+  # Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets
+  # if called.
+  set(GLOG_FOUND TRUE)
+
+  # Glog does not seem to provide any record of the version in its
+  # source tree, thus cannot extract version.
+
+  # Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and
+  # thus FIND_[PATH/LIBRARY] are not called, but specified locations are
+  # invalid, otherwise we would report the library as found.
+  if (GLOG_INCLUDE_DIR AND
+      NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
+    glog_report_not_found(
+      "Caller defined GLOG_INCLUDE_DIR:"
+      " ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.")
+  endif (GLOG_INCLUDE_DIR AND
+    NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
+  # TODO: This regex for glog library is pretty primitive, we use lowercase
+  #       for comparison to handle Windows using CamelCase library names, could
+  #       this check be better?
+  string(TOLOWER "${GLOG_LIBRARY}" LOWERCASE_GLOG_LIBRARY)
+  if (GLOG_LIBRARY AND
+      NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
+    glog_report_not_found(
+      "Caller defined GLOG_LIBRARY: "
+      "${GLOG_LIBRARY} does not match glog.")
+  endif (GLOG_LIBRARY AND
+    NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
+
+  glog_reset_find_library_prefix()
+
+endif(NOT GLOG_FOUND)
+
+# Set standard CMake FindPackage variables if found.
+if (GLOG_FOUND)
+  set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
+  set(GLOG_LIBRARIES ${GLOG_LIBRARY})
+endif (GLOG_FOUND)
+
+# If we are using an exported CMake glog target, the include directories are
+# wrapped into the target itself, and do not have to be (and are not)
+# separately specified.  In which case, we should not add GLOG_INCLUDE_DIRS
+# to the list of required variables in order that glog be reported as found.
+if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+  set(GLOG_REQUIRED_VARIABLES GLOG_LIBRARIES)
+else()
+  set(GLOG_REQUIRED_VARIABLES GLOG_INCLUDE_DIRS GLOG_LIBRARIES)
+endif()
+
+# Handle REQUIRED / QUIET optional arguments.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Glog DEFAULT_MSG
+  ${GLOG_REQUIRED_VARIABLES})
+
+# Only mark internal variables as advanced if we found glog, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+if (GLOG_FOUND)
+  mark_as_advanced(FORCE GLOG_INCLUDE_DIR
+                         GLOG_LIBRARY
+                         glog_DIR) # Autogenerated by find_package(glog)
+endif (GLOG_FOUND)
diff --git a/cmake/FindSharedPtr.cmake b/cmake/FindSharedPtr.cmake
new file mode 100644
index 0000000..e37c969
--- /dev/null
+++ b/cmake/FindSharedPtr.cmake
@@ -0,0 +1,108 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: sergey.vfx@gmail.com (Sergey Sharybin)
+#
+
+# FindSharedPtr.cmake - Find shared pointer header and namespace.
+#
+# This module defines the following variables:
+#
+# SHARED_PTR_FOUND: TRUE if shared_ptr found.
+# SHARED_PTR_TR1_MEMORY_HEADER: True if <tr1/memory> header is to be used
+# for the shared_ptr object, otherwise use <memory>.
+# SHARED_PTR_TR1_NAMESPACE: TRUE if shared_ptr is defined in std::tr1 namespace,
+# otherwise it's assumed to be defined in std namespace.
+
+macro(FIND_SHARED_PTR)
+  # To support CXX11 option, clear the results of all check_xxx() functions
+  # s/t we always perform the checks each time, otherwise CMake fails to
+  # detect that the tests should be performed again after CXX11 is toggled.
+  unset(HAVE_STD_MEMORY_HEADER CACHE)
+  unset(HAVE_SHARED_PTR_IN_STD_NAMESPACE CACHE)
+  unset(HAVE_SHARED_PTR_IN_TR1_NAMESPACE CACHE)
+  unset(HAVE_TR1_MEMORY_HEADER CACHE)
+  unset(HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER CACHE)
+
+  set(SHARED_PTR_FOUND FALSE)
+  check_include_file_cxx(memory HAVE_STD_MEMORY_HEADER)
+  if (HAVE_STD_MEMORY_HEADER)
+    # Finding the memory header doesn't mean that shared_ptr is in std
+    # namespace.
+    #
+    # In particular, MSVC 2008 has shared_ptr declared in std::tr1.  In
+    # order to support this, we do an extra check to see which namespace
+    # should be used.
+    include(CheckCXXSourceCompiles)
+    check_cxx_source_compiles("#include <memory>
+                               int main() {
+                                 std::shared_ptr<int> int_ptr;
+                                 return 0;
+                               }"
+                              HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+
+    if (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+      message("-- Found shared_ptr in std namespace using <memory> header.")
+      set(SHARED_PTR_FOUND TRUE)
+    else (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+      check_cxx_source_compiles("#include <memory>
+                                 int main() {
+                                   std::tr1::shared_ptr<int> int_ptr;
+                                   return 0;
+                                 }"
+                                HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+      if (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+        message("-- Found shared_ptr in std::tr1 namespace using <memory> header.")
+        set(SHARED_PTR_TR1_NAMESPACE TRUE)
+        set(SHARED_PTR_FOUND TRUE)
+      endif (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
+    endif (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
+  endif (HAVE_STD_MEMORY_HEADER)
+
+  if (NOT SHARED_PTR_FOUND)
+    # Further, gcc defines shared_ptr in std::tr1 namespace and
+    # <tr1/memory> is to be included for this. And what makes things
+    # even more tricky is that gcc does have <memory> header, so
+    # all the checks above wouldn't find shared_ptr.
+    check_include_file_cxx("tr1/memory" HAVE_TR1_MEMORY_HEADER)
+    if (HAVE_TR1_MEMORY_HEADER)
+      check_cxx_source_compiles("#include <tr1/memory>
+                                 int main() {
+                                   std::tr1::shared_ptr<int> int_ptr;
+                                   return 0;
+                                 }"
+                                HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
+      if (HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
+        message("-- Found shared_ptr in std::tr1 namespace using <tr1/memory> header.")
+          set(SHARED_PTR_TR1_MEMORY_HEADER TRUE)
+          set(SHARED_PTR_TR1_NAMESPACE TRUE)
+        set(SHARED_PTR_FOUND TRUE)
+      endif (HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
+    endif (HAVE_TR1_MEMORY_HEADER)
+  endif (NOT SHARED_PTR_FOUND)
+endmacro(FIND_SHARED_PTR)
diff --git a/cmake/FindSphinx.cmake b/cmake/FindSphinx.cmake
new file mode 100644
index 0000000..220108d
--- /dev/null
+++ b/cmake/FindSphinx.cmake
@@ -0,0 +1,66 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: pablo.speciale@gmail.com (Pablo Speciale)
+#
+
+# Find the Sphinx documentation generator
+#
+# This modules defines
+#  SPHINX_EXECUTABLE
+#  SPHINX_FOUND
+
+find_program(SPHINX_EXECUTABLE
+             NAMES sphinx-build
+             PATHS
+               /usr/bin
+               /usr/local/bin
+               /opt/local/bin
+             DOC "Sphinx documentation generator")
+
+if (NOT SPHINX_EXECUTABLE)
+  set(_Python_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0 1.6 1.5)
+
+  foreach (_version ${_Python_VERSIONS})
+    set(_sphinx_NAMES sphinx-build-${_version})
+
+    find_program(SPHINX_EXECUTABLE
+                 NAMES ${_sphinx_NAMES}
+                 PATHS
+                   /usr/bin
+                   /usr/local/bin
+                   /opt/local/bin
+                 DOC "Sphinx documentation generator")
+  endforeach ()
+endif ()
+
+include(FindPackageHandleStandardArgs)
+
+find_package_handle_standard_args(Sphinx DEFAULT_MSG SPHINX_EXECUTABLE)
+
+mark_as_advanced(SPHINX_EXECUTABLE)
diff --git a/cmake/FindSuiteSparse.cmake b/cmake/FindSuiteSparse.cmake
new file mode 100644
index 0000000..ede687a
--- /dev/null
+++ b/cmake/FindSuiteSparse.cmake
@@ -0,0 +1,518 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindSuiteSparse.cmake - Find SuiteSparse libraries & dependencies.
+#
+# This module defines the following variables:
+#
+# SUITESPARSE_FOUND: TRUE iff SuiteSparse and all dependencies have been found.
+# SUITESPARSE_INCLUDE_DIRS: Include directories for all SuiteSparse components.
+# SUITESPARSE_LIBRARIES: Libraries for all SuiteSparse component libraries and
+#                        dependencies.
+# SUITESPARSE_VERSION: Extracted from UFconfig.h (<= v3) or
+#                      SuiteSparse_config.h (>= v4).
+# SUITESPARSE_MAIN_VERSION: Equal to 4 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUB_VERSION: Equal to 2 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUBSUB_VERSION: Equal to 1 if SUITESPARSE_VERSION = 4.2.1
+#
+# SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION: TRUE iff running
+#     on Ubuntu, SUITESPARSE_VERSION is 3.4.0 and found SuiteSparse is a system
+#     install, in which case found version of SuiteSparse cannot be used to link
+#     a shared library due to a bug (static linking is unaffected).
+#
+# The following variables control the behaviour of this module:
+#
+# SUITESPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                                search for SuiteSparse includes,
+#                                e.g: /timbuktu/include.
+# SUITESPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to
+#                                search for SuiteSparse libraries,
+#                                e.g: /timbuktu/lib.
+#
+# The following variables define the presence / includes & libraries for the
+# SuiteSparse components searched for, the SUITESPARSE_XX variables are the
+# union of the variables for all components.
+#
+# == Symmetric Approximate Minimum Degree (AMD)
+# AMD_FOUND
+# AMD_INCLUDE_DIR
+# AMD_LIBRARY
+#
+# == Constrained Approximate Minimum Degree (CAMD)
+# CAMD_FOUND
+# CAMD_INCLUDE_DIR
+# CAMD_LIBRARY
+#
+# == Column Approximate Minimum Degree (COLAMD)
+# COLAMD_FOUND
+# COLAMD_INCLUDE_DIR
+# COLAMD_LIBRARY
+#
+# Constrained Column Approximate Minimum Degree (CCOLAMD)
+# CCOLAMD_FOUND
+# CCOLAMD_INCLUDE_DIR
+# CCOLAMD_LIBRARY
+#
+# == Sparse Supernodal Cholesky Factorization and Update/Downdate (CHOLMOD)
+# CHOLMOD_FOUND
+# CHOLMOD_INCLUDE_DIR
+# CHOLMOD_LIBRARY
+#
+# == Multifrontal Sparse QR (SuiteSparseQR)
+# SUITESPARSEQR_FOUND
+# SUITESPARSEQR_INCLUDE_DIR
+# SUITESPARSEQR_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version >= 4).
+# SUITESPARSE_CONFIG_FOUND
+# SUITESPARSE_CONFIG_INCLUDE_DIR
+# SUITESPARSE_CONFIG_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version < 4).
+# UFCONFIG_FOUND
+# UFCONFIG_INCLUDE_DIR
+#
+# Optional SuiteSparse Dependencies:
+#
+# == Serial Graph Partitioning and Fill-reducing Matrix Ordering (METIS)
+# METIS_FOUND
+# METIS_LIBRARY
+#
+# == Intel Thread Building Blocks (TBB)
+# TBB_FOUND
+# TBB_LIBRARY
+# TBB_MALLOC_FOUND
+# TBB_MALLOC_LIBRARY
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindSuiteSparse was invoked.
+macro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+  if (MSVC)
+    set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+  endif (MSVC)
+endmacro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find SuiteSparse or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(SUITESPARSE_REPORT_NOT_FOUND REASON_MSG)
+  unset(SUITESPARSE_FOUND)
+  unset(SUITESPARSE_INCLUDE_DIRS)
+  unset(SUITESPARSE_LIBRARIES)
+  unset(SUITESPARSE_VERSION)
+  unset(SUITESPARSE_MAIN_VERSION)
+  unset(SUITESPARSE_SUB_VERSION)
+  unset(SUITESPARSE_SUBSUB_VERSION)
+  # Do NOT unset SUITESPARSE_FOUND_REQUIRED_VARS here, as it is used by
+  # FindPackageHandleStandardArgs() to generate the automatic error message on
+  # failure which highlights which components are missing.
+
+  suitesparse_reset_find_library_prefix()
+
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (SuiteSparse_FIND_QUIETLY)
+    message(STATUS "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+  elseif (SuiteSparse_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+  endif (SuiteSparse_FIND_QUIETLY)
+
+  # Do not call return(), s/t we keep processing if not called with REQUIRED
+  # and report all missing components, rather than bailing after failing to find
+  # the first.
+endmacro(SUITESPARSE_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set SUITESPARSE_FOUND, but
+# not the other variables we require / set here which could cause the search
+# logic here to fail.
+unset(SUITESPARSE_FOUND)
+
+# Handle possible presence of lib prefix for libraries on MSVC, see
+# also SUITESPARSE_RESET_FIND_LIBRARY_PREFIX().
+if (MSVC)
+  # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+  # s/t we can set it back before returning.
+  set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+  # The empty string in this list is important, it represents the case when
+  # the libraries have no prefix (shared libraries / DLLs).
+  set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+endif (MSVC)
+
+# Specify search directories for include files and libraries (this is the union
+# of the search directories for all OSs).  Search user-specified hint
+# directories first if supplied, and search user-installed locations first
+# so that we prefer user installs to system installs where both exist.
+list(APPEND SUITESPARSE_CHECK_INCLUDE_DIRS
+  /opt/local/include
+  /opt/local/include/ufsparse # Mac OS X
+  /usr/local/homebrew/include # Mac OS X
+  /usr/local/include
+  /usr/include)
+list(APPEND SUITESPARSE_CHECK_LIBRARY_DIRS
+  /opt/local/lib
+  /opt/local/lib/ufsparse # Mac OS X
+  /usr/local/homebrew/lib # Mac OS X
+  /usr/local/lib
+  /usr/lib)
+# Additional suffixes to try appending to each search path.
+list(APPEND SUITESPARSE_CHECK_PATH_SUFFIXES
+  suitesparse) # Windows/Ubuntu
+
+# Wrappers to find_path/library that pass the SuiteSparse search hints/paths.
+#
+# suitesparse_find_component(<component> [FILES name1 [name2 ...]]
+#                                        [LIBRARIES name1 [name2 ...]]
+#                                        [REQUIRED])
+macro(suitesparse_find_component COMPONENT)
+  include(CMakeParseArguments)
+  set(OPTIONS REQUIRED)
+  set(MULTI_VALUE_ARGS FILES LIBRARIES)
+  cmake_parse_arguments(SUITESPARSE_FIND_${COMPONENT}
+    "${OPTIONS}" "" "${MULTI_VALUE_ARGS}" ${ARGN})
+
+  if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+    list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS ${COMPONENT}_FOUND)
+  endif()
+
+  set(${COMPONENT}_FOUND TRUE)
+  if (SUITESPARSE_FIND_${COMPONENT}_FILES)
+    find_path(${COMPONENT}_INCLUDE_DIR
+      NAMES ${SUITESPARSE_FIND_${COMPONENT}_FILES}
+      HINTS ${SUITESPARSE_INCLUDE_DIR_HINTS}
+      PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}
+      PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+    if (${COMPONENT}_INCLUDE_DIR)
+      message(STATUS "Found ${COMPONENT} headers in: "
+        "${${COMPONENT}_INCLUDE_DIR}")
+      mark_as_advanced(${COMPONENT}_INCLUDE_DIR)
+    else()
+      # Specified headers not found.
+      set(${COMPONENT}_FOUND FALSE)
+      if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+        suitesparse_report_not_found(
+          "Did not find ${COMPONENT} header (required SuiteSparse component).")
+      else()
+        message(STATUS "Did not find ${COMPONENT} header (optional "
+          "SuiteSparse component).")
+      endif()
+    endif()
+  endif()
+
+  if (SUITESPARSE_FIND_${COMPONENT}_LIBRARIES)
+    find_library(${COMPONENT}_LIBRARY
+      NAMES ${SUITESPARSE_FIND_${COMPONENT}_LIBRARIES}
+      HINTS ${SUITESPARSE_LIBRARY_DIR_HINTS}
+      PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}
+      PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+    if (${COMPONENT}_LIBRARY)
+      message(STATUS "Found ${COMPONENT} library: ${${COMPONENT}_LIBRARY}")
+      mark_as_advanced(${COMPONENT}_LIBRARY)
+    else ()
+      # Specified libraries not found.
+      set(${COMPONENT}_FOUND FALSE)
+      if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+        suitesparse_report_not_found(
+          "Did not find ${COMPONENT} library (required SuiteSparse component).")
+      else()
+        message(STATUS "Did not find ${COMPONENT} library (optional SuiteSparse "
+          "dependency)")
+      endif()
+    endif()
+  endif()
+endmacro()
+
+# Given the number of components of SuiteSparse, and to ensure that the
+# automatic failure message generated by FindPackageHandleStandardArgs()
+# when not all required components are found is helpful, we maintain a list
+# of all variables that must be defined for SuiteSparse to be considered found.
+unset(SUITESPARSE_FOUND_REQUIRED_VARS)
+
+# BLAS.
+find_package(BLAS QUIET)
+if (NOT BLAS_FOUND)
+  suitesparse_report_not_found(
+    "Did not find BLAS library (required for SuiteSparse).")
+endif (NOT BLAS_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS BLAS_FOUND)
+
+# LAPACK.
+find_package(LAPACK QUIET)
+if (NOT LAPACK_FOUND)
+  suitesparse_report_not_found(
+    "Did not find LAPACK library (required for SuiteSparse).")
+endif (NOT LAPACK_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS LAPACK_FOUND)
+
+suitesparse_find_component(AMD REQUIRED FILES amd.h LIBRARIES amd)
+suitesparse_find_component(CAMD REQUIRED FILES camd.h LIBRARIES camd)
+suitesparse_find_component(COLAMD REQUIRED FILES colamd.h LIBRARIES colamd)
+suitesparse_find_component(CCOLAMD REQUIRED FILES ccolamd.h LIBRARIES ccolamd)
+suitesparse_find_component(CHOLMOD REQUIRED FILES cholmod.h LIBRARIES cholmod)
+suitesparse_find_component(
+  SUITESPARSEQR REQUIRED FILES SuiteSparseQR.hpp LIBRARIES spqr)
+if (SUITESPARSEQR_FOUND)
+  # SuiteSparseQR may be compiled with Intel Threading Building Blocks,
+  # we assume that if TBB is installed, SuiteSparseQR was compiled with
+  # support for it, this will do no harm if it wasn't.
+  suitesparse_find_component(TBB LIBRARIES tbb)
+  if (TBB_FOUND)
+    message(STATUS "Found Intel Thread Building Blocks (TBB) library: "
+      "${TBB_LIBRARY}, assuming SuiteSparseQR was compiled with TBB.")
+    suitesparse_find_component(TBB_MALLOC LIBRARIES tbbmalloc)
+    if (TBB_MALLOC_FOUND)
+      message(STATUS "Found Intel Thread Building Blocks (TBB) Malloc library: "
+        "${TBB_MALLOC_LIBRARY}")
+      # Add the TBB libraries to the SuiteSparseQR libraries (the only
+      # libraries to optionally depend on TBB).
+      list(APPEND SUITESPARSEQR_LIBRARY ${TBB_LIBRARY} ${TBB_MALLOC_LIBRARY})
+    else()
+      message(STATUS "Did not find Intel Thread Building Blocks (TBB) Malloc "
+        "Library, discarding TBB as a dependency.")
+    endif()
+  else()
+    message(STATUS "Did not find Intel TBB library, assuming SuiteSparseQR was "
+      "not compiled with TBB.")
+  endif()
+endif(SUITESPARSEQR_FOUND)
+
+# UFconfig / SuiteSparse_config.
+#
+# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
+# For SuiteSparse 3, UFconfig.h is required.
+suitesparse_find_component(
+  SUITESPARSE_CONFIG FILES SuiteSparse_config.h LIBRARIES suitesparseconfig)
+
+if (SUITESPARSE_CONFIG_FOUND)
+  # SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
+  # timing by default when compiled on Linux or Unix, but not on OSX (which
+  # does not have librt).
+  if (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+    suitesparse_find_component(LIBRT LIBRARIES rt)
+    if (LIBRT_FOUND)
+      message(STATUS "Adding librt: ${LIBRT_LIBRARY} to "
+        "SuiteSparse_config libraries (required on Linux & Unix [not OSX] if "
+        "SuiteSparse is compiled with timing).")
+      list(APPEND SUITESPARSE_CONFIG_LIBRARY ${LIBRT_LIBRARY})
+    else()
+      message(STATUS "Could not find librt, but found SuiteSparse_config, "
+        "assuming that SuiteSparse was compiled without timing.")
+    endif ()
+  endif (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+else()
+  # Failed to find SuiteSparse_config (>= v4 installs), instead look for
+  # UFconfig header which should be present in < v4 installs.
+  suitesparse_find_component(UFCONFIG FILES UFconfig.h)
+endif ()
+
+if (NOT SUITESPARSE_CONFIG_FOUND AND
+    NOT UFCONFIG_FOUND)
+  suitesparse_report_not_found(
+    "Failed to find either: SuiteSparse_config header & library (should be "
+    "present in all SuiteSparse >= v4 installs), or UFconfig header (should "
+    "be present in all SuiteSparse < v4 installs).")
+endif()
+
+# Extract the SuiteSparse version from the appropriate header (UFconfig.h for
+# <= v3, SuiteSparse_config.h for >= v4).
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS SUITESPARSE_VERSION)
+
+if (UFCONFIG_FOUND)
+  # SuiteSparse version <= 3.
+  set(SUITESPARSE_VERSION_FILE ${UFCONFIG_INCLUDE_DIR}/UFconfig.h)
+  if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    suitesparse_report_not_found(
+      "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+      "information for <= v3 SuiteSparse installs, but UFconfig was found "
+      "(only present in <= v3 installs).")
+  else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    file(READ ${SUITESPARSE_VERSION_FILE} UFCONFIG_CONTENTS)
+
+    string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+      SUITESPARSE_MAIN_VERSION "${UFCONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+      SUITESPARSE_SUB_VERSION "${UFCONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+      SUITESPARSE_SUBSUB_VERSION "${UFCONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+    set(SUITESPARSE_VERSION
+      "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+  endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (UFCONFIG_FOUND)
+
+if (SUITESPARSE_CONFIG_FOUND)
+  # SuiteSparse version >= 4.
+  set(SUITESPARSE_VERSION_FILE
+    ${SUITESPARSE_CONFIG_INCLUDE_DIR}/SuiteSparse_config.h)
+  if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    suitesparse_report_not_found(
+      "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+      "information for >= v4 SuiteSparse installs, but SuiteSparse_config was "
+      "found (only present in >= v4 installs).")
+  else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    file(READ ${SUITESPARSE_VERSION_FILE} SUITESPARSE_CONFIG_CONTENTS)
+
+    string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+      SUITESPARSE_MAIN_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+      SUITESPARSE_SUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+      SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+    set(SUITESPARSE_VERSION
+      "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+  endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (SUITESPARSE_CONFIG_FOUND)
+
+# METIS (Optional dependency).
+suitesparse_find_component(METIS LIBRARIES metis)
+
+# Only mark SuiteSparse as found if all required components and dependencies
+# have been found.
+set(SUITESPARSE_FOUND TRUE)
+foreach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+  if (NOT ${REQUIRED_VAR})
+    set(SUITESPARSE_FOUND FALSE)
+  endif (NOT ${REQUIRED_VAR})
+endforeach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+
+if (SUITESPARSE_FOUND)
+  list(APPEND SUITESPARSE_INCLUDE_DIRS
+    ${AMD_INCLUDE_DIR}
+    ${CAMD_INCLUDE_DIR}
+    ${COLAMD_INCLUDE_DIR}
+    ${CCOLAMD_INCLUDE_DIR}
+    ${CHOLMOD_INCLUDE_DIR}
+    ${SUITESPARSEQR_INCLUDE_DIR})
+  # Handle config separately, as otherwise at least one of them will be set
+  # to NOTFOUND which would cause any check on SUITESPARSE_INCLUDE_DIRS to fail.
+  if (SUITESPARSE_CONFIG_FOUND)
+    list(APPEND SUITESPARSE_INCLUDE_DIRS
+      ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+  endif (SUITESPARSE_CONFIG_FOUND)
+  if (UFCONFIG_FOUND)
+    list(APPEND SUITESPARSE_INCLUDE_DIRS
+      ${UFCONFIG_INCLUDE_DIR})
+  endif (UFCONFIG_FOUND)
+  # As SuiteSparse includes are often all in the same directory, remove any
+  # repetitions.
+  list(REMOVE_DUPLICATES SUITESPARSE_INCLUDE_DIRS)
+
+  # Important: The ordering of these libraries is *NOT* arbitrary, as these
+  # could potentially be static libraries their link ordering is important.
+  list(APPEND SUITESPARSE_LIBRARIES
+    ${SUITESPARSEQR_LIBRARY}
+    ${CHOLMOD_LIBRARY}
+    ${CCOLAMD_LIBRARY}
+    ${CAMD_LIBRARY}
+    ${COLAMD_LIBRARY}
+    ${AMD_LIBRARY}
+    ${LAPACK_LIBRARIES}
+    ${BLAS_LIBRARIES})
+  if (SUITESPARSE_CONFIG_FOUND)
+    list(APPEND SUITESPARSE_LIBRARIES
+      ${SUITESPARSE_CONFIG_LIBRARY})
+  endif (SUITESPARSE_CONFIG_FOUND)
+  if (METIS_FOUND)
+    list(APPEND SUITESPARSE_LIBRARIES
+      ${METIS_LIBRARY})
+  endif (METIS_FOUND)
+endif()
+
+# Determine if we are running on Ubuntu with the package install of SuiteSparse
+# which is broken and does not support linking a shared library.
+set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION FALSE)
+if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+    SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+  find_program(LSB_RELEASE_EXECUTABLE lsb_release)
+  if (LSB_RELEASE_EXECUTABLE)
+    # Any even moderately recent Ubuntu release (likely to be affected by
+    # this bug) should have lsb_release, if it isn't present we are likely
+    # on a different Linux distribution (should be fine).
+    execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -si
+      OUTPUT_VARIABLE LSB_DISTRIBUTOR_ID
+      OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+    if (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+        SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+      # We are on Ubuntu, and the SuiteSparse version matches the broken
+      # system install version and is a system install.
+      set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION TRUE)
+      message(STATUS "Found system install of SuiteSparse "
+        "${SUITESPARSE_VERSION} running on Ubuntu, which has a known bug "
+        "preventing linking of shared libraries (static linking unaffected).")
+    endif (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+      SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+  endif (LSB_RELEASE_EXECUTABLE)
+endif (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+  SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+
+suitesparse_reset_find_library_prefix()
+
+# Handle REQUIRED and QUIET arguments to FIND_PACKAGE
+include(FindPackageHandleStandardArgs)
+if (SUITESPARSE_FOUND)
+  find_package_handle_standard_args(SuiteSparse
+    REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+    VERSION_VAR SUITESPARSE_VERSION
+    FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+else (SUITESPARSE_FOUND)
+  # Do not pass VERSION_VAR to FindPackageHandleStandardArgs() if we failed to
+  # find SuiteSparse to avoid a confusing autogenerated failure message
+  # that states 'not found (missing: FOO) (found version: x.y.z)'.
+  find_package_handle_standard_args(SuiteSparse
+    REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+    FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+endif (SUITESPARSE_FOUND)
diff --git a/cmake/FindUnorderedMap.cmake b/cmake/FindUnorderedMap.cmake
new file mode 100644
index 0000000..6ba07fd
--- /dev/null
+++ b/cmake/FindUnorderedMap.cmake
@@ -0,0 +1,94 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindUnorderedMap.cmake - Find unordered_map header and namespace.
+#
+# This module defines the following variables:
+#
+# UNORDERED_MAP_FOUND: TRUE if unordered_map is found.
+# HAVE_UNORDERED_MAP_IN_STD_NAMESPACE: Use <unordered_map> & std.
+# HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE: Use <unordered_map> & std::tr1.
+# HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE: <tr1/unordered_map> & std::tr1.
+macro(FIND_UNORDERED_MAP)
+  # To support CXX11 option, clear the results of all check_xxx() functions
+  # s/t we always perform the checks each time, otherwise CMake fails to
+  # detect that the tests should be performed again after CXX11 is toggled.
+  unset(HAVE_STD_UNORDERED_MAP_HEADER CACHE)
+  unset(HAVE_UNORDERED_MAP_IN_STD_NAMESPACE CACHE)
+  unset(HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE CACHE)
+  unset(HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE CACHE)
+
+  set(UNORDERED_MAP_FOUND FALSE)
+  include(CheckIncludeFileCXX)
+  check_include_file_cxx(unordered_map HAVE_STD_UNORDERED_MAP_HEADER)
+  if (HAVE_STD_UNORDERED_MAP_HEADER)
+    # Finding the unordered_map header doesn't mean that unordered_map
+    # is in std namespace.
+    #
+    # In particular, MSVC 2008 has unordered_map declared in std::tr1.
+    # In order to support this, we do an extra check to see which
+    # namespace should be used.
+    include(CheckCXXSourceCompiles)
+    check_cxx_source_compiles("#include <unordered_map>
+                               int main() {
+                                 std::unordered_map<int, int> map;
+                                 return 0;
+                               }"
+                               HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+    if (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+      set(UNORDERED_MAP_FOUND TRUE)
+      message("-- Found unordered_map/set in std namespace.")
+    else (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+      check_cxx_source_compiles("#include <unordered_map>
+                                 int main() {
+                                   std::tr1::unordered_map<int, int> map;
+                                   return 0;
+                                 }"
+                                 HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+      if (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+        set(UNORDERED_MAP_FOUND TRUE)
+        message("-- Found unordered_map/set in std::tr1 namespace.")
+      else (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+        message("-- Found <unordered_map> but cannot find either "
+          "std::unordered_map or std::tr1::unordered_map.")
+      endif (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
+    endif (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
+  else (HAVE_STD_UNORDERED_MAP_HEADER)
+    check_include_file_cxx("tr1/unordered_map"
+      HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+    if (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+      set(UNORDERED_MAP_FOUND TRUE)
+      message("-- Found tr1/unordered_map/set in std::tr1 namespace.")
+    else (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+      message("-- Unable to find <unordered_map> or <tr1/unordered_map>.")
+    endif (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
+  endif (HAVE_STD_UNORDERED_MAP_HEADER)
+endmacro(FIND_UNORDERED_MAP)
diff --git a/cmake/ReadCeresVersionFromSource.cmake b/cmake/ReadCeresVersionFromSource.cmake
new file mode 100644
index 0000000..2859744
--- /dev/null
+++ b/cmake/ReadCeresVersionFromSource.cmake
@@ -0,0 +1,81 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# Extract Ceres version from <CERES_SOURCE_ROOT>/include/ceres/version.h
+# so that we only have a single definition of the Ceres version, not two
+# one in the source and one in the CMakeLists.txt.
+macro(read_ceres_version_from_source CERES_SOURCE_ROOT)
+  set(CERES_VERSION_FILE ${CERES_SOURCE_ROOT}/include/ceres/version.h)
+  if (NOT EXISTS ${CERES_VERSION_FILE})
+    message(FATAL_ERROR "Cannot find Ceres version.h file in specified "
+      "Ceres source directory: ${CERES_SOURCE_ROOT}, it is not here: "
+      "${CERES_VERSION_FILE}")
+  endif()
+
+  file(READ ${CERES_VERSION_FILE} CERES_VERSION_FILE_CONTENTS)
+
+  string(REGEX MATCH "#define CERES_VERSION_MAJOR [0-9]+"
+    CERES_VERSION_MAJOR "${CERES_VERSION_FILE_CONTENTS}")
+  string(REGEX REPLACE "#define CERES_VERSION_MAJOR ([0-9]+)" "\\1"
+    CERES_VERSION_MAJOR "${CERES_VERSION_MAJOR}")
+  # NOTE: if (VAR) is FALSE if VAR is numeric and <= 0, as such we cannot use
+  #       it for testing version numbers, which might well be zero, at least
+  #       for the patch version, hence check for empty string explicitly.
+  if ("${CERES_VERSION_MAJOR}" STREQUAL "")
+    message(FATAL_ERROR "Failed to extract Ceres major version from "
+      "${CERES_VERSION_FILE}")
+  endif()
+
+  string(REGEX MATCH "#define CERES_VERSION_MINOR [0-9]+"
+    CERES_VERSION_MINOR "${CERES_VERSION_FILE_CONTENTS}")
+  string(REGEX REPLACE "#define CERES_VERSION_MINOR ([0-9]+)" "\\1"
+    CERES_VERSION_MINOR "${CERES_VERSION_MINOR}")
+  if ("${CERES_VERSION_MINOR}" STREQUAL "")
+    message(FATAL_ERROR "Failed to extract Ceres minor version from "
+      "${CERES_VERSION_FILE}")
+  endif()
+
+  string(REGEX MATCH "#define CERES_VERSION_REVISION [0-9]+"
+    CERES_VERSION_PATCH "${CERES_VERSION_FILE_CONTENTS}")
+  string(REGEX REPLACE "#define CERES_VERSION_REVISION ([0-9]+)" "\\1"
+    CERES_VERSION_PATCH "${CERES_VERSION_PATCH}")
+  if ("${CERES_VERSION_PATCH}" STREQUAL "")
+    message(FATAL_ERROR "Failed to extract Ceres patch version from "
+      "${CERES_VERSION_FILE}")
+  endif()
+
+  # This is on a single line s/t CMake does not interpret it as a list of
+  # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
+  set(CERES_VERSION "${CERES_VERSION_MAJOR}.${CERES_VERSION_MINOR}.${CERES_VERSION_PATCH}")
+
+  message(STATUS "Detected Ceres version: ${CERES_VERSION} from "
+    "${CERES_VERSION_FILE}")
+endmacro()
diff --git a/cmake/UpdateCacheVariable.cmake b/cmake/UpdateCacheVariable.cmake
new file mode 100644
index 0000000..5995a87
--- /dev/null
+++ b/cmake/UpdateCacheVariable.cmake
@@ -0,0 +1,43 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+
+# By default, there is no easy way in CMake to set the value of a cache
+# variable without reinitialising it, which involves resetting its
+# associated help string.  This is particularly annoying for CMake options
+# where they need to programmatically updated.
+#
+# This function automates this process by getting the current help string
+# for the cache variable to update, then reinitialising it with the new
+# value, but with the original help string.
+function(UPDATE_CACHE_VARIABLE VAR_NAME VALUE)
+  get_property(HELP_STRING CACHE ${VAR_NAME} PROPERTY HELPSTRING)
+  get_property(VAR_TYPE CACHE ${VAR_NAME} PROPERTY TYPE)
+  set(${VAR_NAME} ${VALUE} CACHE ${VAR_TYPE} "${HELP_STRING}" FORCE)
+endfunction()
diff --git a/cmake/config.h.in b/cmake/config.h.in
new file mode 100644
index 0000000..0bf0f8f
--- /dev/null
+++ b/cmake/config.h.in
@@ -0,0 +1,96 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: alexs.mac@gmail.com (Alex Stewart)
+
+// Configuration options for Ceres.
+//
+// Do not edit this file, it was automatically configured by CMake when
+// Ceres was compiled with the relevant configuration for the machine
+// on which Ceres was compiled.
+//
+// Ceres Developers: All options should have the same name as their mapped
+//                   CMake options, in the preconfigured version of this file
+//                   all options should be enclosed in '@'.
+
+#ifndef CERES_PUBLIC_INTERNAL_CONFIG_H_
+#define CERES_PUBLIC_INTERNAL_CONFIG_H_
+
+// If defined, use the LGPL code in Eigen.
+@CERES_USE_EIGEN_SPARSE@
+
+// If defined, Ceres was compiled without LAPACK.
+@CERES_NO_LAPACK@
+
+// If defined, Ceres was compiled without SuiteSparse.
+@CERES_NO_SUITESPARSE@
+
+// If defined, Ceres was compiled without CXSparse.
+@CERES_NO_CXSPARSE@
+
+// If defined, Ceres was compiled without Schur specializations.
+@CERES_RESTRICT_SCHUR_SPECIALIZATION@
+
+// If defined, Ceres was compiled to use Eigen instead of hardcoded BLAS
+// routines.
+@CERES_NO_CUSTOM_BLAS@
+
+// If defined, Ceres was compiled with C++11.
+@CERES_USE_CXX11@
+
+// If defined, Ceres was compiled without multithreading support.
+@CERES_NO_THREADS@
+// If defined Ceres was compiled with OpenMP multithreading support.
+@CERES_USE_OPENMP@
+// Additionally defined on *nix if Ceres was compiled with OpenMP support,
+// as in this case pthreads is also required.
+@CERES_HAVE_PTHREAD@
+@CERES_HAVE_RWLOCK@
+
+// Which version of unordered map was used when Ceres was compiled. Exactly
+// one of these will be defined for any given build.
+@CERES_STD_UNORDERED_MAP@
+@CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE@
+@CERES_TR1_UNORDERED_MAP@
+@CERES_NO_UNORDERED_MAP@
+
+// If defined, the memory header is in <tr1/memory>, otherwise <memory>.
+@CERES_TR1_MEMORY_HEADER@
+
+// If defined shared_ptr is in std::tr1 namespace, otherwise std.
+@CERES_TR1_SHARED_PTR@
+
+// If defined, Ceres was built as a shared library.
+@CERES_USING_SHARED_LIBRARY@
+
+// If defined, Ceres was compiled with a version MSVC >= 2005 which
+// deprecated the standard POSIX names for bessel functions, replacing them
+// with underscore prefixed versions (e.g. j0() -> _j0()).
+@CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS@
+
+#endif  // CERES_PUBLIC_INTERNAL_CONFIG_H_
diff --git a/cmake/iOS.cmake b/cmake/iOS.cmake
new file mode 100644
index 0000000..8d34d61
--- /dev/null
+++ b/cmake/iOS.cmake
@@ -0,0 +1,327 @@
+# This file is part of the ios-cmake project. It was retrieved from
+# https://github.com/cristeab/ios-cmake.git, which is a fork of
+# https://code.google.com/p/ios-cmake/. Which in turn is based off of
+# the Platform/Darwin.cmake and Platform/UnixPaths.cmake files which
+# are included with CMake 2.8.4
+#
+# The ios-cmake project is licensed under the new BSD license.
+#
+# Copyright (c) 2014, Bogdan Cristea and LTE Engineering Software,
+# Kitware, Inc., Insight Software Consortium.  All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# This file is based off of the Platform/Darwin.cmake and
+# Platform/UnixPaths.cmake files which are included with CMake 2.8.4
+# It has been altered for iOS development.
+#
+# Updated by Alex Stewart (alexs.mac@gmail.com).
+
+# The following variables control the behaviour of this toolchain:
+#
+# IOS_PLATFORM: OS (default) or SIMULATOR or SIMULATOR64
+#    OS = Build for iPhoneOS.
+#    SIMULATOR = Build for x86 i386 iPhone Simulator.
+#    SIMULATOR64 = Build for x86 x86_64 iPhone Simulator.
+# CMAKE_OSX_SYSROOT: Path to the iOS SDK to use.  By default this is
+#    automatically determined from IOS_PLATFORM and xcodebuild, but
+#    can also be manually specified (although this should not be required).
+# CMAKE_IOS_DEVELOPER_ROOT: Path to the Developer directory for the iOS platform
+#    being compiled for.  By default this is automatically determined from
+#    CMAKE_OSX_SYSROOT, but can also be manually specified (although this should
+#    not be required).
+#
+# This toolchain defines the following variables for use externally:
+#
+# XCODE_VERSION: Version number (not including Build version) of Xcode detected.
+# IOS_SDK_VERSION: Version of iOS SDK being used.
+# CMAKE_OSX_ARCHITECTURES: Architectures being compiled for (generated from
+#    IOS_PLATFORM).
+#
+# This toolchain defines the following macros for use externally:
+#
+# set_xcode_property (TARGET XCODE_PROPERTY XCODE_VALUE)
+#   A convenience macro for setting xcode specific properties on targets
+#   example: set_xcode_property (myioslib IPHONEOS_DEPLOYMENT_TARGET "3.1").
+#
+# find_host_package (PROGRAM ARGS)
+#   A macro used to find executable programs on the host system, not within the
+#   iOS environment.  Thanks to the android-cmake project for providing the
+#   command.
+
+# Get the Xcode version being used.
+execute_process(COMMAND xcodebuild -version
+  OUTPUT_VARIABLE XCODE_VERSION
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+string(REGEX MATCH "Xcode [0-9\\.]+" XCODE_VERSION "${XCODE_VERSION}")
+string(REGEX REPLACE "Xcode ([0-9\\.]+)" "\\1" XCODE_VERSION "${XCODE_VERSION}")
+message(STATUS "Building with Xcode version: ${XCODE_VERSION}")
+
+# Default to building for iPhoneOS if not specified otherwise, and we cannot
+# determine the platform from the CMAKE_OSX_ARCHITECTURES variable.  The use
+# of CMAKE_OSX_ARCHITECTURES is such that try_compile() projects can correctly
+# determine the value of IOS_PLATFORM from the root project, as
+# CMAKE_OSX_ARCHITECTURES is propagated to them by CMake.
+if (NOT DEFINED IOS_PLATFORM)
+  if (CMAKE_OSX_ARCHITECTURES)
+    if (CMAKE_OSX_ARCHITECTURES MATCHES ".*arm.*")
+      set(IOS_PLATFORM "OS")
+    elseif (CMAKE_OSX_ARCHITECTURES MATCHES "i386")
+      set(IOS_PLATFORM "SIMULATOR")
+    elseif (CMAKE_OSX_ARCHITECTURES MATCHES "x86_64")
+      set(IOS_PLATFORM "SIMULATOR64")
+    endif()
+  endif()
+  if (NOT IOS_PLATFORM)
+    set(IOS_PLATFORM "OS")
+  endif()
+endif()
+set(IOS_PLATFORM ${IOS_PLATFORM} CACHE STRING
+  "Type of iOS platform for which to build.")
+
+# Determine the platform name and architectures for use in xcodebuild commands
+# from the specified IOS_PLATFORM name.
+if (IOS_PLATFORM STREQUAL "OS")
+  set(XCODE_IOS_PLATFORM iphoneos)
+  set(IOS_ARCH armv7 armv7s arm64)
+elseif (IOS_PLATFORM STREQUAL "SIMULATOR")
+  set(XCODE_IOS_PLATFORM iphonesimulator)
+  set(IOS_ARCH i386)
+elseif(IOS_PLATFORM STREQUAL "SIMULATOR64")
+  set(XCODE_IOS_PLATFORM iphonesimulator)
+  set(IOS_ARCH x86_64)
+else()
+  message(FATAL_ERROR "Invalid IOS_PLATFORM: ${IOS_PLATFORM}")
+endif()
+message(STATUS "Configuring iOS build for platform: ${IOS_PLATFORM}, "
+  "architecture(s): ${IOS_ARCH}")
+
+# If user did not specify the SDK root to use, then query xcodebuild for it.
+if (NOT CMAKE_OSX_SYSROOT)
+  execute_process(COMMAND xcodebuild -version -sdk ${XCODE_IOS_PLATFORM} Path
+    OUTPUT_VARIABLE CMAKE_OSX_SYSROOT
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  message(STATUS "Using SDK: ${CMAKE_OSX_SYSROOT} for platform: ${IOS_PLATFORM}")
+endif()
+if (NOT EXISTS ${CMAKE_OSX_SYSROOT})
+  message(FATAL_ERROR "Invalid CMAKE_OSX_SYSROOT: ${CMAKE_OSX_SYSROOT} "
+    "does not exist.")
+endif()
+# Get the SDK version information.
+execute_process(COMMAND xcodebuild -sdk ${CMAKE_OSX_SYSROOT} -version SDKVersion
+  OUTPUT_VARIABLE IOS_SDK_VERSION
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+# Find the Developer root for the specific iOS platform being compiled for
+# from CMAKE_OSX_SYSROOT.  Should be ../../ from SDK specified in
+# CMAKE_OSX_SYSROOT.  There does not appear to be a direct way to obtain
+# this information from xcrun or xcodebuild.
+if (NOT CMAKE_IOS_DEVELOPER_ROOT)
+  get_filename_component(IOS_PLATFORM_SDK_DIR ${CMAKE_OSX_SYSROOT} PATH)
+  get_filename_component(CMAKE_IOS_DEVELOPER_ROOT ${IOS_PLATFORM_SDK_DIR} PATH)
+endif()
+if (NOT EXISTS ${CMAKE_IOS_DEVELOPER_ROOT})
+  message(FATAL_ERROR "Invalid CMAKE_IOS_DEVELOPER_ROOT: "
+    "${CMAKE_IOS_DEVELOPER_ROOT} does not exist.")
+endif()
+
+# Find the C & C++ compilers for the specified SDK.
+if (NOT CMAKE_C_COMPILER)
+  execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find clang
+    OUTPUT_VARIABLE CMAKE_C_COMPILER
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  message(STATUS "Using C compiler: ${CMAKE_C_COMPILER}")
+endif()
+if (NOT CMAKE_CXX_COMPILER)
+  execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find clang++
+    OUTPUT_VARIABLE CMAKE_CXX_COMPILER
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  message(STATUS "Using CXX compiler: ${CMAKE_CXX_COMPILER}")
+endif()
+
+# Find (Apple's) libtool.
+execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find libtool
+  OUTPUT_VARIABLE IOS_LIBTOOL
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+message(STATUS "Using libtool: ${IOS_LIBTOOL}")
+# Configure libtool to be used instead of ar + ranlib to build static libraries.
+# This is required on Xcode 7+, but should also work on previous versions of
+# Xcode.
+set(CMAKE_C_CREATE_STATIC_LIBRARY
+  "${IOS_LIBTOOL} -static -o <TARGET> <LINK_FLAGS> <OBJECTS> ")
+set(CMAKE_CXX_CREATE_STATIC_LIBRARY
+  "${IOS_LIBTOOL} -static -o <TARGET> <LINK_FLAGS> <OBJECTS> ")
+
+# Get the version of Darwin (OS X) of the host.
+execute_process(COMMAND uname -r
+  OUTPUT_VARIABLE CMAKE_HOST_SYSTEM_VERSION
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+# Standard settings.
+set(CMAKE_SYSTEM_NAME Darwin)
+set(CMAKE_SYSTEM_VERSION ${IOS_SDK_VERSION})
+set(UNIX TRUE)
+set(APPLE TRUE)
+set(IOS TRUE)
+# Force unset of OS X-specific deployment target (otherwise autopopulated),
+# required as of cmake 2.8.10.
+set(CMAKE_OSX_DEPLOYMENT_TARGET "" CACHE STRING
+  "Must be empty for iOS builds." FORCE)
+# Set the architectures for which to build.
+set(CMAKE_OSX_ARCHITECTURES ${IOS_ARCH} CACHE STRING "Build architecture for iOS")
+
+# Skip the platform compiler checks for cross compiling.
+set(CMAKE_CXX_COMPILER_FORCED TRUE)
+set(CMAKE_CXX_COMPILER_WORKS TRUE)
+set(CMAKE_C_COMPILER_FORCED TRUE)
+set(CMAKE_C_COMPILER_WORKS TRUE)
+
+# All iOS/Darwin specific settings - some may be redundant.
+set(CMAKE_SHARED_LIBRARY_PREFIX "lib")
+set(CMAKE_SHARED_LIBRARY_SUFFIX ".dylib")
+set(CMAKE_SHARED_MODULE_PREFIX "lib")
+set(CMAKE_SHARED_MODULE_SUFFIX ".so")
+set(CMAKE_MODULE_EXISTS 1)
+set(CMAKE_DL_LIBS "")
+
+set(CMAKE_C_OSX_COMPATIBILITY_VERSION_FLAG "-compatibility_version ")
+set(CMAKE_C_OSX_CURRENT_VERSION_FLAG "-current_version ")
+set(CMAKE_CXX_OSX_COMPATIBILITY_VERSION_FLAG "${CMAKE_C_OSX_COMPATIBILITY_VERSION_FLAG}")
+set(CMAKE_CXX_OSX_CURRENT_VERSION_FLAG "${CMAKE_C_OSX_CURRENT_VERSION_FLAG}")
+
+# Specify minimum version of deployment target.
+# Unless specified, the latest SDK version is used by default.
+set(IOS_DEPLOYMENT_TARGET "${IOS_SDK_VERSION}"
+    CACHE STRING "Minimum iOS version to build for." )
+message(STATUS "Building for minimum iOS version: ${IOS_DEPLOYMENT_TARGET}"
+               " (SDK version: ${IOS_SDK_VERSION})")
+
+# Note that only Xcode 7+ supports the newer more specific:
+# -m${XCODE_IOS_PLATFORM}-version-min flags, older versions of Xcode use:
+# -m(ios/ios-simulator)-version-min instead.
+if (XCODE_VERSION VERSION_LESS 7.0)
+  if (IOS_PLATFORM STREQUAL "OS")
+    set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+      "-mios-version-min=${IOS_DEPLOYMENT_TARGET}")
+  else()
+    # SIMULATOR or SIMULATOR64 both use -mios-simulator-version-min.
+    set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+      "-mios-simulator-version-min=${IOS_DEPLOYMENT_TARGET}")
+  endif()
+else()
+  # Xcode 7.0+ uses flags we can build directly from XCODE_IOS_PLATFORM.
+  set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+    "-m${XCODE_IOS_PLATFORM}-version-min=${IOS_DEPLOYMENT_TARGET}")
+endif()
+
+set(CMAKE_C_FLAGS
+  "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -fobjc-abi-version=2 -fobjc-arc ${CMAKE_C_FLAGS}")
+# Hidden visibilty is required for C++ on iOS.
+set(CMAKE_CXX_FLAGS
+  "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -fvisibility=hidden -fvisibility-inlines-hidden -fobjc-abi-version=2 -fobjc-arc ${CMAKE_CXX_FLAGS}")
+set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -fomit-frame-pointer -ffast-math ${CMAKE_CXX_FLAGS_RELEASE}")
+
+set(CMAKE_C_LINK_FLAGS "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -Wl,-search_paths_first ${CMAKE_C_LINK_FLAGS}")
+set(CMAKE_CXX_LINK_FLAGS "${XCODE_IOS_PLATFORM_VERSION_FLAGS}  -Wl,-search_paths_first ${CMAKE_CXX_LINK_FLAGS}")
+
+# In order to ensure that the updated compiler flags are used in try_compile()
+# tests, we have to forcibly set them in the CMake cache, not merely set them
+# in the local scope.
+list(APPEND VARS_TO_FORCE_IN_CACHE
+  CMAKE_C_FLAGS
+  CMAKE_CXX_FLAGS
+  CMAKE_CXX_RELEASE
+  CMAKE_C_LINK_FLAGS
+  CMAKE_CXX_LINK_FLAGS)
+foreach(VAR_TO_FORCE ${VARS_TO_FORCE_IN_CACHE})
+  set(${VAR_TO_FORCE} "${${VAR_TO_FORCE}}" CACHE STRING "" FORCE)
+endforeach()
+
+set(CMAKE_PLATFORM_HAS_INSTALLNAME 1)
+set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS "-dynamiclib -headerpad_max_install_names")
+set(CMAKE_SHARED_MODULE_CREATE_C_FLAGS "-bundle -headerpad_max_install_names")
+set(CMAKE_SHARED_MODULE_LOADER_C_FLAG "-Wl,-bundle_loader,")
+set(CMAKE_SHARED_MODULE_LOADER_CXX_FLAG "-Wl,-bundle_loader,")
+set(CMAKE_FIND_LIBRARY_SUFFIXES ".dylib" ".so" ".a")
+
+# Hack: if a new cmake (which uses CMAKE_INSTALL_NAME_TOOL) runs on an old
+# build tree (where install_name_tool was hardcoded) and where
+# CMAKE_INSTALL_NAME_TOOL isn't in the cache and still cmake didn't fail in
+# CMakeFindBinUtils.cmake (because it isn't rerun) hardcode
+# CMAKE_INSTALL_NAME_TOOL here to install_name_tool, so it behaves as it did
+# before, Alex.
+if (NOT DEFINED CMAKE_INSTALL_NAME_TOOL)
+  find_program(CMAKE_INSTALL_NAME_TOOL install_name_tool)
+endif (NOT DEFINED CMAKE_INSTALL_NAME_TOOL)
+
+# Set the find root to the iOS developer roots and to user defined paths.
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_IOS_DEVELOPER_ROOT} ${CMAKE_OSX_SYSROOT}
+  ${CMAKE_PREFIX_PATH} CACHE string  "iOS find search path root" FORCE)
+
+# Default to searching for frameworks first.
+set(CMAKE_FIND_FRAMEWORK FIRST)
+
+# Set up the default search directories for frameworks.
+set(CMAKE_SYSTEM_FRAMEWORK_PATH
+  ${CMAKE_OSX_SYSROOT}/System/Library/Frameworks
+  ${CMAKE_OSX_SYSROOT}/System/Library/PrivateFrameworks
+  ${CMAKE_OSX_SYSROOT}/Developer/Library/Frameworks)
+
+# Only search the specified iOS SDK, not the remainder of the host filesystem.
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# This little macro lets you set any XCode specific property.
+macro(set_xcode_property TARGET XCODE_PROPERTY XCODE_VALUE)
+  set_property(TARGET ${TARGET} PROPERTY
+    XCODE_ATTRIBUTE_${XCODE_PROPERTY} ${XCODE_VALUE})
+endmacro(set_xcode_property)
+
+# This macro lets you find executable programs on the host system.
+macro(find_host_package)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER)
+  set(IOS FALSE)
+
+  find_package(${ARGN})
+
+  set(IOS TRUE)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+endmacro(find_host_package)
diff --git a/cmake/uninstall.cmake.in b/cmake/uninstall.cmake.in
new file mode 100644
index 0000000..06cac80
--- /dev/null
+++ b/cmake/uninstall.cmake.in
@@ -0,0 +1,97 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: arnaudgelas@gmail.com (Arnaud Gelas)
+#         alexs.mac@gmail.com (Alex Stewart)
+
+if (COMMAND cmake_policy)
+  # Ignore empty elements in LIST() commands.
+  cmake_policy(SET CMP0007 OLD)
+endif (COMMAND cmake_policy)
+
+if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR "Cannot find install manifest: "
+                      "\"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+endif (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" INSTALL_MANIFEST)
+string(REGEX REPLACE "\n" ";" INSTALL_MANIFEST "${INSTALL_MANIFEST}")
+list(REVERSE INSTALL_MANIFEST)
+
+foreach (INSTALLED_FILE ${INSTALL_MANIFEST})
+  # Save the root ceres include install directory, e.g. /usr/local/include/ceres
+  # so that we can remove it at the end.
+  if (NOT CERES_INCLUDE_INSTALL_ROOT)
+    get_filename_component(FILE_NAME ${INSTALLED_FILE} NAME)
+    if (FILE_NAME STREQUAL ceres.h)
+      # Ensure that the directory is nested as we expect, as we are going to
+      # remove it, and we do not want to remove files pertaining to anyone else.
+      get_filename_component(PARENT_DIR ${INSTALLED_FILE} PATH)
+      get_filename_component(PARENT_DIR_NAME ${PARENT_DIR} NAME)
+      if (PARENT_DIR_NAME STREQUAL ceres AND IS_DIRECTORY ${PARENT_DIR})
+        set(CERES_INCLUDE_INSTALL_ROOT ${PARENT_DIR})
+      endif (PARENT_DIR_NAME STREQUAL ceres AND IS_DIRECTORY ${PARENT_DIR})
+    endif (FILE_NAME STREQUAL ceres.h)
+  endif (NOT CERES_INCLUDE_INSTALL_ROOT)
+
+  message(STATUS "Uninstalling \"$ENV{DESTDIR}${INSTALLED_FILE}\"")
+  if (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}")
+    execute_process(COMMAND @CMAKE_COMMAND@
+                    -E remove "$ENV{DESTDIR}${INSTALLED_FILE}"
+                    OUTPUT_VARIABLE RM_OUT
+                    RESULT_VARIABLE RM_RETVAL)
+    if (NOT ${RM_RETVAL} EQUAL 0)
+      message(FATAL_ERROR
+              "Problem when removing \"$ENV{DESTDIR}${INSTALLED_FILE}\"")
+    endif (NOT ${RM_RETVAL} EQUAL 0)
+  else (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}")
+    message(STATUS "File \"$ENV{DESTDIR}${INSTALLED_FILE}\" does not exist.")
+  endif (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}")
+endforeach(INSTALLED_FILE)
+
+# Removing Ceres include install directory.
+if (CERES_INCLUDE_INSTALL_ROOT AND
+    EXISTS ${CERES_INCLUDE_INSTALL_ROOT})
+  message(STATUS "Removing Ceres include install directory: "
+                 "\"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}\"")
+  execute_process(COMMAND @CMAKE_COMMAND@
+                  -E remove_directory
+                  "$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}"
+                  OUTPUT_VARIABLE RM_OUT
+                  RESULT_VARIABLE RM_RETVAL)
+  if (NOT ${RM_RETVAL} EQUAL 0)
+    message(FATAL_ERROR
+      "Failed to remove: \"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT\"")
+  endif (NOT ${RM_RETVAL} EQUAL 0)
+else (CERES_INCLUDE_INSTALL_ROOT AND
+    EXISTS ${CERES_INCLUDE_INSTALL_ROOT})
+  message(FATAL_ERROR "Failed to find Ceres installed include directory "
+                      "(e.g. /usr/local/include/ceres), candidate: "
+                      "\"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}\"")
+endif (CERES_INCLUDE_INSTALL_ROOT AND
+  EXISTS ${CERES_INCLUDE_INSTALL_ROOT})
diff --git a/config/ceres/internal/config.h b/config/ceres/internal/config.h
new file mode 100644
index 0000000..1cf034d
--- /dev/null
+++ b/config/ceres/internal/config.h
@@ -0,0 +1,48 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: alexs.mac@gmail.com (Alex Stewart)
+
+// Default (empty) configuration options for Ceres.
+//
+// IMPORTANT: Most users of Ceres will not use this file, when
+//            compiling Ceres with CMake, CMake will configure a new
+//            config.h with the currently selected Ceres compile
+//            options in <BUILD_DIR>/config, which will be added to
+//            the include path for compilation, and installed with the
+//            public Ceres headers.  However, for some users of Ceres
+//            who compile without CMake (Android), this file ensures
+//            that Ceres will compile, with the user either specifying
+//            manually the Ceres compile options, or passing them
+//            directly through the compiler.
+
+#ifndef CERES_PUBLIC_INTERNAL_CONFIG_H_
+#define CERES_PUBLIC_INTERNAL_CONFIG_H_
+
+
+#endif  // CERES_PUBLIC_INTERNAL_CONFIG_H_
diff --git a/data/2x2.foe b/data/2x2.foe
new file mode 100644
index 0000000..67b1384
--- /dev/null
+++ b/data/2x2.foe
@@ -0,0 +1,8 @@
+2 3
+0 1 0 1
+0 0 1 1
+0.586612685392731 1.157638405566669 0.846059486257292
+-0.0582774013402734 0.0339010363051084 -0.0501593018104054 0.0745568557931712
+0.0492112815304123 -0.0307820846538285 -0.123247230948424 0.104812330861557
+0.0562633568728865 0.0152832583489560 -0.0576215592718086 -0.0139673758425540
+
diff --git a/data/3x3.foe b/data/3x3.foe
new file mode 100644
index 0000000..e0d6104
--- /dev/null
+++ b/data/3x3.foe
@@ -0,0 +1,13 @@
+3 8
+0 1 2 0 1 2 0 1 2
+0 0 0 1 1 1 2 2 2
+1.201143e-01 7.520515e-02 9.078330e-02 1.280545e-01 6.276734e-02 1.201840e-01 1.092460e-01 1.217102e-01
+-1.06290 1.81622 -0.80592 0.27489 0.13790 -0.49836 0.76669 -1.95329 1.32468
+-1.39695 1.62887 -0.27482 1.46226 -2.21903 0.82016 -0.12290 0.67906 -0.57683
+0.89899 0.27696 0.04805 -0.07191 0.00777 -0.00488 -0.80267 -0.31249 -0.03957
+-0.86612 1.66525 -1.03168 1.87671 -3.28802 1.92990 -1.22515 2.01814 -1.08079
+-0.37343 -0.23977 0.56955 -0.41741 0.05711 0.42774 -0.14881 0.02528 0.10072
+0.62783 0.27746 0.44180 -1.22190 -0.27753 -1.23532 0.54919 0.15855 0.68658
+0.46483 -1.12896 0.57926 0.22646 -0.25658 0.18881 0.57866 -1.13277 0.48707
+0.86662 0.19780 -1.06759 -1.92170 -0.10882 2.02231 1.14262 -0.09817 -1.03353
+
diff --git a/data/5x5.foe b/data/5x5.foe
new file mode 100644
index 0000000..0106827
--- /dev/null
+++ b/data/5x5.foe
@@ -0,0 +1,32 @@
+5 24
+0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4
+0 0 0 0 0 1 1 1 1 1 2 2 2 2 2 3 3 3 3 3 4 4 4 4 4
+
+5.472286e-02 6.425581e-02 5.031088e-02 5.989018e-02 4.424956e-02 5.119065e-02 6.743059e-02 2.339211e-02 5.973362e-02 6.281576e-02 1.495131e-02 5.693016e-02 3.189429e-02 7.672358e-02 4.524088e-02 3.681065e-02 6.383650e-02 4.347603e-02 2.264134e-02 2.561474e-02 5.886950e-02 4.114462e-02 4.893348e-02 5.834900e-02
+
+   -0.31071 1.04120 -0.78749 -0.47895 0.56812 -0.02713 0.12199 -0.19871 0.01017 0.08976 -0.05437 0.19638 -0.11093 -0.02853 0.00427 -0.19578 0.29112 -0.05108 -0.08012 0.02944 -0.87865 1.54098 -0.60090 -0.14424 0.05388 
+   0.59362 0.07378 0.01163 0.11076 0.38838 -1.56819 -0.12448 -0.26775 -0.14495 -1.26480 1.69550 0.23647 0.50640 0.20682 1.71141 -0.93659 -0.27274 -0.40550 -0.30937 -1.27168 0.21164 0.09704 0.14615 0.14513 0.43322 
+   0.84855 -1.15931 -0.04677 1.55189 -1.20232 -0.84787 0.88787 0.05491 -0.59425 0.44273 0.10771 0.15608 -0.20982 -0.40088 0.46844 0.00920 -0.34651 0.07722 1.10449 -1.00405 -0.00980 0.27614 0.32393 -1.83075 1.34408 
+   -1.03323 1.88111 -1.43100 0.78609 -0.25928 -0.03655 0.21945 -0.13154 -0.10918 0.11203 0.09740 -0.02567 -0.23481 0.18294 -0.07056 0.20877 -0.12025 -0.27859 0.34269 -0.10385 0.70720 -1.63594 1.39715 -0.56761 0.10165 
+   0.53443 -0.08024 -0.11745 -0.03402 0.25033 -0.96043 0.15798 0.15981 0.10961 -0.24634 0.77044 -0.18866 -0.27562 0.18315 0.07681 -0.74267 0.51002 0.40930 -0.00294 -1.63639 0.40120 -0.42511 -0.15842 -0.28824 1.59764 
+   -0.88573 -0.33458 -0.01419 -0.01103 0.00077 0.47044 0.43260 0.04198 -0.00840 0.00150 0.57390 0.08128 0.04955 -0.00643 0.01470 0.50375 0.07196 0.02376 0.03349 0.03517 -0.67904 -0.28139 -0.05936 -0.03884 -0.02249 
+   -0.01311 -0.01988 0.10721 -0.08376 0.01636 -0.32442 0.98192 -1.44473 1.21759 -0.47859 0.89529 -2.36566 3.17358 -2.70415 1.10629 -0.96782 2.47203 -3.22965 2.76881 -1.14343 0.42498 -1.09401 1.42223 -1.22142 0.50653 
+   0.21862 -0.20464 0.03462 -0.03753 0.01527 0.13402 -0.07069 -0.00552 -0.04434 -0.02653 0.15630 0.02185 0.04572 -0.11760 -0.06958 0.15633 -0.00898 0.00952 -0.06227 -0.12147 0.37032 0.05372 0.10450 -0.22764 -0.32445 
+   -0.02092 -0.35567 0.54827 0.50360 -0.95729 0.42842 0.61450 -1.06896 -0.96641 1.79327 -1.49830 -0.13333 0.96113 0.66182 -1.14234 2.35571 -0.68686 -0.72675 -0.09191 0.23092 -1.29917 0.56449 0.33405 -0.11554 0.06663 
+   -0.15212 -0.31661 -0.10629 -0.68078 1.64419 0.60883 0.48936 0.35629 0.85845 -2.71321 -1.02463 -0.40494 -0.33908 -0.03011 1.32162 0.87303 0.38931 0.15034 -0.46469 -0.16997 -0.30057 -0.21769 -0.03504 0.29551 -0.03051 
+   -0.63745 1.09815 0.07905 -1.29684 0.78552 0.31671 -0.60369 -0.31422 1.37878 -0.84617 -0.08181 0.25602 0.09426 -0.69533 0.50771 -0.26215 0.08620 0.18111 0.24247 -0.35641 0.18171 0.29815 -0.90155 0.49852 -0.00995 
+   -0.24394 0.32079 -0.18885 -0.43086 0.61484 0.95412 -1.08795 0.41381 1.25966 -1.62800 -1.63362 1.77016 -0.41047 -1.74982 2.02167 1.69856 -1.82451 0.27727 1.56121 -1.66173 -0.80206 0.85485 -0.10948 -0.64836 0.67266 
+   0.60487 -0.01646 0.13186 0.13391 0.66691 -0.16619 0.00981 0.02774 -0.14688 -0.23655 -0.03876 0.01428 -0.05848 0.00855 0.01915 0.28643 0.01215 0.00615 0.02837 -0.27025 -0.67548 -0.06341 -0.09492 -0.01467 -0.16753 
+   0.77534 -1.90839 2.47496 -2.26067 1.01011 -0.36223 0.89421 -1.24538 1.23108 -0.59609 -0.44538 1.04742 -1.25543 1.08209 -0.44929 -0.10218 0.51811 -0.92194 0.90930 -0.42024 0.18932 -0.73810 1.25011 -1.24150 0.56562 
+   0.93435 -0.03480 0.04710 -0.40291 -0.92490 -0.66962 0.13901 0.00497 0.31148 0.63533 0.30957 -0.23678 -0.07453 -0.24971 0.25021 0.68393 0.03453 -0.00104 -0.20619 -0.21134 -1.23377 0.08326 0.02804 0.53578 0.24696 
+   -0.31333 -0.06452 -0.14492 0.32917 0.18505 0.37680 -0.05739 -0.20598 -0.39758 0.33795 0.15776 -0.10590 -0.08163 -0.26879 0.26603 0.13942 0.14388 0.15602 -0.85931 0.46755 -0.37693 0.14924 0.18844 1.29502 -1.31627 
+   -0.57261 -0.15101 -0.03142 0.04828 -0.09470 1.30126 0.29676 0.02642 -0.10865 0.12241 -1.04666 -0.17702 0.10930 0.48806 0.79384 0.35790 0.00519 -0.09722 -0.76968 -1.93132 -0.05982 0.03488 -0.03692 0.34823 1.14489 
+   0.02861 -0.04563 -0.39979 -0.34141 0.84996 -0.11996 0.09395 0.10138 0.81867 -0.96541 0.17159 -0.18584 0.25071 -0.22578 -0.06749 1.50317 -1.28229 -0.16426 -0.02308 0.15558 -1.66312 1.45438 0.22480 -0.25807 0.09117 
+   -0.55490 0.19579 0.22691 0.60510 -0.46819 0.06905 -0.09310 -0.00511 -0.26410 0.29786 -0.15810 0.19022 0.02614 -0.00490 -0.06838 0.11087 -0.14454 -0.04154 -0.16050 0.23955 -0.60009 0.80946 0.13003 0.34930 -0.69227 
+   0.02280 0.50837 0.09286 -0.70868 0.16414 -0.80301 0.17835 0.36944 0.75854 -0.61169 0.44842 -0.99949 0.04847 0.08457 0.35292 0.60861 -0.02401 -0.48740 0.41152 -0.41065 -0.34356 0.41056 -0.01730 -0.58536 0.53149 
+   1.54887 -0.44899 -0.27397 -0.36683 -0.36138 -1.38762 0.36466 0.10235 0.35630 0.40105 -0.17410 -0.05898 0.13052 -0.04032 0.38137 -0.82904 0.31802 -0.02420 -0.20938 0.57263 0.95569 -0.26814 0.08144 0.25318 -1.02387 
+   0.26344 -0.49099 0.61113 -1.33142 0.89974 0.05990 -0.07519 0.14265 -0.33453 0.30248 0.08324 -0.12872 0.07988 -0.24786 0.14599 0.17826 -0.18072 0.08816 -0.10930 0.12304 0.45104 -0.70917 0.41756 -0.41199 0.18098 
+   -0.46895 0.79795 -0.38564 0.04986 -0.04034 0.11811 -0.23006 0.26011 -0.13551 0.03185 -0.01839 -0.09632 0.18000 -0.13208 0.03061 0.11165 -0.25590 0.42916 -0.49657 0.24341 0.51922 -1.52509 2.17579 -1.86952 0.70906 
+   -1.59203 1.37214 -0.36807 0.42638 -0.00689 2.86095 -2.02733 0.40858 -0.61961 -0.28165 -1.77476 0.55742 -0.12732 0.31007 0.76569 0.19805 0.83530 -0.18053 0.29590 -1.07493 0.27739 -0.69004 0.21195 -0.37112 0.59251 
+
+
diff --git a/data/README.foe b/data/README.foe
new file mode 100644
index 0000000..9d5077c
--- /dev/null
+++ b/data/README.foe
@@ -0,0 +1,14 @@
+The *.foe files contain coefficients provided by Stefan Roth, who agreed to
+release them under a BSD license. See his home page:
+
+  http://www.gris.informatik.tu-darmstadt.de/~sroth/research/foe/index.html
+
+The coefficients in the *.foe files have been obtained by extracting the
+matrices from the MATLAB files and performing matrix multiplication.
+
+The format of the files is ASCII:
+  <s = filter size> <K = number of filters>
+  <alpha_1> ... <alpha_K>
+  <f_1,1> ... <f_1,s^2>
+  ...
+  <f_K,1> ... <f_K,s^2>
diff --git a/data/ceres_noisy.pgm b/data/ceres_noisy.pgm
new file mode 100644
index 0000000..1669988
--- /dev/null
+++ b/data/ceres_noisy.pgm
@@ -0,0 +1,6 @@
+P2
+# PGM format
+ # <width> <height> <levels> 
+ # <data> ... 
+177 213 255 
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diff --git a/data/libmv-ba-problems/Readme.txt b/data/libmv-ba-problems/Readme.txt
new file mode 100644
index 0000000..9465ad8
--- /dev/null
+++ b/data/libmv-ba-problems/Readme.txt
@@ -0,0 +1,5 @@
+Problem files are created from Tears of Steel production files.
+
+- problem_01.bin is a final camera motion refinement step of 07_1a scene.
+- problem_02.bin is a final camera motion refinement step of 03_2a scene.
+- problem_03.bin is a final camera motion refinement step of 09_1a scene.
diff --git a/data/libmv-ba-problems/problem_01.bin b/data/libmv-ba-problems/problem_01.bin
new file mode 100644
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diff --git a/data/nist/Bennett5.dat b/data/nist/Bennett5.dat
new file mode 100644
index 0000000..eba218a
--- /dev/null
+++ b/data/nist/Bennett5.dat
@@ -0,0 +1,214 @@
+NIST/ITL StRD
+Dataset Name:  Bennett5          (Bennett5.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  43)
+               Certified Values  (lines 41 to  48)
+               Data              (lines 61 to 214)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               superconductivity magnetization modeling.  The
+               response variable is magnetism, and the predictor
+               variable is the log of time in minutes.
+
+Reference:     Bennett, L., L. Swartzendruber, and H. Brown, 
+               NIST (1994).  
+               Superconductivity Magnetization Modeling.
+
+
+
+
+
+
+Data:          1 Response Variable  (y = magnetism)
+               1 Predictor Variable (x = log[time])
+               154 Observations
+               Higher Level of Difficulty
+               Observed Data
+
+Model:         Miscellaneous Class
+               3 Parameters (b1 to b3)
+
+               y = b1 * (b2+x)**(-1/b3)  +  e
+
+ 
+ 
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   -2000       -1500        -2.5235058043E+03  2.9715175411E+02
+  b2 =      50          45         4.6736564644E+01  1.2448871856E+00
+  b3 =       0.8         0.85      9.3218483193E-01  2.0272299378E-02
+
+Residual Sum of Squares:                    5.2404744073E-04
+Residual Standard Deviation:                1.8629312528E-03
+Degrees of Freedom:                               151
+Number of Observations:                           154
+
+
+
+
+
+
+
+
+
+
+
+Data:   y               x
+     -34.834702E0      7.447168E0
+     -34.393200E0      8.102586E0
+     -34.152901E0      8.452547E0
+     -33.979099E0      8.711278E0
+     -33.845901E0      8.916774E0
+     -33.732899E0      9.087155E0
+     -33.640301E0      9.232590E0
+     -33.559200E0      9.359535E0
+     -33.486801E0      9.472166E0
+     -33.423100E0      9.573384E0
+     -33.365101E0      9.665293E0
+     -33.313000E0      9.749461E0
+     -33.260899E0      9.827092E0
+     -33.217400E0      9.899128E0
+     -33.176899E0      9.966321E0
+     -33.139198E0     10.029280E0
+     -33.101601E0     10.088510E0
+     -33.066799E0     10.144430E0
+     -33.035000E0     10.197380E0
+     -33.003101E0     10.247670E0
+     -32.971298E0     10.295560E0
+     -32.942299E0     10.341250E0
+     -32.916302E0     10.384950E0
+     -32.890202E0     10.426820E0
+     -32.864101E0     10.467000E0
+     -32.841000E0     10.505640E0
+     -32.817799E0     10.542830E0
+     -32.797501E0     10.578690E0
+     -32.774300E0     10.613310E0
+     -32.757000E0     10.646780E0
+     -32.733799E0     10.679150E0
+     -32.716400E0     10.710520E0
+     -32.699100E0     10.740920E0
+     -32.678799E0     10.770440E0
+     -32.661400E0     10.799100E0
+     -32.644001E0     10.826970E0
+     -32.626701E0     10.854080E0
+     -32.612202E0     10.880470E0
+     -32.597698E0     10.906190E0
+     -32.583199E0     10.931260E0
+     -32.568699E0     10.955720E0
+     -32.554298E0     10.979590E0
+     -32.539799E0     11.002910E0
+     -32.525299E0     11.025700E0
+     -32.510799E0     11.047980E0
+     -32.499199E0     11.069770E0
+     -32.487598E0     11.091100E0
+     -32.473202E0     11.111980E0
+     -32.461601E0     11.132440E0
+     -32.435501E0     11.152480E0
+     -32.435501E0     11.172130E0
+     -32.426800E0     11.191410E0
+     -32.412300E0     11.210310E0
+     -32.400799E0     11.228870E0
+     -32.392101E0     11.247090E0
+     -32.380501E0     11.264980E0
+     -32.366001E0     11.282560E0
+     -32.357300E0     11.299840E0
+     -32.348598E0     11.316820E0
+     -32.339901E0     11.333520E0
+     -32.328400E0     11.349940E0
+     -32.319698E0     11.366100E0
+     -32.311001E0     11.382000E0
+     -32.299400E0     11.397660E0
+     -32.290699E0     11.413070E0
+     -32.282001E0     11.428240E0
+     -32.273300E0     11.443200E0
+     -32.264599E0     11.457930E0
+     -32.256001E0     11.472440E0
+     -32.247299E0     11.486750E0
+     -32.238602E0     11.500860E0
+     -32.229900E0     11.514770E0
+     -32.224098E0     11.528490E0
+     -32.215401E0     11.542020E0
+     -32.203800E0     11.555380E0
+     -32.198002E0     11.568550E0
+     -32.189400E0     11.581560E0
+     -32.183601E0     11.594420E0
+     -32.174900E0     11.607121E0
+     -32.169102E0     11.619640E0
+     -32.163300E0     11.632000E0
+     -32.154598E0     11.644210E0
+     -32.145901E0     11.656280E0
+     -32.140099E0     11.668200E0
+     -32.131401E0     11.679980E0
+     -32.125599E0     11.691620E0
+     -32.119801E0     11.703130E0
+     -32.111198E0     11.714510E0
+     -32.105400E0     11.725760E0
+     -32.096699E0     11.736880E0
+     -32.090900E0     11.747890E0
+     -32.088001E0     11.758780E0
+     -32.079300E0     11.769550E0
+     -32.073502E0     11.780200E0
+     -32.067699E0     11.790730E0
+     -32.061901E0     11.801160E0
+     -32.056099E0     11.811480E0
+     -32.050301E0     11.821700E0
+     -32.044498E0     11.831810E0
+     -32.038799E0     11.841820E0
+     -32.033001E0     11.851730E0
+     -32.027199E0     11.861550E0
+     -32.024300E0     11.871270E0
+     -32.018501E0     11.880890E0
+     -32.012699E0     11.890420E0
+     -32.004002E0     11.899870E0
+     -32.001099E0     11.909220E0
+     -31.995300E0     11.918490E0
+     -31.989500E0     11.927680E0
+     -31.983700E0     11.936780E0
+     -31.977900E0     11.945790E0
+     -31.972099E0     11.954730E0
+     -31.969299E0     11.963590E0
+     -31.963501E0     11.972370E0
+     -31.957701E0     11.981070E0
+     -31.951900E0     11.989700E0
+     -31.946100E0     11.998260E0
+     -31.940300E0     12.006740E0
+     -31.937401E0     12.015150E0
+     -31.931601E0     12.023490E0
+     -31.925800E0     12.031760E0
+     -31.922899E0     12.039970E0
+     -31.917101E0     12.048100E0
+     -31.911301E0     12.056170E0
+     -31.908400E0     12.064180E0
+     -31.902599E0     12.072120E0
+     -31.896900E0     12.080010E0
+     -31.893999E0     12.087820E0
+     -31.888201E0     12.095580E0
+     -31.885300E0     12.103280E0
+     -31.882401E0     12.110920E0
+     -31.876600E0     12.118500E0
+     -31.873699E0     12.126030E0
+     -31.867901E0     12.133500E0
+     -31.862101E0     12.140910E0
+     -31.859200E0     12.148270E0
+     -31.856300E0     12.155570E0
+     -31.850500E0     12.162830E0
+     -31.844700E0     12.170030E0
+     -31.841801E0     12.177170E0
+     -31.838900E0     12.184270E0
+     -31.833099E0     12.191320E0
+     -31.830200E0     12.198320E0
+     -31.827299E0     12.205270E0
+     -31.821600E0     12.212170E0
+     -31.818701E0     12.219030E0
+     -31.812901E0     12.225840E0
+     -31.809999E0     12.232600E0
+     -31.807100E0     12.239320E0
+     -31.801300E0     12.245990E0
+     -31.798401E0     12.252620E0
+     -31.795500E0     12.259200E0
+     -31.789700E0     12.265750E0
+     -31.786800E0     12.272240E0
diff --git a/data/nist/BoxBOD.dat b/data/nist/BoxBOD.dat
new file mode 100644
index 0000000..6a742fd
--- /dev/null
+++ b/data/nist/BoxBOD.dat
@@ -0,0 +1,66 @@
+NIST/ITL StRD
+Dataset Name:  BoxBOD            (BoxBOD.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 42)
+               Certified Values  (lines 41 to 47)
+               Data              (lines 61 to 66)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are described in detail in Box, Hunter and
+               Hunter (1978).  The response variable is biochemical
+               oxygen demand (BOD) in mg/l, and the predictor
+               variable is incubation time in days.
+
+
+Reference:     Box, G. P., W. G. Hunter, and J. S. Hunter (1978).
+               Statistics for Experimenters.  
+               New York, NY: Wiley, pp. 483-487.
+
+
+
+
+
+Data:          1 Response  (y = biochemical oxygen demand)
+               1 Predictor (x = incubation time)
+               6 Observations
+               Higher Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               2 Parameters (b1 and b2)
+
+               y = b1*(1-exp[-b2*x])  +  e
+
+
+ 
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   1           100           2.1380940889E+02  1.2354515176E+01
+  b2 =   1             0.75        5.4723748542E-01  1.0455993237E-01
+
+Residual Sum of Squares:                    1.1680088766E+03
+Residual Standard Deviation:                1.7088072423E+01
+Degrees of Freedom:                                4
+Number of Observations:                            6  
+
+
+
+
+
+
+
+
+
+
+
+
+Data:   y             x
+      109             1
+      149             2
+      149             3
+      191             5
+      213             7
+      224            10
diff --git a/data/nist/Chwirut1.dat b/data/nist/Chwirut1.dat
new file mode 100644
index 0000000..4ad8aa5
--- /dev/null
+++ b/data/nist/Chwirut1.dat
@@ -0,0 +1,274 @@
+NIST/ITL StRD
+Dataset Name:  Chwirut1          (Chwirut1.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  43)
+               Certified Values  (lines 41 to  48)
+               Data              (lines 61 to 274)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               ultrasonic calibration.  The response variable is
+               ultrasonic response, and the predictor variable is
+               metal distance.
+
+Reference:     Chwirut, D., NIST (197?).  
+               Ultrasonic Reference Block Study. 
+
+
+
+
+
+
+
+Data:          1 Response Variable  (y = ultrasonic response)
+               1 Predictor Variable (x = metal distance)
+               214 Observations
+               Lower Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               3 Parameters (b1 to b3)
+
+               y = exp[-b1*x]/(b2+b3*x)  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   0.1         0.15          1.9027818370E-01  2.1938557035E-02
+  b2 =   0.01        0.008         6.1314004477E-03  3.4500025051E-04
+  b3 =   0.02        0.010         1.0530908399E-02  7.9281847748E-04
+
+Residual Sum of Squares:                    2.3844771393E+03
+Residual Standard Deviation:                3.3616721320E+00
+Degrees of Freedom:                               211
+Number of Observations:                           214
+
+
+
+
+
+
+
+
+
+
+
+Data:  y            x
+     92.9000E0     0.5000E0
+     78.7000E0     0.6250E0
+     64.2000E0     0.7500E0
+     64.9000E0     0.8750E0
+     57.1000E0     1.0000E0
+     43.3000E0     1.2500E0
+     31.1000E0     1.7500E0
+     23.6000E0     2.2500E0
+     31.0500E0     1.7500E0
+     23.7750E0     2.2500E0
+     17.7375E0     2.7500E0
+     13.8000E0     3.2500E0
+     11.5875E0     3.7500E0
+      9.4125E0     4.2500E0
+      7.7250E0     4.7500E0
+      7.3500E0     5.2500E0
+      8.0250E0     5.7500E0
+     90.6000E0     0.5000E0
+     76.9000E0     0.6250E0
+     71.6000E0     0.7500E0
+     63.6000E0     0.8750E0
+     54.0000E0     1.0000E0
+     39.2000E0     1.2500E0
+     29.3000E0     1.7500E0
+     21.4000E0     2.2500E0
+     29.1750E0     1.7500E0
+     22.1250E0     2.2500E0
+     17.5125E0     2.7500E0
+     14.2500E0     3.2500E0
+      9.4500E0     3.7500E0
+      9.1500E0     4.2500E0
+      7.9125E0     4.7500E0
+      8.4750E0     5.2500E0
+      6.1125E0     5.7500E0
+     80.0000E0     0.5000E0
+     79.0000E0     0.6250E0
+     63.8000E0     0.7500E0
+     57.2000E0     0.8750E0
+     53.2000E0     1.0000E0
+     42.5000E0     1.2500E0
+     26.8000E0     1.7500E0
+     20.4000E0     2.2500E0
+     26.8500E0     1.7500E0
+     21.0000E0     2.2500E0
+     16.4625E0     2.7500E0
+     12.5250E0     3.2500E0
+     10.5375E0     3.7500E0
+      8.5875E0     4.2500E0
+      7.1250E0     4.7500E0
+      6.1125E0     5.2500E0
+      5.9625E0     5.7500E0
+     74.1000E0     0.5000E0
+     67.3000E0     0.6250E0
+     60.8000E0     0.7500E0
+     55.5000E0     0.8750E0
+     50.3000E0     1.0000E0
+     41.0000E0     1.2500E0
+     29.4000E0     1.7500E0
+     20.4000E0     2.2500E0
+     29.3625E0     1.7500E0
+     21.1500E0     2.2500E0
+     16.7625E0     2.7500E0
+     13.2000E0     3.2500E0
+     10.8750E0     3.7500E0
+      8.1750E0     4.2500E0
+      7.3500E0     4.7500E0
+      5.9625E0     5.2500E0
+      5.6250E0     5.7500E0
+     81.5000E0      .5000E0
+     62.4000E0      .7500E0
+     32.5000E0     1.5000E0
+     12.4100E0     3.0000E0
+     13.1200E0     3.0000E0
+     15.5600E0     3.0000E0
+      5.6300E0     6.0000E0
+     78.0000E0      .5000E0
+     59.9000E0      .7500E0
+     33.2000E0     1.5000E0
+     13.8400E0     3.0000E0
+     12.7500E0     3.0000E0
+     14.6200E0     3.0000E0
+      3.9400E0     6.0000E0
+     76.8000E0      .5000E0
+     61.0000E0      .7500E0
+     32.9000E0     1.5000E0
+     13.8700E0     3.0000E0
+     11.8100E0     3.0000E0
+     13.3100E0     3.0000E0
+      5.4400E0     6.0000E0
+     78.0000E0      .5000E0
+     63.5000E0      .7500E0
+     33.8000E0     1.5000E0
+     12.5600E0     3.0000E0
+      5.6300E0     6.0000E0
+     12.7500E0     3.0000E0
+     13.1200E0     3.0000E0
+      5.4400E0     6.0000E0
+     76.8000E0      .5000E0
+     60.0000E0      .7500E0
+     47.8000E0     1.0000E0
+     32.0000E0     1.5000E0
+     22.2000E0     2.0000E0
+     22.5700E0     2.0000E0
+     18.8200E0     2.5000E0
+     13.9500E0     3.0000E0
+     11.2500E0     4.0000E0
+      9.0000E0     5.0000E0
+      6.6700E0     6.0000E0
+     75.8000E0      .5000E0
+     62.0000E0      .7500E0
+     48.8000E0     1.0000E0
+     35.2000E0     1.5000E0
+     20.0000E0     2.0000E0
+     20.3200E0     2.0000E0
+     19.3100E0     2.5000E0
+     12.7500E0     3.0000E0
+     10.4200E0     4.0000E0
+      7.3100E0     5.0000E0
+      7.4200E0     6.0000E0
+     70.5000E0      .5000E0
+     59.5000E0      .7500E0
+     48.5000E0     1.0000E0
+     35.8000E0     1.5000E0
+     21.0000E0     2.0000E0
+     21.6700E0     2.0000E0
+     21.0000E0     2.5000E0
+     15.6400E0     3.0000E0
+      8.1700E0     4.0000E0
+      8.5500E0     5.0000E0
+     10.1200E0     6.0000E0
+     78.0000E0      .5000E0
+     66.0000E0      .6250E0
+     62.0000E0      .7500E0
+     58.0000E0      .8750E0
+     47.7000E0     1.0000E0
+     37.8000E0     1.2500E0
+     20.2000E0     2.2500E0
+     21.0700E0     2.2500E0
+     13.8700E0     2.7500E0
+      9.6700E0     3.2500E0
+      7.7600E0     3.7500E0
+      5.4400E0     4.2500E0
+      4.8700E0     4.7500E0
+      4.0100E0     5.2500E0
+      3.7500E0     5.7500E0
+     24.1900E0     3.0000E0
+     25.7600E0     3.0000E0
+     18.0700E0     3.0000E0
+     11.8100E0     3.0000E0
+     12.0700E0     3.0000E0
+     16.1200E0     3.0000E0
+     70.8000E0      .5000E0
+     54.7000E0      .7500E0
+     48.0000E0     1.0000E0
+     39.8000E0     1.5000E0
+     29.8000E0     2.0000E0
+     23.7000E0     2.5000E0
+     29.6200E0     2.0000E0
+     23.8100E0     2.5000E0
+     17.7000E0     3.0000E0
+     11.5500E0     4.0000E0
+     12.0700E0     5.0000E0
+      8.7400E0     6.0000E0
+     80.7000E0      .5000E0
+     61.3000E0      .7500E0
+     47.5000E0     1.0000E0
+     29.0000E0     1.5000E0
+     24.0000E0     2.0000E0
+     17.7000E0     2.5000E0
+     24.5600E0     2.0000E0
+     18.6700E0     2.5000E0
+     16.2400E0     3.0000E0
+      8.7400E0     4.0000E0
+      7.8700E0     5.0000E0
+      8.5100E0     6.0000E0
+     66.7000E0      .5000E0
+     59.2000E0      .7500E0
+     40.8000E0     1.0000E0
+     30.7000E0     1.5000E0
+     25.7000E0     2.0000E0
+     16.3000E0     2.5000E0
+     25.9900E0     2.0000E0
+     16.9500E0     2.5000E0
+     13.3500E0     3.0000E0
+      8.6200E0     4.0000E0
+      7.2000E0     5.0000E0
+      6.6400E0     6.0000E0
+     13.6900E0     3.0000E0
+     81.0000E0      .5000E0
+     64.5000E0      .7500E0
+     35.5000E0     1.5000E0
+     13.3100E0     3.0000E0
+      4.8700E0     6.0000E0
+     12.9400E0     3.0000E0
+      5.0600E0     6.0000E0
+     15.1900E0     3.0000E0
+     14.6200E0     3.0000E0
+     15.6400E0     3.0000E0
+     25.5000E0     1.7500E0
+     25.9500E0     1.7500E0
+     81.7000E0      .5000E0
+     61.6000E0      .7500E0
+     29.8000E0     1.7500E0
+     29.8100E0     1.7500E0
+     17.1700E0     2.7500E0
+     10.3900E0     3.7500E0
+     28.4000E0     1.7500E0
+     28.6900E0     1.7500E0
+     81.3000E0      .5000E0
+     60.9000E0      .7500E0
+     16.6500E0     2.7500E0
+     10.0500E0     3.7500E0
+     28.9000E0     1.7500E0
+     28.9500E0     1.7500E0
diff --git a/data/nist/Chwirut2.dat b/data/nist/Chwirut2.dat
new file mode 100644
index 0000000..03703de
--- /dev/null
+++ b/data/nist/Chwirut2.dat
@@ -0,0 +1,114 @@
+NIST/ITL StRD
+Dataset Name:  Chwirut2          (Chwirut2.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  43)
+               Certified Values  (lines 41 to  48)
+               Data              (lines 61 to 114)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               ultrasonic calibration.  The response variable is
+               ultrasonic response, and the predictor variable is
+               metal distance.
+
+
+
+Reference:     Chwirut, D., NIST (197?).  
+               Ultrasonic Reference Block Study. 
+
+
+
+
+
+Data:          1 Response  (y = ultrasonic response)
+               1 Predictor (x = metal distance)
+               54 Observations
+               Lower Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               3 Parameters (b1 to b3)
+
+               y = exp(-b1*x)/(b2+b3*x)  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   0.1         0.15          1.6657666537E-01  3.8303286810E-02
+  b2 =   0.01        0.008         5.1653291286E-03  6.6621605126E-04
+  b3 =   0.02        0.010         1.2150007096E-02  1.5304234767E-03
+
+Residual Sum of Squares:                    5.1304802941E+02
+Residual Standard Deviation:                3.1717133040E+00
+Degrees of Freedom:                                51
+Number of Observations:                            54
+
+
+
+
+
+
+
+
+
+ 
+
+Data:  y             x
+      92.9000E0     0.500E0
+      57.1000E0     1.000E0
+      31.0500E0     1.750E0
+      11.5875E0     3.750E0
+       8.0250E0     5.750E0
+      63.6000E0     0.875E0
+      21.4000E0     2.250E0
+      14.2500E0     3.250E0
+       8.4750E0     5.250E0
+      63.8000E0     0.750E0
+      26.8000E0     1.750E0
+      16.4625E0     2.750E0
+       7.1250E0     4.750E0
+      67.3000E0     0.625E0
+      41.0000E0     1.250E0
+      21.1500E0     2.250E0
+       8.1750E0     4.250E0
+      81.5000E0      .500E0
+      13.1200E0     3.000E0
+      59.9000E0      .750E0
+      14.6200E0     3.000E0
+      32.9000E0     1.500E0
+       5.4400E0     6.000E0
+      12.5600E0     3.000E0
+       5.4400E0     6.000E0
+      32.0000E0     1.500E0
+      13.9500E0     3.000E0
+      75.8000E0      .500E0
+      20.0000E0     2.000E0
+      10.4200E0     4.000E0
+      59.5000E0      .750E0
+      21.6700E0     2.000E0
+       8.5500E0     5.000E0
+      62.0000E0      .750E0
+      20.2000E0     2.250E0
+       7.7600E0     3.750E0
+       3.7500E0     5.750E0
+      11.8100E0     3.000E0
+      54.7000E0      .750E0
+      23.7000E0     2.500E0
+      11.5500E0     4.000E0
+      61.3000E0      .750E0
+      17.7000E0     2.500E0
+       8.7400E0     4.000E0
+      59.2000E0      .750E0
+      16.3000E0     2.500E0
+       8.6200E0     4.000E0
+      81.0000E0      .500E0
+       4.8700E0     6.000E0
+      14.6200E0     3.000E0
+      81.7000E0      .500E0
+      17.1700E0     2.750E0
+      81.3000E0      .500E0
+      28.9000E0     1.750E0
diff --git a/data/nist/DanWood.dat b/data/nist/DanWood.dat
new file mode 100644
index 0000000..479a9bd
--- /dev/null
+++ b/data/nist/DanWood.dat
@@ -0,0 +1,66 @@
+NIST/ITL StRD
+Dataset Name:  DanWood           (DanWood.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 42)
+               Certified Values  (lines 41 to 47)
+               Data              (lines 61 to 66)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data and model are described in Daniel and Wood
+               (1980), and originally published in E.S.Keeping, 
+               "Introduction to Statistical Inference," Van Nostrand
+               Company, Princeton, NJ, 1962, p. 354.  The response
+               variable is energy radieted from a carbon filament
+               lamp per cm**2 per second, and the predictor variable
+               is the absolute temperature of the filament in 1000
+               degrees Kelvin.
+
+Reference:     Daniel, C. and F. S. Wood (1980).
+               Fitting Equations to Data, Second Edition. 
+               New York, NY:  John Wiley and Sons, pp. 428-431.
+
+
+Data:          1 Response Variable  (y = energy)
+               1 Predictor Variable (x = temperature)
+               6 Observations
+               Lower Level of Difficulty
+               Observed Data
+
+Model:         Miscellaneous Class
+               2 Parameters (b1 and b2)
+
+               y  = b1*x**b2  +  e
+
+
+ 
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   1           0.7           7.6886226176E-01  1.8281973860E-02
+  b2 =   5           4             3.8604055871E+00  5.1726610913E-02
+ 
+Residual Sum of Squares:                    4.3173084083E-03
+Residual Standard Deviation:                3.2853114039E-02
+Degrees of Freedom:                                4
+Number of Observations:                            6 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+Data:  y              x
+      2.138E0        1.309E0
+      3.421E0        1.471E0
+      3.597E0        1.490E0
+      4.340E0        1.565E0
+      4.882E0        1.611E0
+      5.660E0        1.680E0
diff --git a/data/nist/ENSO.dat b/data/nist/ENSO.dat
new file mode 100644
index 0000000..f374db2
--- /dev/null
+++ b/data/nist/ENSO.dat
@@ -0,0 +1,228 @@
+NIST/ITL StRD
+Dataset Name:  ENSO              (ENSO.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  49)
+               Certified Values  (lines 41 to  54)
+               Data              (lines 61 to 228)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   The data are monthly averaged atmospheric pressure 
+               differences between Easter Island and Darwin, 
+               Australia.  This difference drives the trade winds in 
+               the southern hemisphere.  Fourier analysis of the data
+               reveals 3 significant cycles.  The annual cycle is the
+               strongest, but cycles with periods of approximately 44
+               and 26 months are also present.  These cycles
+               correspond to the El Nino and the Southern Oscillation.
+               Arguments to the SIN and COS functions are in radians.
+
+Reference:     Kahaner, D., C. Moler, and S. Nash, (1989). 
+               Numerical Methods and Software.  
+               Englewood Cliffs, NJ: Prentice Hall, pp. 441-445.
+
+Data:          1 Response  (y = atmospheric pressure)
+               1 Predictor (x = time)
+               168 Observations
+               Average Level of Difficulty
+               Observed Data
+
+Model:         Miscellaneous Class
+               9 Parameters (b1 to b9)
+
+               y = b1 + b2*cos( 2*pi*x/12 ) + b3*sin( 2*pi*x/12 ) 
+                      + b5*cos( 2*pi*x/b4 ) + b6*sin( 2*pi*x/b4 )
+                      + b8*cos( 2*pi*x/b7 ) + b9*sin( 2*pi*x/b7 )  + e
+ 
+          Starting values                  Certified Values
+ 
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   11.0        10.0          1.0510749193E+01  1.7488832467E-01
+  b2 =    3.0         3.0          3.0762128085E+00  2.4310052139E-01
+  b3 =    0.5         0.5          5.3280138227E-01  2.4354686618E-01
+  b4 =   40.0        44.0          4.4311088700E+01  9.4408025976E-01
+  b5 =   -0.7        -1.5         -1.6231428586E+00  2.8078369611E-01
+  b6 =   -1.3         0.5          5.2554493756E-01  4.8073701119E-01
+  b7 =   25.0        26.0          2.6887614440E+01  4.1612939130E-01
+  b8 =   -0.3        -0.1          2.1232288488E-01  5.1460022911E-01
+  b9 =    1.4         1.5          1.4966870418E+00  2.5434468893E-01
+
+Residual Sum of Squares:                    7.8853978668E+02
+Residual Standard Deviation:                2.2269642403E+00
+Degrees of Freedom:                               159
+Number of Observations:                           168
+
+
+
+
+
+Data:   y          x
+    12.90000    1.000000
+    11.30000    2.000000
+    10.60000    3.000000
+    11.20000    4.000000
+    10.90000    5.000000
+    7.500000    6.000000
+    7.700000    7.000000
+    11.70000    8.000000
+    12.90000    9.000000
+    14.30000   10.000000
+    10.90000    11.00000
+    13.70000    12.00000
+    17.10000    13.00000
+    14.00000    14.00000
+    15.30000    15.00000
+    8.500000    16.00000
+    5.700000    17.00000
+    5.500000    18.00000
+    7.600000    19.00000
+    8.600000    20.00000
+    7.300000    21.00000
+    7.600000    22.00000
+    12.70000    23.00000
+    11.00000    24.00000
+    12.70000    25.00000
+    12.90000    26.00000
+    13.00000    27.00000
+    10.90000    28.00000
+   10.400000    29.00000
+   10.200000    30.00000
+    8.000000    31.00000
+    10.90000    32.00000
+    13.60000    33.00000
+   10.500000    34.00000
+    9.200000    35.00000
+    12.40000    36.00000
+    12.70000    37.00000
+    13.30000    38.00000
+   10.100000    39.00000
+    7.800000    40.00000
+    4.800000    41.00000
+    3.000000    42.00000
+    2.500000    43.00000
+    6.300000    44.00000
+    9.700000    45.00000
+    11.60000    46.00000
+    8.600000    47.00000
+    12.40000    48.00000
+   10.500000    49.00000
+    13.30000    50.00000
+   10.400000    51.00000
+    8.100000    52.00000
+    3.700000    53.00000
+    10.70000    54.00000
+    5.100000    55.00000
+   10.400000    56.00000
+    10.90000    57.00000
+    11.70000    58.00000
+    11.40000    59.00000
+    13.70000    60.00000
+    14.10000    61.00000
+    14.00000    62.00000
+    12.50000    63.00000
+    6.300000    64.00000
+    9.600000    65.00000
+    11.70000    66.00000
+    5.000000    67.00000
+    10.80000    68.00000
+    12.70000    69.00000
+    10.80000    70.00000
+    11.80000    71.00000
+    12.60000    72.00000
+    15.70000    73.00000
+    12.60000    74.00000
+    14.80000    75.00000
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+    11.20000    78.00000
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+    6.400000    80.00000
+    5.200000    81.00000
+    12.00000    82.00000
+   10.200000    83.00000
+    12.70000    84.00000
+   10.200000    85.00000
+    14.70000    86.00000
+    12.20000    87.00000
+    7.100000    88.00000
+    5.700000    89.00000
+    6.700000    90.00000
+    3.900000    91.00000
+    8.500000    92.00000
+    8.300000    93.00000
+    10.80000    94.00000
+    16.70000    95.00000
+    12.60000    96.00000
+    12.50000    97.00000
+    12.50000    98.00000
+    9.800000    99.00000
+    7.200000   100.00000
+    4.100000   101.00000
+    10.60000   102.00000
+   10.100000   103.00000
+   10.100000   104.00000
+    11.90000   105.00000
+    13.60000    106.0000
+    16.30000    107.0000
+    17.60000    108.0000
+    15.50000    109.0000
+    16.00000    110.0000
+    15.20000    111.0000
+    11.20000    112.0000
+    14.30000    113.0000
+    14.50000    114.0000
+    8.500000    115.0000
+    12.00000    116.0000
+    12.70000    117.0000
+    11.30000    118.0000
+    14.50000    119.0000
+    15.10000    120.0000
+   10.400000    121.0000
+    11.50000    122.0000
+    13.40000    123.0000
+    7.500000    124.0000
+   0.6000000    125.0000
+   0.3000000    126.0000
+    5.500000    127.0000
+    5.000000    128.0000
+    4.600000    129.0000
+    8.200000    130.0000
+    9.900000    131.0000
+    9.200000    132.0000
+    12.50000    133.0000
+    10.90000    134.0000
+    9.900000    135.0000
+    8.900000    136.0000
+    7.600000    137.0000
+    9.500000    138.0000
+    8.400000    139.0000
+    10.70000    140.0000
+    13.60000    141.0000
+    13.70000    142.0000
+    13.70000    143.0000
+    16.50000    144.0000
+    16.80000    145.0000
+    17.10000    146.0000
+    15.40000    147.0000
+    9.500000    148.0000
+    6.100000    149.0000
+   10.100000    150.0000
+    9.300000    151.0000
+    5.300000    152.0000
+    11.20000    153.0000
+    16.60000    154.0000
+    15.60000    155.0000
+    12.00000    156.0000
+    11.50000    157.0000
+    8.600000    158.0000
+    13.80000    159.0000
+    8.700000    160.0000
+    8.600000    161.0000
+    8.600000    162.0000
+    8.700000    163.0000
+    12.80000    164.0000
+    13.20000    165.0000
+    14.00000    166.0000
+    13.40000    167.0000
+    14.80000    168.0000
diff --git a/data/nist/Eckerle4.dat b/data/nist/Eckerle4.dat
new file mode 100644
index 0000000..2d0d8bf
--- /dev/null
+++ b/data/nist/Eckerle4.dat
@@ -0,0 +1,95 @@
+NIST/ITL StRD
+Dataset Name:  Eckerle4          (Eckerle4.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 43)
+               Certified Values  (lines 41 to 48)
+               Data              (lines 61 to 95)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               circular interference transmittance.  The response
+               variable is transmittance, and the predictor variable
+               is wavelength.
+
+
+Reference:     Eckerle, K., NIST (197?).  
+               Circular Interference Transmittance Study.
+
+
+
+
+
+
+Data:          1 Response Variable  (y = transmittance)
+               1 Predictor Variable (x = wavelength)
+               35 Observations
+               Higher Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               3 Parameters (b1 to b3)
+
+               y = (b1/b2) * exp[-0.5*((x-b3)/b2)**2]  +  e
+
+
+
+          Starting values                  Certified Values
+ 
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =     1           1.5         1.5543827178E+00  1.5408051163E-02
+  b2 =    10           5           4.0888321754E+00  4.6803020753E-02
+  b3 =   500         450           4.5154121844E+02  4.6800518816E-02
+
+Residual Sum of Squares:                    1.4635887487E-03
+Residual Standard Deviation:                6.7629245447E-03
+Degrees of Freedom:                                32
+Number of Observations:                            35
+
+
+
+
+
+
+
+
+
+
+
+Data:  y                x
+      0.0001575E0    400.000000E0
+      0.0001699E0    405.000000E0
+      0.0002350E0    410.000000E0
+      0.0003102E0    415.000000E0
+      0.0004917E0    420.000000E0
+      0.0008710E0    425.000000E0
+      0.0017418E0    430.000000E0
+      0.0046400E0    435.000000E0
+      0.0065895E0    436.500000E0
+      0.0097302E0    438.000000E0
+      0.0149002E0    439.500000E0
+      0.0237310E0    441.000000E0
+      0.0401683E0    442.500000E0
+      0.0712559E0    444.000000E0
+      0.1264458E0    445.500000E0
+      0.2073413E0    447.000000E0
+      0.2902366E0    448.500000E0
+      0.3445623E0    450.000000E0
+      0.3698049E0    451.500000E0
+      0.3668534E0    453.000000E0
+      0.3106727E0    454.500000E0
+      0.2078154E0    456.000000E0
+      0.1164354E0    457.500000E0
+      0.0616764E0    459.000000E0
+      0.0337200E0    460.500000E0
+      0.0194023E0    462.000000E0
+      0.0117831E0    463.500000E0
+      0.0074357E0    465.000000E0
+      0.0022732E0    470.000000E0
+      0.0008800E0    475.000000E0
+      0.0004579E0    480.000000E0
+      0.0002345E0    485.000000E0
+      0.0001586E0    490.000000E0
+      0.0001143E0    495.000000E0
+      0.0000710E0    500.000000E0
diff --git a/data/nist/Gauss1.dat b/data/nist/Gauss1.dat
new file mode 100644
index 0000000..df8dfac
--- /dev/null
+++ b/data/nist/Gauss1.dat
@@ -0,0 +1,310 @@
+NIST/ITL StRD
+Dataset Name:  Gauss1            (Gauss1.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  48)
+               Certified Values  (lines 41 to  53)
+               Data              (lines 61 to 310)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   The data are two well-separated Gaussians on a 
+               decaying exponential baseline plus normally 
+               distributed zero-mean noise with variance = 6.25.
+
+Reference:     Rust, B., NIST (1996).
+
+
+
+
+
+
+
+
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               250 Observations
+               Lower Level of Difficulty
+               Generated Data
+ 
+Model:         Exponential Class
+               8 Parameters (b1 to b8) 
+ 
+               y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+                                   + b6*exp( -(x-b7)**2 / b8**2 ) + e
+ 
+ 
+          Starting values                  Certified Values
+ 
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =    97.0        94.0         9.8778210871E+01  5.7527312730E-01
+  b2 =     0.009       0.0105      1.0497276517E-02  1.1406289017E-04
+  b3 =   100.0        99.0         1.0048990633E+02  5.8831775752E-01
+  b4 =    65.0        63.0         6.7481111276E+01  1.0460593412E-01
+  b5 =    20.0        25.0         2.3129773360E+01  1.7439951146E-01
+  b6 =    70.0        71.0         7.1994503004E+01  6.2622793913E-01
+  b7 =   178.0       180.0         1.7899805021E+02  1.2436988217E-01
+  b8 =    16.5        20.0         1.8389389025E+01  2.0134312832E-01
+
+Residual Sum of Squares:                    1.3158222432E+03
+Residual Standard Deviation:                2.3317980180E+00
+Degrees of Freedom:                               242
+Number of Observations:                           250
+
+
+
+
+ 
+
+Data:   y          x
+    97.62227    1.000000
+    97.80724    2.000000
+    96.62247    3.000000
+    92.59022    4.000000
+    91.23869    5.000000
+    95.32704    6.000000
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+    6.790655    232.0000
+    8.783535    233.0000
+    4.600288    234.0000
+    8.400915    235.0000
+    7.216561    236.0000
+   10.017410    237.0000
+    7.331278    238.0000
+    6.527863    239.0000
+    2.842001    240.0000
+   10.325070    241.0000
+    4.790995    242.0000
+    8.377101    243.0000
+    6.264445    244.0000
+    2.706213    245.0000
+    8.362329    246.0000
+    8.983658    247.0000
+    3.362571    248.0000
+    1.182746    249.0000
+    4.875359    250.0000
diff --git a/data/nist/Gauss2.dat b/data/nist/Gauss2.dat
new file mode 100644
index 0000000..38222eb
--- /dev/null
+++ b/data/nist/Gauss2.dat
@@ -0,0 +1,310 @@
+NIST/ITL StRD
+Dataset Name:  Gauss2            (Gauss2.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  48)
+               Certified Values  (lines 41 to  53)
+               Data              (lines 61 to 310)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   The data are two slightly-blended Gaussians on a 
+               decaying exponential baseline plus normally 
+               distributed zero-mean noise with variance = 6.25. 
+
+Reference:     Rust, B., NIST (1996). 
+
+
+
+
+
+
+
+
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               250 Observations
+               Lower Level of Difficulty
+               Generated Data
+
+Model:         Exponential Class
+               8 Parameters (b1 to b8)
+
+               y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 ) 
+                                   + b6*exp( -(x-b7)**2 / b8**2 ) + e
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =    96.0        98.0         9.9018328406E+01  5.3748766879E-01
+  b2 =     0.009       0.0105      1.0994945399E-02  1.3335306766E-04
+  b3 =   103.0       103.0         1.0188022528E+02  5.9217315772E-01
+  b4 =   106.0       105.0         1.0703095519E+02  1.5006798316E-01
+  b5 =    18.0        20.0         2.3578584029E+01  2.2695595067E-01
+  b6 =    72.0        73.0         7.2045589471E+01  6.1721965884E-01
+  b7 =   151.0       150.0         1.5327010194E+02  1.9466674341E-01
+  b8 =    18.0        20.0         1.9525972636E+01  2.6416549393E-01
+
+Residual Sum of Squares:                    1.2475282092E+03
+Residual Standard Deviation:                2.2704790782E+00
+Degrees of Freedom:                               242
+Number of Observations:                           250
+
+
+
+
+
+ 
+Data:   y          x
+    97.58776    1.000000
+    97.76344    2.000000
+    96.56705    3.000000
+    92.52037    4.000000
+    91.15097    5.000000
+    95.21728    6.000000
+    90.21355    7.000000
+    89.29235    8.000000
+    91.51479    9.000000
+    89.60966   10.000000
+    86.56187    11.00000
+    85.55316    12.00000
+    87.13054    13.00000
+    85.67940    14.00000
+    80.04851    15.00000
+    82.18925    16.00000
+    87.24081    17.00000
+    80.79407    18.00000
+    81.28570    19.00000
+    81.56940    20.00000
+    79.22715    21.00000
+    79.43275    22.00000
+    77.90195    23.00000
+    76.75468    24.00000
+    77.17377    25.00000
+    74.27348    26.00000
+    73.11900    27.00000
+    73.84826    28.00000
+    72.47870    29.00000
+    71.92292    30.00000
+    66.92176    31.00000
+    67.93835    32.00000
+    69.56207    33.00000
+    69.07066    34.00000
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+    69.71537    37.00000
+    63.60588    38.00000
+    63.37154    39.00000
+    60.01835    40.00000
+    62.67481    41.00000
+    65.80666    42.00000
+    59.14304    43.00000
+    56.62951    44.00000
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+    62.93443    47.00000
+    56.65144    48.00000
+    57.13362    49.00000
+    58.29689    50.00000
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+    58.50172    52.00000
+    55.22885    53.00000
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+    52.31649    61.00000
+    53.98720    62.00000
+    53.54158    63.00000
+    56.45046    64.00000
+    51.32276    65.00000
+    53.11676    66.00000
+    53.28631    67.00000
+    49.80555    68.00000
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+    54.59362    71.00000
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+    115.5019    95.00000
+    118.5110    96.00000
+    119.6177    97.00000
+    122.1940    98.00000
+    126.9903    99.00000
+    125.7005   100.00000
+    123.7447   101.00000
+    130.6543   102.00000
+    129.7168   103.00000
+    131.8240   104.00000
+    131.8759   105.00000
+    131.9994    106.0000
+    132.1221    107.0000
+    133.4414    108.0000
+    133.8252    109.0000
+    133.6695    110.0000
+    128.2851    111.0000
+    126.5182    112.0000
+    124.7550    113.0000
+    118.4016    114.0000
+    122.0334    115.0000
+    115.2059    116.0000
+    118.7856    117.0000
+    110.7387    118.0000
+    110.2003    119.0000
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+    87.28747    126.0000
+    92.50443    127.0000
+    86.27997    128.0000
+    82.44307    129.0000
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+    78.74307    132.0000
+    76.12786    133.0000
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+    77.76633    137.0000
+    81.28220    138.0000
+    79.74307    139.0000
+    81.97964    140.0000
+    80.02952    141.0000
+    85.95232    142.0000
+    85.96838    143.0000
+    79.94789    144.0000
+    87.17023    145.0000
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+    93.23373    147.0000
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+    52.80498    169.0000
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+    46.47090    172.0000
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+    39.28235    175.0000
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+    13.47208    191.0000
+    15.96188    192.0000
+    12.32547    193.0000
+    16.33880    194.0000
+   10.438330    195.0000
+    9.628715    196.0000
+    13.12268    197.0000
+    8.772417    198.0000
+    11.76143    199.0000
+    12.55020    200.0000
+    11.33108    201.0000
+    11.20493    202.0000
+    7.816916    203.0000
+    6.800675    204.0000
+    14.26581    205.0000
+    10.66285    206.0000
+    8.911574    207.0000
+    11.56733    208.0000
+    11.58207    209.0000
+    11.59071    210.0000
+    9.730134    211.0000
+    11.44237    212.0000
+    11.22912    213.0000
+   10.172130    214.0000
+    12.50905    215.0000
+    6.201493    216.0000
+    9.019605    217.0000
+    10.80607    218.0000
+    13.09625    219.0000
+    3.914271    220.0000
+    9.567886    221.0000
+    8.038448    222.0000
+   10.231040    223.0000
+    9.367410    224.0000
+    7.695971    225.0000
+    6.118575    226.0000
+    8.793207    227.0000
+    7.796692    228.0000
+    12.45065    229.0000
+    10.61601    230.0000
+    6.001003    231.0000
+    6.765098    232.0000
+    8.764653    233.0000
+    4.586418    234.0000
+    8.390783    235.0000
+    7.209202    236.0000
+   10.012090    237.0000
+    7.327461    238.0000
+    6.525136    239.0000
+    2.840065    240.0000
+   10.323710    241.0000
+    4.790035    242.0000
+    8.376431    243.0000
+    6.263980    244.0000
+    2.705892    245.0000
+    8.362109    246.0000
+    8.983507    247.0000
+    3.362469    248.0000
+    1.182678    249.0000
+    4.875312    250.0000
diff --git a/data/nist/Gauss3.dat b/data/nist/Gauss3.dat
new file mode 100644
index 0000000..e5eb56d
--- /dev/null
+++ b/data/nist/Gauss3.dat
@@ -0,0 +1,310 @@
+NIST/ITL StRD
+Dataset Name:  Gauss3            (Gauss3.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  48)
+               Certified Values  (lines 41 to  53)
+               Data              (lines 61 to 310)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   The data are two strongly-blended Gaussians on a 
+               decaying exponential baseline plus normally 
+               distributed zero-mean noise with variance = 6.25.
+
+Reference:     Rust, B., NIST (1996).
+
+
+
+
+
+
+
+
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               250 Observations
+               Average Level of Difficulty
+               Generated Data
+
+Model:         Exponential Class
+               8 Parameters (b1 to b8)
+
+               y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+                                   + b6*exp( -(x-b7)**2 / b8**2 ) + e
+ 
+ 
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =    94.9        96.0         9.8940368970E+01  5.3005192833E-01
+  b2 =     0.009       0.0096      1.0945879335E-02  1.2554058911E-04
+  b3 =    90.1        80.0         1.0069553078E+02  8.1256587317E-01
+  b4 =   113.0       110.0         1.1163619459E+02  3.5317859757E-01
+  b5 =    20.0        25.0         2.3300500029E+01  3.6584783023E-01
+  b6 =    73.8        74.0         7.3705031418E+01  1.2091239082E+00
+  b7 =   140.0       139.0         1.4776164251E+02  4.0488183351E-01
+  b8 =    20.0        25.0         1.9668221230E+01  3.7806634336E-01
+
+Residual Sum of Squares:                    1.2444846360E+03  
+Residual Standard Deviation:                2.2677077625E+00
+Degrees of Freedom:                               242
+Number of Observations:                           250
+
+
+
+
+
+
+Data:   y          x
+    97.58776    1.000000
+    97.76344    2.000000
+    96.56705    3.000000
+    92.52037    4.000000
+    91.15097    5.000000
+    95.21728    6.000000
+    90.21355    7.000000
+    89.29235    8.000000
+    91.51479    9.000000
+    89.60965   10.000000
+    86.56187    11.00000
+    85.55315    12.00000
+    87.13053    13.00000
+    85.67938    14.00000
+    80.04849    15.00000
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+    77.90174    23.00000
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+    11.23627    201.0000
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+    6.758250    204.0000
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+    8.893581    207.0000
+    11.55398    208.0000
+    11.57221    209.0000
+    11.58347    210.0000
+    9.724857    211.0000
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+    3.914033    220.0000
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+    7.796682    228.0000
+    12.45064    229.0000
+    10.61601    230.0000
+    6.001000    231.0000
+    6.765096    232.0000
+    8.764652    233.0000
+    4.586417    234.0000
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+    7.209201    236.0000
+   10.012090    237.0000
+    7.327461    238.0000
+    6.525136    239.0000
+    2.840065    240.0000
+   10.323710    241.0000
+    4.790035    242.0000
+    8.376431    243.0000
+    6.263980    244.0000
+    2.705892    245.0000
+    8.362109    246.0000
+    8.983507    247.0000
+    3.362469    248.0000
+    1.182678    249.0000
+    4.875312    250.0000
diff --git a/data/nist/Hahn1.dat b/data/nist/Hahn1.dat
new file mode 100644
index 0000000..f3069d7
--- /dev/null
+++ b/data/nist/Hahn1.dat
@@ -0,0 +1,296 @@
+NIST/ITL StRD
+Dataset Name:  Hahn1             (Hahn1.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  47)
+               Certified Values  (lines 41 to  52)
+               Data              (lines 61 to 296)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               the thermal expansion of copper.  The response 
+               variable is the coefficient of thermal expansion, and
+               the predictor variable is temperature in degrees 
+               kelvin.
+
+
+Reference:     Hahn, T., NIST (197?). 
+               Copper Thermal Expansion Study.
+
+
+
+
+
+Data:          1 Response  (y = coefficient of thermal expansion)
+               1 Predictor (x = temperature, degrees kelvin)
+               236 Observations
+               Average Level of Difficulty
+               Observed Data
+
+Model:         Rational Class (cubic/cubic)
+               7 Parameters (b1 to b7)
+
+               y = (b1+b2*x+b3*x**2+b4*x**3) /
+                   (1+b5*x+b6*x**2+b7*x**3)  +  e
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   10           1            1.0776351733E+00  1.7070154742E-01
+  b2 =   -1          -0.1         -1.2269296921E-01  1.2000289189E-02
+  b3 =    0.05        0.005        4.0863750610E-03  2.2508314937E-04
+  b4 =   -0.00001    -0.000001    -1.4262662514E-06  2.7578037666E-07
+  b5 =   -0.05       -0.005       -5.7609940901E-03  2.4712888219E-04
+  b6 =    0.001       0.0001       2.4053735503E-04  1.0449373768E-05
+  b7 =   -0.000001   -0.0000001   -1.2314450199E-07  1.3027335327E-08
+
+Residual Sum of Squares:                    1.5324382854E+00 
+Residual Standard Deviation:                8.1803852243E-02
+Degrees of Freedom:                               229
+Number of Observations:                           236
+
+
+
+
+
+
+  
+Data:   y              x
+        .591E0         24.41E0  
+       1.547E0         34.82E0  
+       2.902E0         44.09E0  
+       2.894E0         45.07E0  
+       4.703E0         54.98E0  
+       6.307E0         65.51E0  
+       7.03E0          70.53E0  
+       7.898E0         75.70E0  
+       9.470E0         89.57E0  
+       9.484E0         91.14E0  
+      10.072E0         96.40E0  
+      10.163E0         97.19E0  
+      11.615E0        114.26E0  
+      12.005E0        120.25E0  
+      12.478E0        127.08E0  
+      12.982E0        133.55E0  
+      12.970E0        133.61E0  
+      13.926E0        158.67E0  
+      14.452E0        172.74E0  
+      14.404E0        171.31E0  
+      15.190E0        202.14E0  
+      15.550E0        220.55E0  
+      15.528E0        221.05E0  
+      15.499E0        221.39E0  
+      16.131E0        250.99E0  
+      16.438E0        268.99E0  
+      16.387E0        271.80E0  
+      16.549E0        271.97E0  
+      16.872E0        321.31E0  
+      16.830E0        321.69E0  
+      16.926E0        330.14E0  
+      16.907E0        333.03E0  
+      16.966E0        333.47E0  
+      17.060E0        340.77E0  
+      17.122E0        345.65E0  
+      17.311E0        373.11E0  
+      17.355E0        373.79E0  
+      17.668E0        411.82E0  
+      17.767E0        419.51E0  
+      17.803E0        421.59E0  
+      17.765E0        422.02E0  
+      17.768E0        422.47E0  
+      17.736E0        422.61E0  
+      17.858E0        441.75E0  
+      17.877E0        447.41E0  
+      17.912E0        448.7E0   
+      18.046E0        472.89E0  
+      18.085E0        476.69E0  
+      18.291E0        522.47E0  
+      18.357E0        522.62E0  
+      18.426E0        524.43E0  
+      18.584E0        546.75E0  
+      18.610E0        549.53E0  
+      18.870E0        575.29E0  
+      18.795E0        576.00E0  
+      19.111E0        625.55E0  
+        .367E0         20.15E0  
+        .796E0         28.78E0  
+       0.892E0         29.57E0  
+       1.903E0         37.41E0  
+       2.150E0         39.12E0  
+       3.697E0         50.24E0  
+       5.870E0         61.38E0  
+       6.421E0         66.25E0  
+       7.422E0         73.42E0  
+       9.944E0         95.52E0  
+      11.023E0        107.32E0  
+      11.87E0         122.04E0  
+      12.786E0        134.03E0  
+      14.067E0        163.19E0  
+      13.974E0        163.48E0  
+      14.462E0        175.70E0  
+      14.464E0        179.86E0  
+      15.381E0        211.27E0  
+      15.483E0        217.78E0  
+      15.59E0         219.14E0  
+      16.075E0        262.52E0  
+      16.347E0        268.01E0  
+      16.181E0        268.62E0  
+      16.915E0        336.25E0  
+      17.003E0        337.23E0  
+      16.978E0        339.33E0  
+      17.756E0        427.38E0  
+      17.808E0        428.58E0  
+      17.868E0        432.68E0  
+      18.481E0        528.99E0  
+      18.486E0        531.08E0  
+      19.090E0        628.34E0  
+      16.062E0        253.24E0  
+      16.337E0        273.13E0  
+      16.345E0        273.66E0  
+      16.388E0        282.10E0  
+      17.159E0        346.62E0  
+      17.116E0        347.19E0  
+      17.164E0        348.78E0  
+      17.123E0        351.18E0  
+      17.979E0        450.10E0  
+      17.974E0        450.35E0  
+      18.007E0        451.92E0  
+      17.993E0        455.56E0  
+      18.523E0        552.22E0  
+      18.669E0        553.56E0  
+      18.617E0        555.74E0  
+      19.371E0        652.59E0  
+      19.330E0        656.20E0  
+       0.080E0         14.13E0  
+       0.248E0         20.41E0  
+       1.089E0         31.30E0  
+       1.418E0         33.84E0  
+       2.278E0         39.70E0  
+       3.624E0         48.83E0  
+       4.574E0         54.50E0  
+       5.556E0         60.41E0  
+       7.267E0         72.77E0  
+       7.695E0         75.25E0  
+       9.136E0         86.84E0  
+       9.959E0         94.88E0  
+       9.957E0         96.40E0  
+      11.600E0        117.37E0  
+      13.138E0        139.08E0  
+      13.564E0        147.73E0  
+      13.871E0        158.63E0  
+      13.994E0        161.84E0  
+      14.947E0        192.11E0  
+      15.473E0        206.76E0  
+      15.379E0        209.07E0  
+      15.455E0        213.32E0  
+      15.908E0        226.44E0  
+      16.114E0        237.12E0  
+      17.071E0        330.90E0  
+      17.135E0        358.72E0  
+      17.282E0        370.77E0  
+      17.368E0        372.72E0  
+      17.483E0        396.24E0  
+      17.764E0        416.59E0  
+      18.185E0        484.02E0  
+      18.271E0        495.47E0  
+      18.236E0        514.78E0  
+      18.237E0        515.65E0  
+      18.523E0        519.47E0  
+      18.627E0        544.47E0  
+      18.665E0        560.11E0  
+      19.086E0        620.77E0  
+       0.214E0         18.97E0  
+       0.943E0         28.93E0  
+       1.429E0         33.91E0  
+       2.241E0         40.03E0  
+       2.951E0         44.66E0  
+       3.782E0         49.87E0  
+       4.757E0         55.16E0  
+       5.602E0         60.90E0  
+       7.169E0         72.08E0  
+       8.920E0         85.15E0  
+      10.055E0         97.06E0  
+      12.035E0        119.63E0  
+      12.861E0        133.27E0  
+      13.436E0        143.84E0  
+      14.167E0        161.91E0  
+      14.755E0        180.67E0  
+      15.168E0        198.44E0  
+      15.651E0        226.86E0  
+      15.746E0        229.65E0  
+      16.216E0        258.27E0  
+      16.445E0        273.77E0  
+      16.965E0        339.15E0  
+      17.121E0        350.13E0  
+      17.206E0        362.75E0  
+      17.250E0        371.03E0  
+      17.339E0        393.32E0  
+      17.793E0        448.53E0  
+      18.123E0        473.78E0  
+      18.49E0         511.12E0  
+      18.566E0        524.70E0  
+      18.645E0        548.75E0  
+      18.706E0        551.64E0  
+      18.924E0        574.02E0  
+      19.1E0          623.86E0  
+       0.375E0         21.46E0  
+       0.471E0         24.33E0  
+       1.504E0         33.43E0  
+       2.204E0         39.22E0  
+       2.813E0         44.18E0  
+       4.765E0         55.02E0  
+       9.835E0         94.33E0  
+      10.040E0         96.44E0  
+      11.946E0        118.82E0  
+      12.596E0        128.48E0  
+      13.303E0        141.94E0  
+      13.922E0        156.92E0  
+      14.440E0        171.65E0  
+      14.951E0        190.00E0  
+      15.627E0        223.26E0  
+      15.639E0        223.88E0  
+      15.814E0        231.50E0  
+      16.315E0        265.05E0  
+      16.334E0        269.44E0  
+      16.430E0        271.78E0  
+      16.423E0        273.46E0  
+      17.024E0        334.61E0  
+      17.009E0        339.79E0  
+      17.165E0        349.52E0  
+      17.134E0        358.18E0  
+      17.349E0        377.98E0  
+      17.576E0        394.77E0  
+      17.848E0        429.66E0  
+      18.090E0        468.22E0  
+      18.276E0        487.27E0  
+      18.404E0        519.54E0  
+      18.519E0        523.03E0  
+      19.133E0        612.99E0  
+      19.074E0        638.59E0  
+      19.239E0        641.36E0  
+      19.280E0        622.05E0  
+      19.101E0        631.50E0  
+      19.398E0        663.97E0  
+      19.252E0        646.9E0   
+      19.89E0         748.29E0  
+      20.007E0        749.21E0  
+      19.929E0        750.14E0  
+      19.268E0        647.04E0  
+      19.324E0        646.89E0  
+      20.049E0        746.9E0   
+      20.107E0        748.43E0  
+      20.062E0        747.35E0  
+      20.065E0        749.27E0  
+      19.286E0        647.61E0  
+      19.972E0        747.78E0  
+      20.088E0        750.51E0  
+      20.743E0        851.37E0  
+      20.83E0         845.97E0  
+      20.935E0        847.54E0  
+      21.035E0        849.93E0  
+      20.93E0         851.61E0  
+      21.074E0        849.75E0  
+      21.085E0        850.98E0  
+      20.935E0        848.23E0  
diff --git a/data/nist/Kirby2.dat b/data/nist/Kirby2.dat
new file mode 100644
index 0000000..04df176
--- /dev/null
+++ b/data/nist/Kirby2.dat
@@ -0,0 +1,211 @@
+NIST/ITL StRD
+Dataset Name:  Kirby2            (Kirby2.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to  45)
+               Certified Values  (lines 41 to  50)
+               Data              (lines 61 to 211)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               scanning electron microscope line with standards.
+
+
+Reference:     Kirby, R., NIST (197?).  
+               Scanning electron microscope line width standards.
+
+
+
+
+
+
+
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               151 Observations
+               Average Level of Difficulty
+               Observed Data
+
+Model:         Rational Class (quadratic/quadratic)
+               5 Parameters (b1 to b5)
+
+               y = (b1 + b2*x + b3*x**2) /
+                   (1 + b4*x + b5*x**2)  +  e
+
+ 
+          Starting values                  Certified Values
+ 
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =    2           1.5          1.6745063063E+00  8.7989634338E-02
+  b2 =   -0.1        -0.15        -1.3927397867E-01  4.1182041386E-03
+  b3 =    0.003       0.0025       2.5961181191E-03  4.1856520458E-05
+  b4 =   -0.001      -0.0015      -1.7241811870E-03  5.8931897355E-05
+  b5 =    0.00001     0.00002      2.1664802578E-05  2.0129761919E-07
+
+Residual Sum of Squares:                    3.9050739624E+00
+Residual Standard Deviation:                1.6354535131E-01
+Degrees of Freedom:                               146
+Number of Observations:                           151
+
+
+
+
+
+
+
+
+
+Data:   y             x
+       0.0082E0      9.65E0
+       0.0112E0     10.74E0
+       0.0149E0     11.81E0
+       0.0198E0     12.88E0
+       0.0248E0     14.06E0
+       0.0324E0     15.28E0
+       0.0420E0     16.63E0
+       0.0549E0     18.19E0
+       0.0719E0     19.88E0
+       0.0963E0     21.84E0
+       0.1291E0     24.00E0
+       0.1710E0     26.25E0
+       0.2314E0     28.86E0
+       0.3227E0     31.85E0
+       0.4809E0     35.79E0
+       0.7084E0     40.18E0
+       1.0220E0     44.74E0
+       1.4580E0     49.53E0
+       1.9520E0     53.94E0
+       2.5410E0     58.29E0
+       3.2230E0     62.63E0
+       3.9990E0     67.03E0
+       4.8520E0     71.25E0
+       5.7320E0     75.22E0
+       6.7270E0     79.33E0
+       7.8350E0     83.56E0
+       9.0250E0     87.75E0
+      10.2670E0     91.93E0
+      11.5780E0     96.10E0
+      12.9440E0    100.28E0
+      14.3770E0    104.46E0
+      15.8560E0    108.66E0
+      17.3310E0    112.71E0
+      18.8850E0    116.88E0
+      20.5750E0    121.33E0
+      22.3200E0    125.79E0
+      22.3030E0    125.79E0
+      23.4600E0    128.74E0
+      24.0600E0    130.27E0
+      25.2720E0    133.33E0
+      25.8530E0    134.79E0
+      27.1100E0    137.93E0
+      27.6580E0    139.33E0
+      28.9240E0    142.46E0
+      29.5110E0    143.90E0
+      30.7100E0    146.91E0
+      31.3500E0    148.51E0
+      32.5200E0    151.41E0
+      33.2300E0    153.17E0
+      34.3300E0    155.97E0
+      35.0600E0    157.76E0
+      36.1700E0    160.56E0
+      36.8400E0    162.30E0
+      38.0100E0    165.21E0
+      38.6700E0    166.90E0
+      39.8700E0    169.92E0
+      40.0300E0    170.32E0
+      40.5000E0    171.54E0
+      41.3700E0    173.79E0
+      41.6700E0    174.57E0
+      42.3100E0    176.25E0
+      42.7300E0    177.34E0
+      43.4600E0    179.19E0
+      44.1400E0    181.02E0
+      44.5500E0    182.08E0
+      45.2200E0    183.88E0
+      45.9200E0    185.75E0
+      46.3000E0    186.80E0
+      47.0000E0    188.63E0
+      47.6800E0    190.45E0
+      48.0600E0    191.48E0
+      48.7400E0    193.35E0
+      49.4100E0    195.22E0
+      49.7600E0    196.23E0
+      50.4300E0    198.05E0
+      51.1100E0    199.97E0
+      51.5000E0    201.06E0
+      52.1200E0    202.83E0
+      52.7600E0    204.69E0
+      53.1800E0    205.86E0
+      53.7800E0    207.58E0
+      54.4600E0    209.50E0
+      54.8300E0    210.65E0
+      55.4000E0    212.33E0
+      56.4300E0    215.43E0
+      57.0300E0    217.16E0
+      58.0000E0    220.21E0
+      58.6100E0    221.98E0
+      59.5800E0    225.06E0
+      60.1100E0    226.79E0
+      61.1000E0    229.92E0
+      61.6500E0    231.69E0
+      62.5900E0    234.77E0
+      63.1200E0    236.60E0
+      64.0300E0    239.63E0
+      64.6200E0    241.50E0
+      65.4900E0    244.48E0
+      66.0300E0    246.40E0
+      66.8900E0    249.35E0
+      67.4200E0    251.32E0
+      68.2300E0    254.22E0
+      68.7700E0    256.24E0
+      69.5900E0    259.11E0
+      70.1100E0    261.18E0
+      70.8600E0    264.02E0
+      71.4300E0    266.13E0
+      72.1600E0    268.94E0
+      72.7000E0    271.09E0
+      73.4000E0    273.87E0
+      73.9300E0    276.08E0
+      74.6000E0    278.83E0
+      75.1600E0    281.08E0
+      75.8200E0    283.81E0
+      76.3400E0    286.11E0
+      76.9800E0    288.81E0
+      77.4800E0    291.08E0
+      78.0800E0    293.75E0
+      78.6000E0    295.99E0
+      79.1700E0    298.64E0
+      79.6200E0    300.84E0
+      79.8800E0    302.02E0
+      80.1900E0    303.48E0
+      80.6600E0    305.65E0
+      81.2200E0    308.27E0
+      81.6600E0    310.41E0
+      82.1600E0    313.01E0
+      82.5900E0    315.12E0
+      83.1400E0    317.71E0
+      83.5000E0    319.79E0
+      84.0000E0    322.36E0
+      84.4000E0    324.42E0
+      84.8900E0    326.98E0
+      85.2600E0    329.01E0
+      85.7400E0    331.56E0
+      86.0700E0    333.56E0
+      86.5400E0    336.10E0
+      86.8900E0    338.08E0
+      87.3200E0    340.60E0
+      87.6500E0    342.57E0
+      88.1000E0    345.08E0
+      88.4300E0    347.02E0
+      88.8300E0    349.52E0
+      89.1200E0    351.44E0
+      89.5400E0    353.93E0
+      89.8500E0    355.83E0
+      90.2500E0    358.32E0
+      90.5500E0    360.20E0
+      90.9300E0    362.67E0
+      91.2000E0    364.53E0
+      91.5500E0    367.00E0
+      92.2000E0    371.30E0
diff --git a/data/nist/Lanczos1.dat b/data/nist/Lanczos1.dat
new file mode 100644
index 0000000..8107320
--- /dev/null
+++ b/data/nist/Lanczos1.dat
@@ -0,0 +1,84 @@
+NIST/ITL StRD
+Dataset Name:  Lanczos1          (Lanczos1.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 46)
+               Certified Values  (lines 41 to 51)
+               Data              (lines 61 to 84)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are taken from an example discussed in
+               Lanczos (1956).  The data were generated to 14-digits
+               of accuracy using
+               f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x) 
+                                     + 1.5576*exp(-5*x).
+
+
+Reference:     Lanczos, C. (1956).
+               Applied Analysis.
+               Englewood Cliffs, NJ:  Prentice Hall, pp. 272-280.
+
+
+
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               24 Observations
+               Average Level of Difficulty
+               Generated Data
+
+Model:         Exponential Class
+               6 Parameters (b1 to b6)
+
+               y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x)  +  e
+
+
+ 
+          Starting values                  Certified Values
+ 
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   1.2         0.5           9.5100000027E-02  5.3347304234E-11
+  b2 =   0.3         0.7           1.0000000001E+00  2.7473038179E-10
+  b3 =   5.6         3.6           8.6070000013E-01  1.3576062225E-10
+  b4 =   5.5         4.2           3.0000000002E+00  3.3308253069E-10
+  b5 =   6.5         4             1.5575999998E+00  1.8815731448E-10
+  b6 =   7.6         6.3           5.0000000001E+00  1.1057500538E-10
+
+Residual Sum of Squares:                    1.4307867721E-25
+Residual Standard Deviation:                8.9156129349E-14
+Degrees of Freedom:                                18
+Number of Observations:                            24
+
+
+
+
+
+
+
+
+Data:   y                   x
+       2.513400000000E+00  0.000000000000E+00
+       2.044333373291E+00  5.000000000000E-02
+       1.668404436564E+00  1.000000000000E-01
+       1.366418021208E+00  1.500000000000E-01
+       1.123232487372E+00  2.000000000000E-01
+       9.268897180037E-01  2.500000000000E-01
+       7.679338563728E-01  3.000000000000E-01
+       6.388775523106E-01  3.500000000000E-01
+       5.337835317402E-01  4.000000000000E-01
+       4.479363617347E-01  4.500000000000E-01
+       3.775847884350E-01  5.000000000000E-01
+       3.197393199326E-01  5.500000000000E-01
+       2.720130773746E-01  6.000000000000E-01
+       2.324965529032E-01  6.500000000000E-01
+       1.996589546065E-01  7.000000000000E-01
+       1.722704126914E-01  7.500000000000E-01
+       1.493405660168E-01  8.000000000000E-01
+       1.300700206922E-01  8.500000000000E-01
+       1.138119324644E-01  9.000000000000E-01
+       1.000415587559E-01  9.500000000000E-01
+       8.833209084540E-02  1.000000000000E+00
+       7.833544019350E-02  1.050000000000E+00
+       6.976693743449E-02  1.100000000000E+00
+       6.239312536719E-02  1.150000000000E+00
diff --git a/data/nist/Lanczos2.dat b/data/nist/Lanczos2.dat
new file mode 100644
index 0000000..fc98e69
--- /dev/null
+++ b/data/nist/Lanczos2.dat
@@ -0,0 +1,84 @@
+NIST/ITL StRD
+Dataset Name:  Lanczos2          (Lanczos2.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 46)
+               Certified Values  (lines 41 to 51)
+               Data              (lines 61 to 84)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are taken from an example discussed in
+               Lanczos (1956).  The data were generated to 6-digits
+               of accuracy using
+               f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x) 
+                                     + 1.5576*exp(-5*x).
+
+
+Reference:     Lanczos, C. (1956).
+               Applied Analysis.
+               Englewood Cliffs, NJ:  Prentice Hall, pp. 272-280.
+
+
+
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               24 Observations
+               Average Level of Difficulty
+               Generated Data
+ 
+Model:         Exponential Class
+               6 Parameters (b1 to b6)
+ 
+               y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x)  +  e
+ 
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   1.2         0.5           9.6251029939E-02  6.6770575477E-04
+  b2 =   0.3         0.7           1.0057332849E+00  3.3989646176E-03
+  b3 =   5.6         3.6           8.6424689056E-01  1.7185846685E-03
+  b4 =   5.5         4.2           3.0078283915E+00  4.1707005856E-03
+  b5 =   6.5         4             1.5529016879E+00  2.3744381417E-03
+  b6 =   7.6         6.3           5.0028798100E+00  1.3958787284E-03
+
+Residual Sum of Squares:                    2.2299428125E-11
+Residual Standard Deviation:                1.1130395851E-06
+Degrees of Freedom:                                18
+Number of Observations:                            24
+
+
+
+
+
+
+
+
+Data:   y            x
+       2.51340E+00  0.00000E+00
+       2.04433E+00  5.00000E-02
+       1.66840E+00  1.00000E-01
+       1.36642E+00  1.50000E-01
+       1.12323E+00  2.00000E-01
+       9.26890E-01  2.50000E-01
+       7.67934E-01  3.00000E-01
+       6.38878E-01  3.50000E-01
+       5.33784E-01  4.00000E-01
+       4.47936E-01  4.50000E-01
+       3.77585E-01  5.00000E-01
+       3.19739E-01  5.50000E-01
+       2.72013E-01  6.00000E-01
+       2.32497E-01  6.50000E-01
+       1.99659E-01  7.00000E-01
+       1.72270E-01  7.50000E-01
+       1.49341E-01  8.00000E-01
+       1.30070E-01  8.50000E-01
+       1.13812E-01  9.00000E-01
+       1.00042E-01  9.50000E-01
+       8.83321E-02  1.00000E+00
+       7.83354E-02  1.05000E+00
+       6.97669E-02  1.10000E+00
+       6.23931E-02  1.15000E+00
diff --git a/data/nist/Lanczos3.dat b/data/nist/Lanczos3.dat
new file mode 100644
index 0000000..d930d65
--- /dev/null
+++ b/data/nist/Lanczos3.dat
@@ -0,0 +1,84 @@
+NIST/ITL StRD
+Dataset Name:  Lanczos3          (Lanczos3.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 46)
+               Certified Values  (lines 41 to 51)
+               Data              (lines 61 to 84)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are taken from an example discussed in
+               Lanczos (1956).  The data were generated to 5-digits
+               of accuracy using
+               f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x) 
+                                     + 1.5576*exp(-5*x).
+
+
+Reference:     Lanczos, C. (1956).
+               Applied Analysis.
+               Englewood Cliffs, NJ:  Prentice Hall, pp. 272-280.
+
+
+
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               24 Observations
+               Lower Level of Difficulty
+               Generated Data
+ 
+Model:         Exponential Class
+               6 Parameters (b1 to b6)
+ 
+               y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x)  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   1.2         0.5           8.6816414977E-02  1.7197908859E-02
+  b2 =   0.3         0.7           9.5498101505E-01  9.7041624475E-02
+  b3 =   5.6         3.6           8.4400777463E-01  4.1488663282E-02
+  b4 =   5.5         4.2           2.9515951832E+00  1.0766312506E-01
+  b5 =   6.5         4             1.5825685901E+00  5.8371576281E-02
+  b6 =   7.6         6.3           4.9863565084E+00  3.4436403035E-02
+
+Residual Sum of Squares:                    1.6117193594E-08
+Residual Standard Deviation:                2.9923229172E-05
+Degrees of Freedom:                                18
+Number of Observations:                            24
+
+
+
+
+
+
+
+
+Data:   y           x
+       2.5134E+00  0.00000E+00
+       2.0443E+00  5.00000E-02
+       1.6684E+00  1.00000E-01
+       1.3664E+00  1.50000E-01
+       1.1232E+00  2.00000E-01
+       0.9269E+00  2.50000E-01
+       0.7679E+00  3.00000E-01
+       0.6389E+00  3.50000E-01
+       0.5338E+00  4.00000E-01
+       0.4479E+00  4.50000E-01
+       0.3776E+00  5.00000E-01
+       0.3197E+00  5.50000E-01
+       0.2720E+00  6.00000E-01
+       0.2325E+00  6.50000E-01
+       0.1997E+00  7.00000E-01
+       0.1723E+00  7.50000E-01
+       0.1493E+00  8.00000E-01
+       0.1301E+00  8.50000E-01
+       0.1138E+00  9.00000E-01
+       0.1000E+00  9.50000E-01
+       0.0883E+00  1.00000E+00
+       0.0783E+00  1.05000E+00
+       0.0698E+00  1.10000E+00
+       0.0624E+00  1.15000E+00
diff --git a/data/nist/MGH09.dat b/data/nist/MGH09.dat
new file mode 100644
index 0000000..1f19af8
--- /dev/null
+++ b/data/nist/MGH09.dat
@@ -0,0 +1,71 @@
+NIST/ITL StRD
+Dataset Name:  MGH09             (MGH09.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 44)
+               Certified Values  (lines 41 to 49)
+               Data              (lines 61 to 71)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   This problem was found to be difficult for some very 
+               good algorithms.  There is a local minimum at (+inf,
+               -14.07..., -inf, -inf) with final sum of squares 
+               0.00102734....
+
+               See More, J. J., Garbow, B. S., and Hillstrom, K. E. 
+               (1981).  Testing unconstrained optimization software.
+               ACM Transactions on Mathematical Software. 7(1): 
+               pp. 17-41.
+
+Reference:     Kowalik, J.S., and M. R. Osborne, (1978).  
+               Methods for Unconstrained Optimization Problems.  
+               New York, NY:  Elsevier North-Holland.
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               11 Observations
+               Higher Level of Difficulty
+               Generated Data
+ 
+Model:         Rational Class (linear/quadratic)
+               4 Parameters (b1 to b4)
+ 
+               y = b1*(x**2+x*b2) / (x**2+x*b3+b4)  +  e
+ 
+
+ 
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   25          0.25          1.9280693458E-01  1.1435312227E-02
+  b2 =   39          0.39          1.9128232873E-01  1.9633220911E-01
+  b3 =   41.5        0.415         1.2305650693E-01  8.0842031232E-02
+  b4 =   39          0.39          1.3606233068E-01  9.0025542308E-02
+
+Residual Sum of Squares:                    3.0750560385E-04
+Residual Standard Deviation:                6.6279236551E-03
+Degrees of Freedom:                                7
+Number of Observations:                           11
+ 
+ 
+
+
+
+
+
+ 
+ 
+ 
+Data:  y               x
+       1.957000E-01    4.000000E+00
+       1.947000E-01    2.000000E+00
+       1.735000E-01    1.000000E+00
+       1.600000E-01    5.000000E-01
+       8.440000E-02    2.500000E-01
+       6.270000E-02    1.670000E-01
+       4.560000E-02    1.250000E-01
+       3.420000E-02    1.000000E-01
+       3.230000E-02    8.330000E-02
+       2.350000E-02    7.140000E-02
+       2.460000E-02    6.250000E-02
diff --git a/data/nist/MGH10.dat b/data/nist/MGH10.dat
new file mode 100644
index 0000000..df88ea4
--- /dev/null
+++ b/data/nist/MGH10.dat
@@ -0,0 +1,76 @@
+NIST/ITL StRD
+Dataset Name:  MGH10             (MGH10.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 43)
+               Certified Values  (lines 41 to 48)
+               Data              (lines 61 to 76)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   This problem was found to be difficult for some very
+               good algorithms.
+
+               See More, J. J., Garbow, B. S., and Hillstrom, K. E. 
+               (1981).  Testing unconstrained optimization software.
+               ACM Transactions on Mathematical Software. 7(1): 
+               pp. 17-41.
+
+Reference:     Meyer, R. R. (1970).  
+               Theoretical and computational aspects of nonlinear 
+               regression.  In Nonlinear Programming, Rosen, 
+               Mangasarian and Ritter (Eds).  
+               New York, NY: Academic Press, pp. 465-486.
+
+Data:          1 Response  (y)
+               1 Predictor (x)
+               16 Observations
+               Higher Level of Difficulty
+               Generated Data
+ 
+Model:         Exponential Class
+               3 Parameters (b1 to b3)
+ 
+               y = b1 * exp[b2/(x+b3)]  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =        2         0.02       5.6096364710E-03  1.5687892471E-04
+  b2 =   400000      4000          6.1813463463E+03  2.3309021107E+01
+  b3 =    25000       250          3.4522363462E+02  7.8486103508E-01
+
+Residual Sum of Squares:                    8.7945855171E+01
+Residual Standard Deviation:                2.6009740065E+00
+Degrees of Freedom:                                13
+Number of Observations:                            16
+
+
+
+
+
+
+
+
+
+
+
+Data:  y               x
+      3.478000E+04    5.000000E+01
+      2.861000E+04    5.500000E+01
+      2.365000E+04    6.000000E+01
+      1.963000E+04    6.500000E+01
+      1.637000E+04    7.000000E+01
+      1.372000E+04    7.500000E+01
+      1.154000E+04    8.000000E+01
+      9.744000E+03    8.500000E+01
+      8.261000E+03    9.000000E+01
+      7.030000E+03    9.500000E+01
+      6.005000E+03    1.000000E+02
+      5.147000E+03    1.050000E+02
+      4.427000E+03    1.100000E+02
+      3.820000E+03    1.150000E+02
+      3.307000E+03    1.200000E+02
+      2.872000E+03    1.250000E+02
diff --git a/data/nist/MGH17.dat b/data/nist/MGH17.dat
new file mode 100644
index 0000000..3b3b7e8
--- /dev/null
+++ b/data/nist/MGH17.dat
@@ -0,0 +1,93 @@
+NIST/ITL StRD
+Dataset Name:  MGH17             (MGH17.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 45)
+               Certified Values  (lines 41 to 50)
+               Data              (lines 61 to 93)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   This problem was found to be difficult for some very
+               good algorithms.
+
+               See More, J. J., Garbow, B. S., and Hillstrom, K. E.
+               (1981).  Testing unconstrained optimization software.
+               ACM Transactions on Mathematical Software. 7(1):
+               pp. 17-41.
+
+Reference:     Osborne, M. R. (1972).  
+               Some aspects of nonlinear least squares 
+               calculations.  In Numerical Methods for Nonlinear 
+               Optimization, Lootsma (Ed).  
+               New York, NY:  Academic Press, pp. 171-189.
+ 
+Data:          1 Response  (y)
+               1 Predictor (x)
+               33 Observations
+               Average Level of Difficulty
+               Generated Data
+
+Model:         Exponential Class
+               5 Parameters (b1 to b5)
+
+               y = b1 + b2*exp[-x*b4] + b3*exp[-x*b5]  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =     50         0.5          3.7541005211E-01  2.0723153551E-03
+  b2 =    150         1.5          1.9358469127E+00  2.2031669222E-01
+  b3 =   -100        -1           -1.4646871366E+00  2.2175707739E-01
+  b4 =      1          0.01        1.2867534640E-02  4.4861358114E-04
+  b5 =      2          0.02        2.2122699662E-02  8.9471996575E-04
+
+Residual Sum of Squares:                    5.4648946975E-05
+Residual Standard Deviation:                1.3970497866E-03
+Degrees of Freedom:                                28
+Number of Observations:                            33
+
+
+
+
+
+
+
+
+
+Data:  y               x
+      8.440000E-01    0.000000E+00
+      9.080000E-01    1.000000E+01
+      9.320000E-01    2.000000E+01
+      9.360000E-01    3.000000E+01
+      9.250000E-01    4.000000E+01
+      9.080000E-01    5.000000E+01
+      8.810000E-01    6.000000E+01
+      8.500000E-01    7.000000E+01
+      8.180000E-01    8.000000E+01
+      7.840000E-01    9.000000E+01
+      7.510000E-01    1.000000E+02
+      7.180000E-01    1.100000E+02
+      6.850000E-01    1.200000E+02
+      6.580000E-01    1.300000E+02
+      6.280000E-01    1.400000E+02
+      6.030000E-01    1.500000E+02
+      5.800000E-01    1.600000E+02
+      5.580000E-01    1.700000E+02
+      5.380000E-01    1.800000E+02
+      5.220000E-01    1.900000E+02
+      5.060000E-01    2.000000E+02
+      4.900000E-01    2.100000E+02
+      4.780000E-01    2.200000E+02
+      4.670000E-01    2.300000E+02
+      4.570000E-01    2.400000E+02
+      4.480000E-01    2.500000E+02
+      4.380000E-01    2.600000E+02
+      4.310000E-01    2.700000E+02
+      4.240000E-01    2.800000E+02
+      4.200000E-01    2.900000E+02
+      4.140000E-01    3.000000E+02
+      4.110000E-01    3.100000E+02
+      4.060000E-01    3.200000E+02
diff --git a/data/nist/Misra1a.dat b/data/nist/Misra1a.dat
new file mode 100644
index 0000000..332f37e
--- /dev/null
+++ b/data/nist/Misra1a.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name:  Misra1a           (Misra1a.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 42)
+               Certified Values  (lines 41 to 47)
+               Data              (lines 61 to 74)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study regarding
+               dental research in monomolecular adsorption.  The
+               response variable is volume, and the predictor
+               variable is pressure.
+
+Reference:     Misra, D., NIST (1978).  
+               Dental Research Monomolecular Adsorption Study.
+
+ 
+
+
+
+
+
+Data:          1 Response Variable  (y = volume)
+               1 Predictor Variable (x = pressure)
+               14 Observations
+               Lower Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               2 Parameters (b1 and b2)
+
+               y = b1*(1-exp[-b2*x])  +  e
+
+
+ 
+          Starting values                  Certified Values
+ 
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   500         250           2.3894212918E+02  2.7070075241E+00
+  b2 =     0.0001      0.0005      5.5015643181E-04  7.2668688436E-06
+
+Residual Sum of Squares:                    1.2455138894E-01
+Residual Standard Deviation:                1.0187876330E-01
+Degrees of Freedom:                                12
+Number of Observations:                            14
+
+
+
+
+
+
+
+
+
+
+
+
+Data:   y               x
+      10.07E0      77.6E0
+      14.73E0     114.9E0
+      17.94E0     141.1E0
+      23.93E0     190.8E0
+      29.61E0     239.9E0
+      35.18E0     289.0E0
+      40.02E0     332.8E0
+      44.82E0     378.4E0
+      50.76E0     434.8E0
+      55.05E0     477.3E0
+      61.01E0     536.8E0
+      66.40E0     593.1E0
+      75.47E0     689.1E0
+      81.78E0     760.0E0
diff --git a/data/nist/Misra1b.dat b/data/nist/Misra1b.dat
new file mode 100644
index 0000000..7923d40
--- /dev/null
+++ b/data/nist/Misra1b.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name:  Misra1b           (Misra1b.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 42)
+               Certified Values  (lines 41 to 47)
+               Data              (lines 61 to 74)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study regarding
+               dental research in monomolecular adsorption.  The
+               response variable is volume, and the predictor
+               variable is pressure.
+
+Reference:     Misra, D., NIST (1978).  
+               Dental Research Monomolecular Adsorption Study.
+
+
+
+
+
+
+
+Data:          1 Response  (y = volume)
+               1 Predictor (x = pressure)
+               14 Observations
+               Lower Level of Difficulty
+               Observed Data
+
+Model:         Miscellaneous Class
+               2 Parameters (b1 and b2)
+
+               y = b1 * (1-(1+b2*x/2)**(-2))  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   500         300           3.3799746163E+02  3.1643950207E+00
+  b2 =     0.0001      0.0002      3.9039091287E-04  4.2547321834E-06
+ 
+Residual Sum of Squares:                    7.5464681533E-02
+Residual Standard Deviation:                7.9301471998E-02
+Degrees of Freedom:                                12
+Number of Observations:                            14
+
+
+
+
+
+
+
+
+
+
+ 
+ 
+Data:   y               x
+      10.07E0      77.6E0
+      14.73E0     114.9E0
+      17.94E0     141.1E0
+      23.93E0     190.8E0
+      29.61E0     239.9E0
+      35.18E0     289.0E0
+      40.02E0     332.8E0
+      44.82E0     378.4E0
+      50.76E0     434.8E0
+      55.05E0     477.3E0
+      61.01E0     536.8E0
+      66.40E0     593.1E0
+      75.47E0     689.1E0
+      81.78E0     760.0E0
diff --git a/data/nist/Misra1c.dat b/data/nist/Misra1c.dat
new file mode 100644
index 0000000..d86bc82
--- /dev/null
+++ b/data/nist/Misra1c.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name:  Misra1c           (Misra1c.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 42)
+               Certified Values  (lines 41 to 47)
+               Data              (lines 61 to 74)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study regarding
+               dental research in monomolecular adsorption.  The
+               response variable is volume, and the predictor
+               variable is pressure.
+
+Reference:     Misra, D., NIST (1978).  
+               Dental Research Monomolecular Adsorption.
+
+
+
+
+
+
+
+Data:          1 Response  (y = volume)
+               1 Predictor (x = pressure)
+               14 Observations
+               Average Level of Difficulty
+               Observed Data
+
+Model:         Miscellaneous Class
+               2 Parameters (b1 and b2)
+
+               y = b1 * (1-(1+2*b2*x)**(-.5))  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   500         600           6.3642725809E+02  4.6638326572E+00
+  b2 =     0.0001      0.0002      2.0813627256E-04  1.7728423155E-06
+  
+Residual Sum of Squares:                    4.0966836971E-02
+Residual Standard Deviation:                5.8428615257E-02
+Degrees of Freedom:                                12
+Number of Observations:                            14
+ 
+
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+  
+  
+  
+Data:   y            x 
+      10.07E0      77.6E0
+      14.73E0     114.9E0
+      17.94E0     141.1E0
+      23.93E0     190.8E0
+      29.61E0     239.9E0
+      35.18E0     289.0E0
+      40.02E0     332.8E0
+      44.82E0     378.4E0
+      50.76E0     434.8E0
+      55.05E0     477.3E0
+      61.01E0     536.8E0
+      66.40E0     593.1E0
+      75.47E0     689.1E0
+      81.78E0     760.0E0
diff --git a/data/nist/Misra1d.dat b/data/nist/Misra1d.dat
new file mode 100644
index 0000000..237de46
--- /dev/null
+++ b/data/nist/Misra1d.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name:  Misra1d           (Misra1d.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 42)
+               Certified Values  (lines 41 to 47)
+               Data              (lines 61 to 74)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study regarding
+               dental research in monomolecular adsorption.  The
+               response variable is volume, and the predictor
+               variable is pressure.
+
+Reference:     Misra, D., NIST (1978).  
+               Dental Research Monomolecular Adsorption Study.
+
+
+
+
+
+
+
+Data:          1 Response  (y = volume)
+               1 Predictor (x = pressure)
+               14 Observations
+               Average Level of Difficulty
+               Observed Data
+
+Model:         Miscellaneous Class
+               2 Parameters (b1 and b2)
+
+               y = b1*b2*x*((1+b2*x)**(-1))  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   500         450           4.3736970754E+02  3.6489174345E+00
+  b2 =     0.0001      0.0003      3.0227324449E-04  2.9334354479E-06
+
+Residual Sum of Squares:                    5.6419295283E-02
+Residual Standard Deviation:                6.8568272111E-02
+Degrees of Freedom:                                12
+Number of Observations:                            14
+
+
+
+
+
+
+
+
+
+
+
+
+Data:   y            x
+      10.07E0      77.6E0
+      14.73E0     114.9E0
+      17.94E0     141.1E0
+      23.93E0     190.8E0
+      29.61E0     239.9E0
+      35.18E0     289.0E0
+      40.02E0     332.8E0
+      44.82E0     378.4E0
+      50.76E0     434.8E0
+      55.05E0     477.3E0
+      61.01E0     536.8E0
+      66.40E0     593.1E0
+      75.47E0     689.1E0
+      81.78E0     760.0E0
diff --git a/data/nist/Nelson.dat b/data/nist/Nelson.dat
new file mode 100644
index 0000000..5ce1003
--- /dev/null
+++ b/data/nist/Nelson.dat
@@ -0,0 +1,188 @@
+NIST/ITL StRD
+Dataset Name:  Nelson            (Nelson.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 43)
+               Certified Values  (lines 41 to 48)
+               Data              (lines 61 to 188)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a study involving
+               the analysis of performance degradation data from
+               accelerated tests, published in IEEE Transactions
+               on Reliability.  The response variable is dialectric
+               breakdown strength in kilo-volts, and the predictor
+               variables are time in weeks and temperature in degrees
+               Celcius.
+
+
+Reference:     Nelson, W. (1981).  
+               Analysis of Performance-Degradation Data.  
+               IEEE Transactions on Reliability.
+               Vol. 2, R-30, No. 2, pp. 149-155.
+
+Data:          1 Response   ( y = dialectric breakdown strength) 
+               2 Predictors (x1 = time; x2 = temperature)
+               128 Observations
+               Average Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               3 Parameters (b1 to b3)
+
+               log[y] = b1 - b2*x1 * exp[-b3*x2]  +  e
+
+
+
+          Starting values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =    2           2.5          2.5906836021E+00  1.9149996413E-02
+  b2 =    0.0001      0.000000005  5.6177717026E-09  6.1124096540E-09
+  b3 =   -0.01       -0.05        -5.7701013174E-02  3.9572366543E-03
+
+Residual Sum of Squares:                    3.7976833176E+00
+Residual Standard Deviation:                1.7430280130E-01
+Degrees of Freedom:                               125
+Number of Observations:                           128
+
+
+
+
+
+
+
+
+
+
+
+Data:   y              x1            x2
+      15.00E0         1E0         180E0
+      17.00E0         1E0         180E0
+      15.50E0         1E0         180E0
+      16.50E0         1E0         180E0
+      15.50E0         1E0         225E0
+      15.00E0         1E0         225E0
+      16.00E0         1E0         225E0
+      14.50E0         1E0         225E0
+      15.00E0         1E0         250E0
+      14.50E0         1E0         250E0
+      12.50E0         1E0         250E0
+      11.00E0         1E0         250E0
+      14.00E0         1E0         275E0
+      13.00E0         1E0         275E0
+      14.00E0         1E0         275E0
+      11.50E0         1E0         275E0
+      14.00E0         2E0         180E0
+      16.00E0         2E0         180E0
+      13.00E0         2E0         180E0
+      13.50E0         2E0         180E0
+      13.00E0         2E0         225E0
+      13.50E0         2E0         225E0
+      12.50E0         2E0         225E0
+      12.50E0         2E0         225E0
+      12.50E0         2E0         250E0
+      12.00E0         2E0         250E0
+      11.50E0         2E0         250E0
+      12.00E0         2E0         250E0
+      13.00E0         2E0         275E0
+      11.50E0         2E0         275E0
+      13.00E0         2E0         275E0
+      12.50E0         2E0         275E0
+      13.50E0         4E0         180E0
+      17.50E0         4E0         180E0
+      17.50E0         4E0         180E0
+      13.50E0         4E0         180E0
+      12.50E0         4E0         225E0
+      12.50E0         4E0         225E0
+      15.00E0         4E0         225E0
+      13.00E0         4E0         225E0
+      12.00E0         4E0         250E0
+      13.00E0         4E0         250E0
+      12.00E0         4E0         250E0
+      13.50E0         4E0         250E0
+      10.00E0         4E0         275E0
+      11.50E0         4E0         275E0
+      11.00E0         4E0         275E0
+       9.50E0         4E0         275E0
+      15.00E0         8E0         180E0
+      15.00E0         8E0         180E0
+      15.50E0         8E0         180E0
+      16.00E0         8E0         180E0
+      13.00E0         8E0         225E0
+      10.50E0         8E0         225E0
+      13.50E0         8E0         225E0
+      14.00E0         8E0         225E0
+      12.50E0         8E0         250E0
+      12.00E0         8E0         250E0
+      11.50E0         8E0         250E0
+      11.50E0         8E0         250E0
+       6.50E0         8E0         275E0
+       5.50E0         8E0         275E0
+       6.00E0         8E0         275E0
+       6.00E0         8E0         275E0
+      18.50E0        16E0         180E0
+      17.00E0        16E0         180E0
+      15.30E0        16E0         180E0
+      16.00E0        16E0         180E0
+      13.00E0        16E0         225E0
+      14.00E0        16E0         225E0
+      12.50E0        16E0         225E0
+      11.00E0        16E0         225E0
+      12.00E0        16E0         250E0
+      12.00E0        16E0         250E0
+      11.50E0        16E0         250E0
+      12.00E0        16E0         250E0
+       6.00E0        16E0         275E0
+       6.00E0        16E0         275E0
+       5.00E0        16E0         275E0
+       5.50E0        16E0         275E0
+      12.50E0        32E0         180E0
+      13.00E0        32E0         180E0
+      16.00E0        32E0         180E0
+      12.00E0        32E0         180E0
+      11.00E0        32E0         225E0
+       9.50E0        32E0         225E0
+      11.00E0        32E0         225E0
+      11.00E0        32E0         225E0
+      11.00E0        32E0         250E0
+      10.00E0        32E0         250E0
+      10.50E0        32E0         250E0
+      10.50E0        32E0         250E0
+       2.70E0        32E0         275E0
+       2.70E0        32E0         275E0
+       2.50E0        32E0         275E0
+       2.40E0        32E0         275E0
+      13.00E0        48E0         180E0
+      13.50E0        48E0         180E0
+      16.50E0        48E0         180E0
+      13.60E0        48E0         180E0
+      11.50E0        48E0         225E0
+      10.50E0        48E0         225E0
+      13.50E0        48E0         225E0
+      12.00E0        48E0         225E0
+       7.00E0        48E0         250E0
+       6.90E0        48E0         250E0
+       8.80E0        48E0         250E0
+       7.90E0        48E0         250E0
+       1.20E0        48E0         275E0
+       1.50E0        48E0         275E0
+       1.00E0        48E0         275E0
+       1.50E0        48E0         275E0
+      13.00E0        64E0         180E0
+      12.50E0        64E0         180E0
+      16.50E0        64E0         180E0
+      16.00E0        64E0         180E0
+      11.00E0        64E0         225E0
+      11.50E0        64E0         225E0
+      10.50E0        64E0         225E0
+      10.00E0        64E0         225E0
+       7.27E0        64E0         250E0
+       7.50E0        64E0         250E0
+       6.70E0        64E0         250E0
+       7.60E0        64E0         250E0
+       1.50E0        64E0         275E0
+       1.00E0        64E0         275E0
+       1.20E0        64E0         275E0
+       1.20E0        64E0         275E0
diff --git a/data/nist/Rat42.dat b/data/nist/Rat42.dat
new file mode 100644
index 0000000..e112fbb
--- /dev/null
+++ b/data/nist/Rat42.dat
@@ -0,0 +1,69 @@
+NIST/ITL StRD
+Dataset Name:  Rat42             (Rat42.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 43)
+               Certified Values  (lines 41 to 48)
+               Data              (lines 61 to 69)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   This model and data are an example of fitting
+               sigmoidal growth curves taken from Ratkowsky (1983).
+               The response variable is pasture yield, and the
+               predictor variable is growing time.
+
+
+Reference:     Ratkowsky, D.A. (1983).  
+               Nonlinear Regression Modeling.
+               New York, NY:  Marcel Dekker, pp. 61 and 88.
+
+
+
+
+
+Data:          1 Response  (y = pasture yield)
+               1 Predictor (x = growing time)
+               9 Observations
+               Higher Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               3 Parameters (b1 to b3)
+
+               y = b1 / (1+exp[b2-b3*x])  +  e
+
+
+
+          Starting Values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   100         75            7.2462237576E+01  1.7340283401E+00
+  b2 =     1          2.5          2.6180768402E+00  8.8295217536E-02
+  b3 =     0.1        0.07         6.7359200066E-02  3.4465663377E-03
+
+Residual Sum of Squares:                    8.0565229338E+00
+Residual Standard Deviation:                1.1587725499E+00
+Degrees of Freedom:                                6
+Number of Observations:                            9 
+
+
+
+
+
+
+
+
+
+
+
+Data:   y              x
+       8.930E0        9.000E0
+      10.800E0       14.000E0
+      18.590E0       21.000E0
+      22.330E0       28.000E0
+      39.350E0       42.000E0
+      56.110E0       57.000E0
+      61.730E0       63.000E0
+      64.620E0       70.000E0
+      67.080E0       79.000E0
diff --git a/data/nist/Rat43.dat b/data/nist/Rat43.dat
new file mode 100644
index 0000000..347d846
--- /dev/null
+++ b/data/nist/Rat43.dat
@@ -0,0 +1,75 @@
+NIST/ITL StRD
+Dataset Name:  Rat43             (Rat43.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 44)
+               Certified Values  (lines 41 to 49)
+               Data              (lines 61 to 75)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   This model and data are an example of fitting  
+               sigmoidal growth curves taken from Ratkowsky (1983).  
+               The response variable is the dry weight of onion bulbs 
+               and tops, and the predictor variable is growing time. 
+
+
+Reference:     Ratkowsky, D.A. (1983).  
+               Nonlinear Regression Modeling.
+               New York, NY:  Marcel Dekker, pp. 62 and 88.
+
+
+
+
+
+Data:          1 Response  (y = onion bulb dry weight)
+               1 Predictor (x = growing time)
+               15 Observations
+               Higher Level of Difficulty
+               Observed Data
+
+Model:         Exponential Class
+               4 Parameters (b1 to b4)
+
+               y = b1 / ((1+exp[b2-b3*x])**(1/b4))  +  e
+
+
+
+          Starting Values                  Certified Values
+ 
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   100         700           6.9964151270E+02  1.6302297817E+01
+  b2 =    10           5           5.2771253025E+00  2.0828735829E+00
+  b3 =     1           0.75        7.5962938329E-01  1.9566123451E-01
+  b4 =     1           1.3         1.2792483859E+00  6.8761936385E-01
+ 
+Residual Sum of Squares:                    8.7864049080E+03
+Residual Standard Deviation:                2.8262414662E+01
+Degrees of Freedom:                                9
+Number of Observations:                           15 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+ 
+Data:   y          x
+      16.08E0     1.0E0
+      33.83E0     2.0E0
+      65.80E0     3.0E0
+      97.20E0     4.0E0
+     191.55E0     5.0E0
+     326.20E0     6.0E0
+     386.87E0     7.0E0
+     520.53E0     8.0E0
+     590.03E0     9.0E0
+     651.92E0    10.0E0
+     724.93E0    11.0E0
+     699.56E0    12.0E0
+     689.96E0    13.0E0
+     637.56E0    14.0E0
+     717.41E0    15.0E0
diff --git a/data/nist/Roszman1.dat b/data/nist/Roszman1.dat
new file mode 100644
index 0000000..1d67674
--- /dev/null
+++ b/data/nist/Roszman1.dat
@@ -0,0 +1,85 @@
+NIST/ITL StRD
+Dataset Name:  Roszman1          (Roszman1.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 44)
+               Certified Values  (lines 41 to 49)
+               Data              (lines 61 to 85)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               quantum defects in iodine atoms.  The response
+               variable is the number of quantum defects, and the
+               predictor variable is the excited energy state.
+               The argument to the ARCTAN function is in radians.
+
+Reference:     Roszman, L., NIST (19??).
+               Quantum Defects for Sulfur I Atom.
+
+
+
+
+
+
+Data:          1 Response  (y = quantum defect)
+               1 Predictor (x = excited state energy)
+               25 Observations
+               Average Level of Difficulty
+               Observed Data
+
+Model:         Miscellaneous Class
+               4 Parameters (b1 to b4)
+
+               pi = 3.141592653589793238462643383279E0
+               y =  b1 - b2*x - arctan[b3/(x-b4)]/pi  +  e
+
+
+          Starting Values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =      0.1         0.2         1.20196866396E-0  1.9172666023E-02
+  b2 =     -0.00001    -0.000005   -6.1953516256E-06  3.2058931691E-06
+  b3 =   1000        1200           1.2044556708E+03  7.4050983057E+01
+  b4 =   -100        -150          -1.8134269537E+02  4.9573513849E+01
+
+Residual Sum of Squares:                    4.9484847331E-04
+Residual Standard Deviation:                4.8542984060E-03
+Degrees of Freedom:                                 21
+Number of Observations:                             25
+
+
+
+
+
+
+
+
+
+
+Data:   y           x
+       0.252429    -4868.68
+       0.252141    -4868.09
+       0.251809    -4867.41
+       0.297989    -3375.19
+       0.296257    -3373.14
+       0.295319    -3372.03
+       0.339603    -2473.74
+       0.337731    -2472.35
+       0.333820    -2469.45
+       0.389510    -1894.65
+       0.386998    -1893.40
+       0.438864    -1497.24
+       0.434887    -1495.85
+       0.427893    -1493.41
+       0.471568    -1208.68
+       0.461699    -1206.18
+       0.461144    -1206.04
+       0.513532     -997.92
+       0.506641     -996.61
+       0.505062     -996.31
+       0.535648     -834.94
+       0.533726     -834.66
+       0.568064     -710.03
+       0.612886     -530.16
+       0.624169     -464.17
diff --git a/data/nist/Thurber.dat b/data/nist/Thurber.dat
new file mode 100644
index 0000000..6d72fd9
--- /dev/null
+++ b/data/nist/Thurber.dat
@@ -0,0 +1,97 @@
+NIST/ITL StRD
+Dataset Name:  Thurber           (Thurber.dat)
+
+File Format:   ASCII
+               Starting Values   (lines 41 to 47)
+               Certified Values  (lines 41 to 52)
+               Data              (lines 61 to 97)
+
+Procedure:     Nonlinear Least Squares Regression
+
+Description:   These data are the result of a NIST study involving
+               semiconductor electron mobility.  The response 
+               variable is a measure of electron mobility, and the 
+               predictor variable is the natural log of the density.
+
+
+Reference:     Thurber, R., NIST (197?).  
+               Semiconductor electron mobility modeling.
+
+
+
+
+
+
+Data:          1 Response Variable  (y = electron mobility)
+               1 Predictor Variable (x = log[density])
+               37 Observations
+               Higher Level of Difficulty
+               Observed Data
+
+Model:         Rational Class (cubic/cubic)
+               7 Parameters (b1 to b7)
+
+               y = (b1 + b2*x + b3*x**2 + b4*x**3) / 
+                   (1 + b5*x + b6*x**2 + b7*x**3)  +  e
+
+
+          Starting Values                  Certified Values
+
+        Start 1     Start 2           Parameter     Standard Deviation
+  b1 =   1000        1300          1.2881396800E+03  4.6647963344E+00
+  b2 =   1000        1500          1.4910792535E+03  3.9571156086E+01
+  b3 =    400         500          5.8323836877E+02  2.8698696102E+01
+  b4 =     40          75          7.5416644291E+01  5.5675370270E+00
+  b5 =      0.7         1          9.6629502864E-01  3.1333340687E-02
+  b6 =      0.3         0.4        3.9797285797E-01  1.4984928198E-02
+  b7 =      0.03        0.05       4.9727297349E-02  6.5842344623E-03
+
+Residual Sum of Squares:                    5.6427082397E+03
+Residual Standard Deviation:                1.3714600784E+01
+Degrees of Freedom:                                30
+Number of Observations:                            37
+
+
+
+
+
+
+
+Data:   y             x
+      80.574E0      -3.067E0
+      84.248E0      -2.981E0
+      87.264E0      -2.921E0
+      87.195E0      -2.912E0
+      89.076E0      -2.840E0
+      89.608E0      -2.797E0
+      89.868E0      -2.702E0
+      90.101E0      -2.699E0
+      92.405E0      -2.633E0
+      95.854E0      -2.481E0
+     100.696E0      -2.363E0
+     101.060E0      -2.322E0
+     401.672E0      -1.501E0
+     390.724E0      -1.460E0
+     567.534E0      -1.274E0
+     635.316E0      -1.212E0
+     733.054E0      -1.100E0
+     759.087E0      -1.046E0
+     894.206E0      -0.915E0
+     990.785E0      -0.714E0
+    1090.109E0      -0.566E0
+    1080.914E0      -0.545E0
+    1122.643E0      -0.400E0
+    1178.351E0      -0.309E0
+    1260.531E0      -0.109E0
+    1273.514E0      -0.103E0
+    1288.339E0       0.010E0
+    1327.543E0       0.119E0
+    1353.863E0       0.377E0
+    1414.509E0       0.790E0
+    1425.208E0       0.963E0
+    1421.384E0       1.006E0
+    1442.962E0       1.115E0
+    1464.350E0       1.572E0
+    1468.705E0       1.841E0
+    1447.894E0       2.047E0
+    1457.628E0       2.200E0
diff --git a/data/problem-16-22106-pre.txt b/data/problem-16-22106-pre.txt
new file mode 100644
index 0000000..d278e91
--- /dev/null
+++ b/data/problem-16-22106-pre.txt
@@ -0,0 +1,150181 @@
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diff --git a/docs/CMakeLists.txt b/docs/CMakeLists.txt
new file mode 100644
index 0000000..cfdd910
--- /dev/null
+++ b/docs/CMakeLists.txt
@@ -0,0 +1,29 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+add_subdirectory(source)
diff --git a/docs/source/CMakeLists.txt b/docs/source/CMakeLists.txt
new file mode 100644
index 0000000..70bf998
--- /dev/null
+++ b/docs/source/CMakeLists.txt
@@ -0,0 +1,19 @@
+find_package(Sphinx REQUIRED)
+
+# HTML output directory
+set(SPHINX_HTML_DIR "${Ceres_BINARY_DIR}/docs/html")
+
+# Install documentation
+install(DIRECTORY ${SPHINX_HTML_DIR}
+        DESTINATION "${CERES_DOCS_INSTALL_DIR}"
+        COMPONENT Doc
+        PATTERN "${SPHINX_HTML_DIR}/*")
+
+# Building using 'make_docs.py' python script
+add_custom_target(ceres_docs ALL
+                  python
+                  "${Ceres_SOURCE_DIR}/scripts/make_docs.py"
+                  "${Ceres_SOURCE_DIR}"
+                  "${Ceres_BINARY_DIR}/docs"
+                  "${SPHINX_EXECUTABLE}"
+                  COMMENT "Building HTML documentation with Sphinx")
diff --git a/docs/source/_templates/layout.html b/docs/source/_templates/layout.html
new file mode 100644
index 0000000..61c8eb5
--- /dev/null
+++ b/docs/source/_templates/layout.html
@@ -0,0 +1,13 @@
+{% extends "!layout.html" %}
+
+{% block footer %}
+{{ super() }}
+<script>
+  (function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
+  (i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
+  m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
+  })(window,document,'script','//www.google-analytics.com/analytics.js','ga');
+  ga('create', 'UA-49769510-1', 'ceres-solver.org');
+  ga('send', 'pageview');
+</script>
+{% endblock %}
diff --git a/docs/source/analytical_derivatives.rst b/docs/source/analytical_derivatives.rst
new file mode 100644
index 0000000..2a3a404
--- /dev/null
+++ b/docs/source/analytical_derivatives.rst
@@ -0,0 +1,192 @@
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-analytical_derivatives:
+
+====================
+Analytic Derivatives
+====================
+
+Consider the problem of fitting the following curve (`Rat43
+<http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml>`_) to
+data:
+
+.. math::
+  y = \frac{b_1}{(1+e^{b_2-b_3x})^{1/b_4}}
+
+That is, given some data :math:`\{x_i, y_i\},\ \forall i=1,... ,n`,
+determine parameters :math:`b_1, b_2, b_3` and :math:`b_4` that best
+fit this data.
+
+Which can be stated as the problem of finding the
+values of :math:`b_1, b_2, b_3` and :math:`b_4` are the ones that
+minimize the following objective function [#f1]_:
+
+.. math::
+   \begin{align}
+   E(b_1, b_2, b_3, b_4)
+   &= \sum_i f^2(b_1, b_2, b_3, b_4 ; x_i, y_i)\\
+   &= \sum_i \left(\frac{b_1}{(1+e^{b_2-b_3x_i})^{1/b_4}} - y_i\right)^2\\
+   \end{align}
+
+To solve this problem using Ceres Solver, we need to define a
+:class:`CostFunction` that computes the residual :math:`f` for a given
+:math:`x` and :math:`y` and its derivatives with respect to
+:math:`b_1, b_2, b_3` and :math:`b_4`.
+
+Using elementary differential calculus, we can see that:
+
+.. math::
+  \begin{align}
+  D_1 f(b_1, b_2, b_3, b_4; x,y) &= \frac{1}{(1+e^{b_2-b_3x})^{1/b_4}}\\
+  D_2 f(b_1, b_2, b_3, b_4; x,y) &=
+  \frac{-b_1e^{b_2-b_3x}}{b_4(1+e^{b_2-b_3x})^{1/b_4 + 1}} \\
+  D_3 f(b_1, b_2, b_3, b_4; x,y) &=
+  \frac{b_1xe^{b_2-b_3x}}{b_4(1+e^{b_2-b_3x})^{1/b_4 + 1}} \\
+  D_4 f(b_1, b_2, b_3, b_4; x,y) & = \frac{b_1  \log\left(1+e^{b_2-b_3x}\right) }{b_4^2(1+e^{b_2-b_3x})^{1/b_4}}
+  \end{align}
+
+With these derivatives in hand, we can now implement the
+:class:`CostFunction` as:
+
+.. code-block:: c++
+
+  class Rat43Analytic : public SizedCostFunction<1,4> {
+     public:
+       Rat43Analytic(const double x, const double y) : x_(x), y_(y) {}
+       virtual ~Rat43Analytic() {}
+       virtual bool Evaluate(double const* const* parameters,
+                             double* residuals,
+                             double** jacobians) const {
+         const double b1 = parameters[0][0];
+         const double b2 = parameters[0][1];
+         const double b3 = parameters[0][2];
+         const double b4 = parameters[0][3];
+
+         residuals[0] = b1 *  pow(1 + exp(b2 -  b3 * x_), -1.0 / b4) - y_;
+
+         if (!jacobians) return true;
+         double* jacobian = jacobians[0];
+         if (!jacobian) return true;
+
+         jacobian[0] = pow(1 + exp(b2 - b3 * x_), -1.0 / b4);
+         jacobian[1] = -b1 * exp(b2 - b3 * x_) *
+                       pow(1 + exp(b2 - b3 * x_), -1.0 / b4 - 1) / b4;
+         jacobian[2] = x_ * b1 * exp(b2 - b3 * x_) *
+                       pow(1 + exp(b2 - b3 * x_), -1.0 / b4 - 1) / b4;
+         jacobian[3] = b1 * log(1 + exp(b2 - b3 * x_)) *
+                       pow(1 + exp(b2 - b3 * x_), -1.0 / b4) / (b4 * b4);
+         return true;
+       }
+
+      private:
+       const double x_;
+       const double y_;
+   };
+
+This is tedious code, hard to read and with a lot of
+redundancy. So in practice we will cache some sub-expressions to
+improve its efficiency, which would give us something like:
+
+.. code-block:: c++
+
+  class Rat43AnalyticOptimized : public SizedCostFunction<1,4> {
+     public:
+       Rat43AnalyticOptimized(const double x, const double y) : x_(x), y_(y) {}
+       virtual ~Rat43AnalyticOptimized() {}
+       virtual bool Evaluate(double const* const* parameters,
+                             double* residuals,
+                             double** jacobians) const {
+         const double b1 = parameters[0][0];
+         const double b2 = parameters[0][1];
+         const double b3 = parameters[0][2];
+         const double b4 = parameters[0][3];
+
+         const double t1 = exp(b2 -  b3 * x_);
+         const double t2 = 1 + t1;
+         const double t3 = pow(t2, -1.0 / b4);
+         residuals[0] = b1 * t3 - y_;
+
+         if (!jacobians) return true;
+         double* jacobian = jacobians[0];
+         if (!jacobian) return true;
+
+         const double t4 = pow(t2, -1.0 / b4 - 1);
+         jacobian[0] = t3;
+         jacobian[1] = -b1 * t1 * t4 / b4;
+         jacobian[2] = -x_ * jacobian[1];
+         jacobian[3] = b1 * log(t2) * t3 / (b4 * b4);
+         return true;
+       }
+
+     private:
+       const double x_;
+       const double y_;
+   };
+
+What is the difference in performance of these two implementations?
+
+==========================   =========
+CostFunction                 Time (ns)
+==========================   =========
+Rat43Analytic                      255
+Rat43AnalyticOptimized              92
+==========================   =========
+
+``Rat43AnalyticOptimized`` is :math:`2.8` times faster than
+``Rat43Analytic``.  This difference in run-time is not uncommon. To
+get the best performance out of analytically computed derivatives, one
+usually needs to optimize the code to account for common
+sub-expressions.
+
+
+When should you use analytical derivatives?
+===========================================
+
+#. The expressions are simple, e.g. mostly linear.
+
+#. A computer algebra system like `Maple
+   <https://www.maplesoft.com/products/maple/>`_ , `Mathematica
+   <https://www.wolfram.com/mathematica/>`_, or `SymPy
+   <http://www.sympy.org/en/index.html>`_ can be used to symbolically
+   differentiate the objective function and generate the C++ to
+   evaluate them.
+
+#. Performance is of utmost concern and there is algebraic structure
+   in the terms that you can exploit to get better performance than
+   automatic differentiation.
+
+   That said, getting the best performance out of analytical
+   derivatives requires a non-trivial amount of work.  Before going
+   down this path, it is useful to measure the amount of time being
+   spent evaluating the Jacobian as a fraction of the total solve time
+   and remember `Amdahl's Law
+   <https://en.wikipedia.org/wiki/Amdahl's_law>`_ is your friend.
+
+#. There is no other way to compute the derivatives, e.g. you
+   wish to compute the derivative of the root of a polynomial:
+
+   .. math::
+     a_3(x,y)z^3 + a_2(x,y)z^2 + a_1(x,y)z + a_0(x,y) = 0
+
+
+   with respect to :math:`x` and :math:`y`. This requires the use of
+   the `Inverse Function Theorem
+   <https://en.wikipedia.org/wiki/Inverse_function_theorem>`_
+
+#. You love the chain rule and actually enjoy doing all the algebra by
+   hand.
+
+
+.. rubric:: Footnotes
+
+.. [#f1] The notion of best fit depends on the choice of the objective
+         function used to measure the quality of fit, which in turn
+         depends on the underlying noise process which generated the
+         observations. Minimizing the sum of squared differences is
+         the right thing to do when the noise is `Gaussian
+         <https://en.wikipedia.org/wiki/Normal_distribution>`_. In
+         that case the optimal value of the parameters is the `Maximum
+         Likelihood Estimate
+         <https://en.wikipedia.org/wiki/Maximum_likelihood_estimation>`_.
diff --git a/docs/source/automatic_derivatives.rst b/docs/source/automatic_derivatives.rst
new file mode 100644
index 0000000..1251814
--- /dev/null
+++ b/docs/source/automatic_derivatives.rst
@@ -0,0 +1,307 @@
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-automatic_derivatives:
+
+=====================
+Automatic Derivatives
+=====================
+
+We will now consider automatic differentiation. It is a technique that
+can compute exact derivatives, fast, while requiring about the same
+effort from the user as is needed to use numerical differentiation.
+
+Don't believe me? Well here goes. The following code fragment
+implements an automatically differentiated ``CostFunction`` for `Rat43
+<http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml>`_.
+
+.. code-block:: c++
+
+  struct Rat43CostFunctor {
+    Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {}
+
+    template <typename T>
+    bool operator()(const T* parameters, T* residuals) const {
+      const T b1 = parameters[0];
+      const T b2 = parameters[1];
+      const T b3 = parameters[2];
+      const T b4 = parameters[3];
+      residuals[0] = b1 * pow(1.0 + exp(b2 -  b3 * x_), -1.0 / b4) - y_;
+      return true;
+    }
+
+    private:
+      const double x_;
+      const double y_;
+  };
+
+
+  CostFunction* cost_function =
+        new AutoDiffCostFunction<Rat43CostFunctor, 1, 4>(
+          new Rat43CostFunctor(x, y));
+
+Notice that compared to numeric differentiation, the only difference
+when defining the functor for use with automatic differentiation is
+the signature of the ``operator()``.
+
+In the case of numeric differentition it was
+
+.. code-block:: c++
+
+   bool operator()(const double* parameters, double* residuals) const;
+
+and for automatic differentiation it is a templated function of the
+form
+
+.. code-block:: c++
+
+   template <typename T> bool operator()(const T* parameters, T* residuals) const;
+
+
+So what does this small change buy us? The following table compares
+the time it takes to evaluate the residual and the Jacobian for
+`Rat43` using various methods.
+
+==========================   =========
+CostFunction                 Time (ns)
+==========================   =========
+Rat43Analytic                      255
+Rat43AnalyticOptimized              92
+Rat43NumericDiffForward            262
+Rat43NumericDiffCentral            517
+Rat43NumericDiffRidders           3760
+Rat43AutomaticDiff                 129
+==========================   =========
+
+We can get exact derivatives using automatic differentiation
+(``Rat43AutomaticDiff``) with about the same effort that is required
+to write the code for numeric differentiation but only :math:`40\%`
+slower than hand optimized analytical derivatives.
+
+So how does it work? For this we will have to learn about **Dual
+Numbers** and **Jets** .
+
+
+Dual Numbers & Jets
+===================
+
+.. NOTE::
+
+   Reading this and the next section on implementing Jets is not
+   necessary to use automatic differentiation in Ceres Solver. But
+   knowing the basics of how Jets work is useful when debugging and
+   reasoning about the performance of automatic differentiation.
+
+Dual numbers are an extension of the real numbers analogous to complex
+numbers: whereas complex numbers augment the reals by introducing an
+imaginary unit :math:`\iota` such that :math:`\iota^2 = -1`, dual
+numbers introduce an *infinitesimal* unit :math:`\epsilon` such that
+:math:`\epsilon^2 = 0` . A dual number :math:`a + v\epsilon` has two
+components, the *real* component :math:`a` and the *infinitesimal*
+component :math:`v`.
+
+Surprisingly, this simple change leads to a convenient method for
+computing exact derivatives without needing to manipulate complicated
+symbolic expressions.
+
+For example, consider the function
+
+.. math::
+
+   f(x) = x^2 ,
+
+Then,
+
+.. math::
+
+   \begin{align}
+   f(10 + \epsilon) &= (10 + \epsilon)^2\\
+            &= 100 + 20 \epsilon + \epsilon^2\\
+            &= 100 + 20 \epsilon
+   \end{align}
+
+Observe that the coefficient of :math:`\epsilon` is :math:`Df(10) =
+20`. Indeed this generalizes to functions which are not
+polynomial. Consider an arbitrary differentiable function
+:math:`f(x)`. Then we can evaluate :math:`f(x + \epsilon)` by
+considering the Taylor expansion of :math:`f` near :math:`x`, which
+gives us the infinite series
+
+.. math::
+   \begin{align}
+   f(x + \epsilon) &= f(x) + Df(x) \epsilon + D^2f(x)
+   \frac{\epsilon^2}{2} + D^3f(x) \frac{\epsilon^3}{6} + \cdots\\
+   f(x + \epsilon) &= f(x) + Df(x) \epsilon
+   \end{align}
+
+Here we are using the fact that :math:`\epsilon^2 = 0`.
+
+A `Jet <https://en.wikipedia.org/wiki/Jet_(mathematics)>`_ is a
+:math:`n`-dimensional dual number, where we augment the real numbers
+with :math:`n` infinitesimal units :math:`\epsilon_i,\ i=1,...,n` with
+the property that :math:`\forall i, j\ :\epsilon_i\epsilon_j = 0`. Then
+a Jet consists of a *real* part :math:`a` and a :math:`n`-dimensional
+*infinitesimal* part :math:`\mathbf{v}`, i.e.,
+
+.. math::
+   x = a + \sum_j v_{j} \epsilon_j
+
+The summation notation gets tedious, so we will also just write
+
+.. math::
+   x = a + \mathbf{v}.
+
+where the :math:`\epsilon_i`'s are implict. Then, using the same
+Taylor series expansion used above, we can see that:
+
+.. math::
+
+  f(a + \mathbf{v}) = f(a) + Df(a) \mathbf{v}.
+
+Similarly for a multivariate function
+:math:`f:\mathbb{R}^{n}\rightarrow \mathbb{R}^m`, evaluated on
+:math:`x_i = a_i + \mathbf{v}_i,\ \forall i = 1,...,n`:
+
+.. math::
+   f(x_1,..., x_n) = f(a_1, ..., a_n) + \sum_i D_i f(a_1, ..., a_n) \mathbf{v}_i
+
+So if each :math:`\mathbf{v}_i = e_i` were the :math:`i^{\text{th}}`
+standard basis vector, then, the above expression would simplify to
+
+.. math::
+   f(x_1,..., x_n) = f(a_1, ..., a_n) + \sum_i D_i f(a_1, ..., a_n) \epsilon_i
+
+and we can extract the coordinates of the Jacobian by inspecting the
+coefficients of :math:`\epsilon_i`.
+
+Implementing Jets
+-----------------
+
+In order for the above to work in practice, we will need the ability
+to evaluate an arbitrary function :math:`f` not just on real numbers
+but also on dual numbers, but one does not usually evaluate functions
+by evaluating their Taylor expansions,
+
+This is where C++ templates and operator overloading comes into
+play. The following code fragment has a simple implementation of a
+``Jet`` and some operators/functions that operate on them.
+
+.. code-block:: c++
+
+   template<int N> struct Jet {
+     double a;
+     Eigen::Matrix<double, 1, N> v;
+   };
+
+   template<int N> Jet<N> operator+(const Jet<N>& f, const Jet<N>& g) {
+     return Jet<N>(f.a + g.a, f.v + g.v);
+   }
+
+   template<int N> Jet<N> operator-(const Jet<N>& f, const Jet<N>& g) {
+     return Jet<N>(f.a - g.a, f.v - g.v);
+   }
+
+   template<int N> Jet<N> operator*(const Jet<N>& f, const Jet<N>& g) {
+     return Jet<N>(f.a * g.a, f.a * g.v + f.v * g.a);
+   }
+
+   template<int N> Jet<N> operator/(const Jet<N>& f, const Jet<N>& g) {
+     return Jet<N>(f.a / g.a, f.v / g.a - f.a * g.v / (g.a * g.a));
+   }
+
+   template <int N> Jet<N> exp(const Jet<N>& f) {
+     return Jet<T, N>(exp(f.a), exp(f.a) * f.v);
+   }
+
+   // This is a simple implementation for illustration purposes, the
+   // actual implementation of pow requires careful handling of a number
+   // of corner cases.
+   template <int N>  Jet<N> pow(const Jet<N>& f, const Jet<N>& g) {
+     return Jet<N>(pow(f.a, g.a),
+                   g.a * pow(f.a, g.a - 1.0) * f.v +
+                   pow(f.a, g.a) * log(f.a); * g.v);
+   }
+
+
+With these overloaded functions in hand, we can now call
+``Rat43CostFunctor`` with an array of Jets instead of doubles. Putting
+that together with appropriately initialized Jets allows us to compute
+the Jacobian as follows:
+
+.. code-block:: c++
+
+  class Rat43Automatic : public ceres::SizedCostFunction<1,4> {
+   public:
+    Rat43Automatic(const Rat43CostFunctor* functor) : functor_(functor) {}
+    virtual ~Rat43Automatic() {}
+    virtual bool Evaluate(double const* const* parameters,
+                          double* residuals,
+                          double** jacobians) const {
+      // Just evaluate the residuals if Jacobians are not required.
+      if (!jacobians) return (*functor_)(parameters[0], residuals);
+
+      // Initialize the Jets
+      ceres::Jet<4> jets[4];
+      for (int i = 0; i < 4; ++i) {
+        jets[i].a = parameters[0][i];
+        jets[i].v.setZero();
+        jets[i].v[i] = 1.0;
+      }
+
+      ceres::Jet<4> result;
+      (*functor_)(jets, &result);
+
+      // Copy the values out of the Jet.
+      residuals[0] = result.a;
+      for (int i = 0; i < 4; ++i) {
+        jacobians[0][i] = result.v[i];
+      }
+      return true;
+    }
+
+   private:
+    std::unique_ptr<const Rat43CostFunctor> functor_;
+  };
+
+Indeed, this is essentially how :class:`AutoDiffCostFunction` works.
+
+
+Pitfalls
+========
+
+Automatic differentiation frees the user from the burden of computing
+and reasoning about the symbolic expressions for the Jacobians, but
+this freedom comes at a cost. For example consider the following
+simple functor:
+
+.. code-block:: c++
+
+   struct Functor {
+     template <typename T> bool operator()(const T* x, T* residual) const {
+       residual[0] = 1.0 - sqrt(x[0] * x[0] + x[1] * x[1]);
+       return true;
+     }
+   };
+
+Looking at the code for the residual computation, one does not foresee
+any problems. However, if we look at the analytical expressions for
+the Jacobian:
+
+.. math::
+
+      y &= 1 - \sqrt{x_0^2 + x_1^2}\\
+   D_1y &= -\frac{x_0}{\sqrt{x_0^2 + x_1^2}},\
+   D_2y = -\frac{x_1}{\sqrt{x_0^2 + x_1^2}}
+
+we find that it is an indeterminate form at :math:`x_0 = 0, x_1 =
+0`.
+
+There is no single solution to this problem. In some cases one needs
+to reason explicitly about the points where indeterminacy may occur
+and use alternate expressions using `L'Hopital's rule
+<https://en.wikipedia.org/wiki/L'H%C3%B4pital's_rule>`_ (see for
+example some of the conversion routines in `rotation.h
+<https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/rotation.h>`_. In
+other cases, one may need to regularize the expressions to eliminate
+these points.
diff --git a/docs/source/bibliography.rst b/docs/source/bibliography.rst
new file mode 100644
index 0000000..5352c65
--- /dev/null
+++ b/docs/source/bibliography.rst
@@ -0,0 +1,132 @@
+.. _sec-bibliography:
+
+============
+Bibliography
+============
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+   1980.
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+   Algebra**, SIAM, 1997.
+
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+   A. W. Fitzgibbon, **Bundle Adjustment: A Modern Synthesis**,
+   Proceedings of the International Workshop on Vision Algorithms:
+   Theory and Practice, pp. 298-372, 1999.
+
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+   are missing**, In Proc. *Second Symp. Computational Statistics*,
+   pages 229–236, 1976.
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diff --git a/docs/source/conf.py b/docs/source/conf.py
new file mode 100644
index 0000000..17de116
--- /dev/null
+++ b/docs/source/conf.py
@@ -0,0 +1,242 @@
+# -*- coding: utf-8 -*-
+#
+# Ceres Solver documentation build configuration file, created by
+# sphinx-quickstart on Sun Jan 20 20:34:07 2013.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys, os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration -----------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = ['sphinx.ext.todo', 'sphinx.ext.mathjax', 'sphinx.ext.ifconfig']
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'Ceres Solver'
+copyright = u'2016 Google Inc'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '1.13'
+# The full version, including alpha/beta/rc tags.
+release = '1.13.0'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = []
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+html_theme_path = ["_themes",]
+import sphinx_rtd_theme
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<release> documentation".
+html_title = "Ceres Solver"
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+#html_static_path = ['_static']
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+html_domain_indices = True
+
+# If false, no index is generated.
+html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+html_show_sourcelink = False
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+html_show_sphinx = False
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'CeresSolverdoc'
+
+# -- Options for LaTeX output --------------------------------------------------
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#'preamble': '',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+  ('index', 'CeresSolver.tex', u'Ceres Solver',
+   u'Sameer Agarwal, Keir Mierle & Others', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output --------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    ('index', 'ceressolver', u'Ceres Solver',
+     [u'Sameer Agarwal, Keir Mierle & Others'], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output ------------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+  ('index', 'CeresSolver', u'Ceres Solver',
+   u'Sameer Agarwal, Keir Mierle & Others', 'CeresSolver', 'One line description of project.',
+   'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
diff --git a/docs/source/contributing.rst b/docs/source/contributing.rst
new file mode 100644
index 0000000..b8f8165
--- /dev/null
+++ b/docs/source/contributing.rst
@@ -0,0 +1,131 @@
+.. _chapter-contributing:
+
+============
+Contributing
+============
+
+We welcome contributions to Ceres, whether they are new features, bug
+fixes or tests. The Ceres `mailing
+<http://groups.google.com/group/ceres-solver>`_ list is the best place
+for all development related discussions. Please consider joining
+it. If you have ideas on how you would like to contribute to Ceres, it
+is a good idea to let us know on the mailing list before you start
+development. We may have suggestions that will save effort when trying
+to merge your work into the main branch. If you are looking for ideas,
+please let us know about your interest and skills and we will be happy
+to make a suggestion or three.
+
+We follow Google's `C++ Style Guide
+<http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml>`_ and
+use `git <http://git-scm.com/>`_ for version control. We use the
+`Gerrit <https://ceres-solver-review.googlesource.com/>`_ to collaborate and
+review changes to Ceres. Gerrit enables pre-commit reviews so that
+Ceres can maintain a linear history with clean, reviewed commits, and
+no merges.
+
+We now describe how to set up your development environment and submit
+a change list for review via Gerrit.
+
+Setting up your Environment
+===========================
+
+1. Download and configure ``git``.
+
+   * Mac ``brew install git``.
+   * Linux ``sudo apt-get install git``.
+   * Windows. Download `msysgit
+     <https://code.google.com/p/msysgit/>`_, which includes a minimal
+     `Cygwin <http://www.cygwin.com/>`_ install.
+
+2. Sign up for `Gerrit
+   <https://ceres-solver-review.googlesource.com/>`_. You will also
+   need to sign the Contributor License Agreement (CLA) with Google,
+   which gives Google a royalty-free unlimited license to use your
+   contributions. You retain copyright.
+
+3. Clone the Ceres Solver ``git`` repository from Gerrit.
+
+   .. code-block:: bash
+
+      git clone https://ceres-solver.googlesource.com/ceres-solver
+
+
+4. Build Ceres, following the instructions in
+   :ref:`chapter-installation`.
+
+   On Mac and Linux, the ``CMake`` build will download and enable
+   the Gerrit pre-commit hook automatically. This pre-submit hook
+   creates `Change-Id: ...` lines in your commits.
+
+   If this does not work OR you are on Windows, execute the
+   following in the root directory of the local ``git`` repository:
+
+   .. code-block:: bash
+
+      curl -o .git/hooks/commit-msg https://ceres-solver-review.googlesource.com/tools/hooks/commit-msg
+      chmod +x .git/hooks/commit-msg
+
+5. Configure your Gerrit password with a ``.gitcookies`` which allows pushing
+   to Gerrit without having to enter a very long random password every time:
+
+   * Sign into `http://ceres-solver-review.googlesource.com
+     <http://ceres-solver-review.googlesource.com>`_.
+
+   * Click ``Settings -> HTTP Password -> Obtain Password``.
+
+   * (maybe) Select an account for multi-login. This should be the
+     same as your Gerrit login.
+
+   * Click ``Allow access`` when the page requests access to your
+     ``git`` repositories.
+
+   * Follow the instructions from Gerrit to create a ``.gitcookies`` file on
+     your system, either in ``$HOME/.gitcookies`` (Mac and Linux) or
+     ``%USERPROFILE%\.gitcookies`` (Windows). Note that for Windows, please get
+     a recent `Git for Windows <https://git-scm.com/download/win>`_ install to
+     enable automatic lookup in the ``%USERPROFILE%\.gitcookies``.
+
+Submitting a change
+===================
+
+1. Make your changes against master or whatever branch you
+   like. Commit your changes as one patch. When you commit, the Gerrit
+   hook will add a `Change-Id:` line as the last line of the commit.
+
+   Make sure that your commit message is formatted in the `50/72 style
+   <http://tbaggery.com/2008/04/19/a-note-about-git-commit-messages.html>`_.
+
+2. Push your changes to the Ceres Gerrit instance:
+
+   .. code-block:: bash
+
+      git push origin HEAD:refs/for/master
+
+   When the push succeeds, the console will display a URL showing the
+   address of the review. Go to the URL and add at least one of the
+   maintainers (Sameer Agarwal, Keir Mierle, Alex Stewart or William
+   Rucklidge) as reviewers.
+
+3. Wait for a review.
+
+4. Once review comments come in, address them. Please reply to each
+   comment in Gerrit, which makes the re-review process easier. After
+   modifying the code in your ``git`` instance, *don't make a new
+   commit*. Instead, update the last commit using a command like the
+   following:
+
+   .. code-block:: bash
+
+      git commit --amend -a
+
+   This will update the last commit, so that it has both the original
+   patch and your updates as a single commit. You will have a chance
+   to edit the commit message as well. Push the new commit to Gerrit
+   as before.
+
+   Gerrit will use the ``Change-Id:`` to match the previous commit
+   with the new one. The review interface retains your original patch,
+   but also shows the new patch.
+
+   Publish your responses to the comments, and wait for a new round
+   of reviews.
diff --git a/docs/source/derivatives.rst b/docs/source/derivatives.rst
new file mode 100644
index 0000000..bff6a29
--- /dev/null
+++ b/docs/source/derivatives.rst
@@ -0,0 +1,60 @@
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-on_derivatives:
+
+==============
+On Derivatives
+==============
+
+Ceres Solver, like all gradient based optimization algorithms, depends
+on being able to evaluate the objective function and its derivatives
+at arbitrary points in its domain. Indeed, defining the objective
+function and its `Jacobian
+<https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant>`_ is
+the principal task that the user is required to perform when solving
+an optimization problem using Ceres Solver. The correct and efficient
+computation of the Jacobian is the key to good performance.
+
+Ceres Solver offers considerable flexibility in how the user can
+provide derivatives to the solver. She can use:
+
+#. :ref:`chapter-analytical_derivatives`: The user figures out the
+   derivatives herself, by hand or using a tool like `Maple
+   <https://www.maplesoft.com/products/maple/>`_ or `Mathematica
+   <https://www.wolfram.com/mathematica/>`_, and implements them in a
+   :class:`CostFunction`.
+#. :ref:`chapter-numerical_derivatives`: Ceres numerically computes
+   the derivative using finite differences.
+#. :ref:`chapter-automatic_derivatives`: Ceres automatically computes
+   the analytic derivative using C++ templates and operator
+   overloading.
+
+Which of these three approaches (alone or in combination) should be
+used depends on the situation and the tradeoffs the user is willing to
+make. Unfortunately, numerical optimization textbooks rarely discuss
+these issues in detail and the user is left to her own devices.
+
+The aim of this article is to fill this gap and describe each of these
+three approaches in the context of Ceres Solver with sufficient detail
+that the user can make an informed choice.
+
+For the impatient amongst you, here is some high level advice:
+
+#. Use :ref:`chapter-automatic_derivatives`.
+#. In some cases it maybe worth using
+   :ref:`chapter-analytical_derivatives`.
+#. Avoid :ref:`chapter-numerical_derivatives`. Use it as a measure of
+   last resort, mostly to interface with external libraries.
+
+For the rest, read on.
+
+.. toctree::
+   :maxdepth: 1
+
+   spivak_notation
+   analytical_derivatives
+   numerical_derivatives
+   automatic_derivatives
+   interfacing_with_autodiff
diff --git a/docs/source/faqs.rst b/docs/source/faqs.rst
new file mode 100644
index 0000000..5a28f41
--- /dev/null
+++ b/docs/source/faqs.rst
@@ -0,0 +1,29 @@
+.. _chapter-tricks:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+===================
+FAQS, Tips & Tricks
+===================
+
+Answers to frequently asked questions, tricks of the trade and general
+wisdom.
+
+.. toctree::
+   :maxdepth: 2
+
+   modeling_faqs
+   solving_faqs
+
+
+Further Reading
+===============
+
+For a short but informative introduction to the subject we recommend
+the booklet by [Madsen]_ . For a general introduction to non-linear
+optimization we recommend [NocedalWright]_. [Bjorck]_ remains the
+seminal reference on least squares problems. [TrefethenBau]_ book is
+our favorite text on introductory numerical linear algebra. [Triggs]_
+provides a thorough coverage of the bundle adjustment problem.
diff --git a/docs/source/features.rst b/docs/source/features.rst
new file mode 100644
index 0000000..1f5e91e
--- /dev/null
+++ b/docs/source/features.rst
@@ -0,0 +1,86 @@
+====
+Why?
+====
+.. _chapter-features:
+
+* **Code Quality** - Ceres Solver has been used in production at
+  Google for more than four years now. It is clean, extensively tested
+  and well documented code that is actively developed and supported.
+
+* **Modeling API** - It is rarely the case that one starts with the
+  exact and complete formulation of the problem that one is trying to
+  solve. Ceres's modeling API has been designed so that the user can
+  easily build and modify the objective function, one term at a
+  time. And to do so without worrying about how the solver is going to
+  deal with the resulting changes in the sparsity/structure of the
+  underlying problem.
+
+  - **Derivatives** Supplying derivatives is perhaps the most tedious
+    and error prone part of using an optimization library.  Ceres
+    ships with `automatic`_ and `numeric`_ differentiation. So you
+    never have to compute derivatives by hand (unless you really want
+    to). Not only this, Ceres allows you to mix automatic, numeric and
+    analytical derivatives in any combination that you want.
+
+  - **Robust Loss Functions** Most non-linear least squares problems
+    involve data. If there is data, there will be outliers. Ceres
+    allows the user to *shape* their residuals using a
+    :class:`LossFunction` to reduce the influence of outliers.
+
+  - **Local Parameterization** In many cases, some parameters lie on a
+    manifold other than Euclidean space, e.g., rotation matrices. In
+    such cases, the user can specify the geometry of the local tangent
+    space by specifying a :class:`LocalParameterization` object.
+
+* **Solver Choice** Depending on the size, sparsity structure, time &
+  memory budgets, and solution quality requiremnts, different
+  optimization algorithms will suit different needs. To this end,
+  Ceres Solver comes with a variety of optimization algorithms:
+
+  - **Trust Region Solvers** - Ceres supports Levenberg-Marquardt,
+    Powell's Dogleg, and Subspace dogleg methods. The key
+    computational cost in all of these methods is the solution of a
+    linear system. To this end Ceres ships with a variety of linear
+    solvers - dense QR and dense Cholesky factorization (using
+    `Eigen`_ or `LAPACK`_) for dense problems, sparse Cholesky
+    factorization (`SuiteSparse`_, `CXSparse`_ or `Eigen`_) for large
+    sparse problems custom Schur complement based dense, sparse, and
+    iterative linear solvers for `bundle adjustment`_ problems.
+
+  - **Line Search Solvers** - When the problem size is so large that
+    storing and factoring the Jacobian is not feasible or a low
+    accuracy solution is required cheaply, Ceres offers a number of
+    line search based algorithms. This includes a number of variants
+    of Non-linear Conjugate Gradients, BFGS and LBFGS.
+
+* **Speed** - Ceres Solver has been extensively optimized, with C++
+  templating, hand written linear algebra routines and OpenMP based
+  multithreading of the Jacobian evaluation and the linear solvers.
+
+* **Solution Quality** Ceres is the `best performing`_ solver on the NIST
+  problem set used by Mondragon and Borchers for benchmarking
+  non-linear least squares solvers.
+
+* **Covariance estimation** - Evaluate the sensitivity/uncertainty of
+  the solution by evaluating all or part of the covariance
+  matrix. Ceres is one of the few solvers that allows you to to do
+  this analysis at scale.
+
+* **Community** Since its release as an open source software, Ceres
+  has developed an active developer community that contributes new
+  features, bug fixes and support.
+
+* **Portability** - Runs on *Linux*, *Windows*, *Mac OS X*, *Android*
+  *and iOS*.
+
+* **BSD Licensed** The BSD license offers the flexibility to ship your
+  application
+
+.. _best performing: https://groups.google.com/forum/#!topic/ceres-solver/UcicgMPgbXw
+.. _bundle adjustment: http://en.wikipedia.org/wiki/Bundle_adjustment
+.. _SuiteSparse: http://www.cise.ufl.edu/research/sparse/SuiteSparse/
+.. _Eigen: http://eigen.tuxfamily.org/
+.. _LAPACK: http://www.netlib.org/lapack/
+.. _CXSparse: https://www.cise.ufl.edu/research/sparse/CXSparse/
+.. _automatic: http://en.wikipedia.org/wiki/Automatic_differentiation
+.. _numeric: http://en.wikipedia.org/wiki/Numerical_differentiation
diff --git a/docs/source/forward_central_error.png b/docs/source/forward_central_error.png
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diff --git a/docs/source/gradient_solver.rst b/docs/source/gradient_solver.rst
new file mode 100644
index 0000000..40d22ff
--- /dev/null
+++ b/docs/source/gradient_solver.rst
@@ -0,0 +1,502 @@
+.. highlight:: c++
+
+.. default-domain:: cpp
+
+.. _chapter-gradient_problem_solver:
+
+==================================
+General Unconstrained Minimization
+==================================
+
+Modeling
+========
+
+:class:`FirstOrderFunction`
+---------------------------
+
+.. class:: FirstOrderFunction
+
+  Instances of :class:`FirstOrderFunction` implement the evaluation of
+  a function and its gradient.
+
+  .. code-block:: c++
+
+   class FirstOrderFunction {
+     public:
+      virtual ~FirstOrderFunction() {}
+      virtual bool Evaluate(const double* const parameters,
+                            double* cost,
+                            double* gradient) const = 0;
+      virtual int NumParameters() const = 0;
+   };
+
+.. function:: bool FirstOrderFunction::Evaluate(const double* const parameters, double* cost, double* gradient) const
+
+   Evaluate the cost/value of the function. If ``gradient`` is not
+   ``NULL`` then evaluate the gradient too. If evaluation is
+   successful return, ``true`` else return ``false``.
+
+   ``cost`` guaranteed to be never ``NULL``, ``gradient`` can be ``NULL``.
+
+.. function:: int FirstOrderFunction::NumParameters() const
+
+   Number of parameters in the domain of the function.
+
+
+:class:`GradientProblem`
+------------------------
+
+.. class:: GradientProblem
+
+.. code-block:: c++
+
+  class GradientProblem {
+   public:
+    explicit GradientProblem(FirstOrderFunction* function);
+    GradientProblem(FirstOrderFunction* function,
+                    LocalParameterization* parameterization);
+    int NumParameters() const;
+    int NumLocalParameters() const;
+    bool Evaluate(const double* parameters, double* cost, double* gradient) const;
+    bool Plus(const double* x, const double* delta, double* x_plus_delta) const;
+  };
+
+Instances of :class:`GradientProblem` represent general non-linear
+optimization problems that must be solved using just the value of the
+objective function and its gradient. Unlike the :class:`Problem`
+class, which can only be used to model non-linear least squares
+problems, instances of :class:`GradientProblem` not restricted in the
+form of the objective function.
+
+Structurally :class:`GradientProblem` is a composition of a
+:class:`FirstOrderFunction` and optionally a
+:class:`LocalParameterization`.
+
+The :class:`FirstOrderFunction` is responsible for evaluating the cost
+and gradient of the objective function.
+
+The :class:`LocalParameterization` is responsible for going back and
+forth between the ambient space and the local tangent space. When a
+:class:`LocalParameterization` is not provided, then the tangent space
+is assumed to coincide with the ambient Euclidean space that the
+gradient vector lives in.
+
+The constructor takes ownership of the :class:`FirstOrderFunction` and
+:class:`LocalParamterization` objects passed to it.
+
+
+.. function:: void Solve(const GradientProblemSolver::Options& options, const GradientProblem& problem, double* parameters, GradientProblemSolver::Summary* summary)
+
+   Solve the given :class:`GradientProblem` using the values in
+   ``parameters`` as the initial guess of the solution.
+
+
+Solving
+=======
+
+:class:`GradientProblemSolver::Options`
+---------------------------------------
+
+.. class:: GradientProblemSolver::Options
+
+   :class:`GradientProblemSolver::Options` controls the overall
+   behavior of the solver. We list the various settings and their
+   default values below.
+
+.. function:: bool GradientProblemSolver::Options::IsValid(string* error) const
+
+   Validate the values in the options struct and returns true on
+   success. If there is a problem, the method returns false with
+   ``error`` containing a textual description of the cause.
+
+.. member:: LineSearchDirectionType GradientProblemSolver::Options::line_search_direction_type
+
+   Default: ``LBFGS``
+
+   Choices are ``STEEPEST_DESCENT``, ``NONLINEAR_CONJUGATE_GRADIENT``,
+   ``BFGS`` and ``LBFGS``.
+
+.. member:: LineSearchType GradientProblemSolver::Options::line_search_type
+
+   Default: ``WOLFE``
+
+   Choices are ``ARMIJO`` and ``WOLFE`` (strong Wolfe conditions).
+   Note that in order for the assumptions underlying the ``BFGS`` and
+   ``LBFGS`` line search direction algorithms to be guaranteed to be
+   satisifed, the ``WOLFE`` line search should be used.
+
+.. member:: NonlinearConjugateGradientType GradientProblemSolver::Options::nonlinear_conjugate_gradient_type
+
+   Default: ``FLETCHER_REEVES``
+
+   Choices are ``FLETCHER_REEVES``, ``POLAK_RIBIERE`` and
+   ``HESTENES_STIEFEL``.
+
+.. member:: int GradientProblemSolver::Options::max_lbfs_rank
+
+   Default: 20
+
+   The L-BFGS hessian approximation is a low rank approximation to the
+   inverse of the Hessian matrix. The rank of the approximation
+   determines (linearly) the space and time complexity of using the
+   approximation. Higher the rank, the better is the quality of the
+   approximation. The increase in quality is however is bounded for a
+   number of reasons.
+
+     1. The method only uses secant information and not actual
+        derivatives.
+
+     2. The Hessian approximation is constrained to be positive
+        definite.
+
+   So increasing this rank to a large number will cost time and space
+   complexity without the corresponding increase in solution
+   quality. There are no hard and fast rules for choosing the maximum
+   rank. The best choice usually requires some problem specific
+   experimentation.
+
+.. member:: bool GradientProblemSolver::Options::use_approximate_eigenvalue_bfgs_scaling
+
+   Default: ``false``
+
+   As part of the ``BFGS`` update step / ``LBFGS`` right-multiply
+   step, the initial inverse Hessian approximation is taken to be the
+   Identity.  However, [Oren]_ showed that using instead :math:`I *
+   \gamma`, where :math:`\gamma` is a scalar chosen to approximate an
+   eigenvalue of the true inverse Hessian can result in improved
+   convergence in a wide variety of cases.  Setting
+   ``use_approximate_eigenvalue_bfgs_scaling`` to true enables this
+   scaling in ``BFGS`` (before first iteration) and ``LBFGS`` (at each
+   iteration).
+
+   Precisely, approximate eigenvalue scaling equates to
+
+   .. math:: \gamma = \frac{y_k' s_k}{y_k' y_k}
+
+   With:
+
+  .. math:: y_k = \nabla f_{k+1} - \nabla f_k
+  .. math:: s_k = x_{k+1} - x_k
+
+  Where :math:`f()` is the line search objective and :math:`x` the
+  vector of parameter values [NocedalWright]_.
+
+  It is important to note that approximate eigenvalue scaling does
+  **not** *always* improve convergence, and that it can in fact
+  *significantly* degrade performance for certain classes of problem,
+  which is why it is disabled by default.  In particular it can
+  degrade performance when the sensitivity of the problem to different
+  parameters varies significantly, as in this case a single scalar
+  factor fails to capture this variation and detrimentally downscales
+  parts of the Jacobian approximation which correspond to
+  low-sensitivity parameters. It can also reduce the robustness of the
+  solution to errors in the Jacobians.
+
+.. member:: LineSearchIterpolationType GradientProblemSolver::Options::line_search_interpolation_type
+
+   Default: ``CUBIC``
+
+   Degree of the polynomial used to approximate the objective
+   function. Valid values are ``BISECTION``, ``QUADRATIC`` and
+   ``CUBIC``.
+
+.. member:: double GradientProblemSolver::Options::min_line_search_step_size
+
+   The line search terminates if:
+
+   .. math:: \|\Delta x_k\|_\infty < \text{min_line_search_step_size}
+
+   where :math:`\|\cdot\|_\infty` refers to the max norm, and
+   :math:`\Delta x_k` is the step change in the parameter values at
+   the :math:`k`-th iteration.
+
+.. member:: double GradientProblemSolver::Options::line_search_sufficient_function_decrease
+
+   Default: ``1e-4``
+
+   Solving the line search problem exactly is computationally
+   prohibitive. Fortunately, line search based optimization algorithms
+   can still guarantee convergence if instead of an exact solution,
+   the line search algorithm returns a solution which decreases the
+   value of the objective function sufficiently. More precisely, we
+   are looking for a step size s.t.
+
+   .. math:: f(\text{step_size}) \le f(0) + \text{sufficient_decrease} * [f'(0) * \text{step_size}]
+
+   This condition is known as the Armijo condition.
+
+.. member:: double GradientProblemSolver::Options::max_line_search_step_contraction
+
+   Default: ``1e-3``
+
+   In each iteration of the line search,
+
+   .. math:: \text{new_step_size} \geq \text{max_line_search_step_contraction} * \text{step_size}
+
+   Note that by definition, for contraction:
+
+   .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: double GradientProblemSolver::Options::min_line_search_step_contraction
+
+   Default: ``0.6``
+
+   In each iteration of the line search,
+
+   .. math:: \text{new_step_size} \leq \text{min_line_search_step_contraction} * \text{step_size}
+
+   Note that by definition, for contraction:
+
+   .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: int GradientProblemSolver::Options::max_num_line_search_step_size_iterations
+
+   Default: ``20``
+
+   Maximum number of trial step size iterations during each line
+   search, if a step size satisfying the search conditions cannot be
+   found within this number of trials, the line search will stop.
+
+   As this is an 'artificial' constraint (one imposed by the user, not
+   the underlying math), if ``WOLFE`` line search is being used, *and*
+   points satisfying the Armijo sufficient (function) decrease
+   condition have been found during the current search (in :math:`\leq`
+   ``max_num_line_search_step_size_iterations``).  Then, the step size
+   with the lowest function value which satisfies the Armijo condition
+   will be returned as the new valid step, even though it does *not*
+   satisfy the strong Wolfe conditions.  This behaviour protects
+   against early termination of the optimizer at a sub-optimal point.
+
+.. member:: int GradientProblemSolver::Options::max_num_line_search_direction_restarts
+
+   Default: ``5``
+
+   Maximum number of restarts of the line search direction algorithm
+   before terminating the optimization. Restarts of the line search
+   direction algorithm occur when the current algorithm fails to
+   produce a new descent direction. This typically indicates a
+   numerical failure, or a breakdown in the validity of the
+   approximations used.
+
+.. member:: double GradientProblemSolver::Options::line_search_sufficient_curvature_decrease
+
+   Default: ``0.9``
+
+   The strong Wolfe conditions consist of the Armijo sufficient
+   decrease condition, and an additional requirement that the
+   step size be chosen s.t. the *magnitude* ('strong' Wolfe
+   conditions) of the gradient along the search direction
+   decreases sufficiently. Precisely, this second condition
+   is that we seek a step size s.t.
+
+   .. math:: \|f'(\text{step_size})\| \leq \text{sufficient_curvature_decrease} * \|f'(0)\|
+
+   Where :math:`f()` is the line search objective and :math:`f'()` is the derivative
+   of :math:`f` with respect to the step size: :math:`\frac{d f}{d~\text{step size}}`.
+
+.. member:: double GradientProblemSolver::Options::max_line_search_step_expansion
+
+   Default: ``10.0``
+
+   During the bracketing phase of a Wolfe line search, the step size
+   is increased until either a point satisfying the Wolfe conditions
+   is found, or an upper bound for a bracket containing a point
+   satisfying the conditions is found.  Precisely, at each iteration
+   of the expansion:
+
+   .. math:: \text{new_step_size} \leq \text{max_step_expansion} * \text{step_size}
+
+   By definition for expansion
+
+   .. math:: \text{max_step_expansion} > 1.0
+
+.. member:: int GradientProblemSolver::Options::max_num_iterations
+
+   Default: ``50``
+
+   Maximum number of iterations for which the solver should run.
+
+.. member:: double GradientProblemSolver::Options::max_solver_time_in_seconds
+
+   Default: ``1e6``
+   Maximum amount of time for which the solver should run.
+
+.. member:: double GradientProblemSolver::Options::function_tolerance
+
+   Default: ``1e-6``
+
+   Solver terminates if
+
+   .. math:: \frac{|\Delta \text{cost}|}{\text{cost}} \leq \text{function_tolerance}
+
+   where, :math:`\Delta \text{cost}` is the change in objective
+   function value (up or down) in the current iteration of the line search.
+
+.. member:: double GradientProblemSolver::Options::gradient_tolerance
+
+   Default: ``1e-10``
+
+   Solver terminates if
+
+   .. math:: \|x - \Pi \boxplus(x, -g(x))\|_\infty \leq \text{gradient_tolerance}
+
+   where :math:`\|\cdot\|_\infty` refers to the max norm, :math:`\Pi`
+   is projection onto the bounds constraints and :math:`\boxplus` is
+   Plus operation for the overall local parameterization associated
+   with the parameter vector.
+
+.. member:: double GradientProblemSolver::Options::parameter_tolerance
+
+   Default: ``1e-8``
+
+   Solver terminates if
+
+   .. math:: \|\Delta x\| \leq (\|x\| + \text{parameter_tolerance}) * \text{parameter_tolerance}
+
+   where :math:`\Delta x` is the step computed by the linear solver in
+   the current iteration of the line search.
+
+.. member:: LoggingType GradientProblemSolver::Options::logging_type
+
+   Default: ``PER_MINIMIZER_ITERATION``
+
+.. member:: bool GradientProblemSolver::Options::minimizer_progress_to_stdout
+
+   Default: ``false``
+
+   By default the :class:`Minimizer` progress is logged to ``STDERR``
+   depending on the ``vlog`` level. If this flag is set to true, and
+   :member:`GradientProblemSolver::Options::logging_type` is not
+   ``SILENT``, the logging output is sent to ``STDOUT``.
+
+   The progress display looks like
+
+   .. code-block:: bash
+
+      0: f: 2.317806e+05 d: 0.00e+00 g: 3.19e-01 h: 0.00e+00 s: 0.00e+00 e:  0 it: 2.98e-02 tt: 8.50e-02
+      1: f: 2.312019e+05 d: 5.79e+02 g: 3.18e-01 h: 2.41e+01 s: 1.00e+00 e:  1 it: 4.54e-02 tt: 1.31e-01
+      2: f: 2.300462e+05 d: 1.16e+03 g: 3.17e-01 h: 4.90e+01 s: 2.54e-03 e:  1 it: 4.96e-02 tt: 1.81e-01
+
+   Here
+
+   #. ``f`` is the value of the objective function.
+   #. ``d`` is the change in the value of the objective function if
+      the step computed in this iteration is accepted.
+   #. ``g`` is the max norm of the gradient.
+   #. ``h`` is the change in the parameter vector.
+   #. ``s`` is the optimal step length computed by the line search.
+   #. ``it`` is the time take by the current iteration.
+   #. ``tt`` is the total time taken by the minimizer.
+
+.. member:: vector<IterationCallback> GradientProblemSolver::Options::callbacks
+
+   Callbacks that are executed at the end of each iteration of the
+   :class:`Minimizer`. They are executed in the order that they are
+   specified in this vector. See the documentation for
+   :class:`IterationCallback` for more details.
+
+   The solver does NOT take ownership of these pointers.
+
+
+:class:`GradientProblemSolver::Summary`
+---------------------------------------
+
+.. class:: GradientProblemSolver::Summary
+
+   Summary of the various stages of the solver after termination.
+
+.. function:: string GradientProblemSolver::Summary::BriefReport() const
+
+   A brief one line description of the state of the solver after
+   termination.
+
+.. function:: string GradientProblemSolver::Summary::FullReport() const
+
+   A full multiline description of the state of the solver after
+   termination.
+
+.. function:: bool GradientProblemSolver::Summary::IsSolutionUsable() const
+
+   Whether the solution returned by the optimization algorithm can be
+   relied on to be numerically sane. This will be the case if
+   `GradientProblemSolver::Summary:termination_type` is set to `CONVERGENCE`,
+   `USER_SUCCESS` or `NO_CONVERGENCE`, i.e., either the solver
+   converged by meeting one of the convergence tolerances or because
+   the user indicated that it had converged or it ran to the maximum
+   number of iterations or time.
+
+.. member:: TerminationType GradientProblemSolver::Summary::termination_type
+
+   The cause of the minimizer terminating.
+
+.. member:: string GradientProblemSolver::Summary::message
+
+   Reason why the solver terminated.
+
+.. member:: double GradientProblemSolver::Summary::initial_cost
+
+   Cost of the problem (value of the objective function) before the
+   optimization.
+
+.. member:: double GradientProblemSolver::Summary::final_cost
+
+   Cost of the problem (value of the objective function) after the
+   optimization.
+
+.. member:: vector<IterationSummary> GradientProblemSolver::Summary::iterations
+
+   :class:`IterationSummary` for each minimizer iteration in order.
+
+.. member:: int num_cost_evaluations
+
+   Number of times the cost (and not the gradient) was evaluated.
+
+.. member:: int num_gradient_evaluations
+
+   Number of times the gradient (and the cost) were evaluated.
+
+.. member:: double GradientProblemSolver::Summary::total_time_in_seconds
+
+   Time (in seconds) spent in the solver.
+
+.. member:: double GradientProblemSolver::Summary::cost_evaluation_time_in_seconds
+
+   Time (in seconds) spent evaluating the cost vector.
+
+.. member:: double GradientProblemSolver::Summary::gradient_evaluation_time_in_seconds
+
+   Time (in seconds) spent evaluating the gradient vector.
+
+.. member:: int GradientProblemSolver::Summary::num_parameters
+
+   Number of parameters in the problem.
+
+.. member:: int GradientProblemSolver::Summary::num_local_parameters
+
+   Dimension of the tangent space of the problem. This is different
+   from :member:`GradientProblemSolver::Summary::num_parameters` if a
+   :class:`LocalParameterization` object is used.
+
+.. member:: LineSearchDirectionType GradientProblemSolver::Summary::line_search_direction_type
+
+   Type of line search direction used.
+
+.. member:: LineSearchType GradientProblemSolver::Summary::line_search_type
+
+   Type of the line search algorithm used.
+
+.. member:: LineSearchInterpolationType GradientProblemSolver::Summary::line_search_interpolation_type
+
+   When performing line search, the degree of the polynomial used to
+   approximate the objective function.
+
+.. member:: NonlinearConjugateGradientType GradientProblemSolver::Summary::nonlinear_conjugate_gradient_type
+
+   If the line search direction is `NONLINEAR_CONJUGATE_GRADIENT`,
+   then this indicates the particular variant of non-linear conjugate
+   gradient used.
+
+.. member:: int GradientProblemSolver::Summary::max_lbfgs_rank
+
+   If the type of the line search direction is `LBFGS`, then this
+   indicates the rank of the Hessian approximation.
diff --git a/docs/source/gradient_tutorial.rst b/docs/source/gradient_tutorial.rst
new file mode 100644
index 0000000..0bbdee4
--- /dev/null
+++ b/docs/source/gradient_tutorial.rst
@@ -0,0 +1,138 @@
+.. highlight:: c++
+
+.. default-domain:: cpp
+
+.. _chapter-gradient_tutorial:
+
+==================================
+General Unconstrained Minimization
+==================================
+
+While much of Ceres Solver is devoted to solving non-linear least
+squares problems, internally it contains a solver that can solve
+general unconstrained optimization problems using just their objective
+function value and gradients. The ``GradientProblem`` and
+``GradientProblemSolver`` objects give the user access to this solver.
+
+So without much further ado, let us look at how one goes about using
+them.
+
+Rosenbrock's Function
+=====================
+
+We consider the minimization of the famous `Rosenbrock's function
+<http://en.wikipedia.org/wiki/Rosenbrock_function>`_ [#f1]_.
+
+We begin by defining an instance of the ``FirstOrderFunction``
+interface. This is the object that is responsible for computing the
+objective function value and the gradient (if required). This is the
+analog of the :class:`CostFunction` when defining non-linear least
+squares problems in Ceres.
+
+.. code::
+
+  class Rosenbrock : public ceres::FirstOrderFunction {
+   public:
+    virtual bool Evaluate(const double* parameters,
+                          double* cost,
+                          double* gradient) const {
+      const double x = parameters[0];
+      const double y = parameters[1];
+
+      cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+      if (gradient != NULL) {
+        gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+        gradient[1] = 200.0 * (y - x * x);
+      }
+      return true;
+    }
+
+    virtual int NumParameters() const { return 2; }
+  };
+
+
+Minimizing it then is a straightforward matter of constructing a
+:class:`GradientProblem` object and calling :func:`Solve` on it.
+
+.. code::
+
+    double parameters[2] = {-1.2, 1.0};
+
+    ceres::GradientProblem problem(new Rosenbrock());
+
+    ceres::GradientProblemSolver::Options options;
+    options.minimizer_progress_to_stdout = true;
+    ceres::GradientProblemSolver::Summary summary;
+    ceres::Solve(options, problem, parameters, &summary);
+
+    std::cout << summary.FullReport() << "\n";
+
+Executing this code results, solve the problem using limited memory
+`BFGS
+<http://en.wikipedia.org/wiki/Broyden%E2%80%93Fletcher%E2%80%93Goldfarb%E2%80%93Shanno_algorithm>`_
+algorithm.
+
+.. code-block:: bash
+
+     0: f: 2.420000e+01 d: 0.00e+00 g: 2.16e+02 h: 0.00e+00 s: 0.00e+00 e:  0 it: 2.00e-05 tt: 2.00e-05
+     1: f: 4.280493e+00 d: 1.99e+01 g: 1.52e+01 h: 2.01e-01 s: 8.62e-04 e:  2 it: 7.32e-05 tt: 2.19e-04
+     2: f: 3.571154e+00 d: 7.09e-01 g: 1.35e+01 h: 3.78e-01 s: 1.34e-01 e:  3 it: 2.50e-05 tt: 2.68e-04
+     3: f: 3.440869e+00 d: 1.30e-01 g: 1.73e+01 h: 1.36e-01 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 2.92e-04
+     4: f: 3.213597e+00 d: 2.27e-01 g: 1.55e+01 h: 1.06e-01 s: 4.59e-01 e:  1 it: 2.86e-06 tt: 3.14e-04
+     5: f: 2.839723e+00 d: 3.74e-01 g: 1.05e+01 h: 1.34e-01 s: 5.24e-01 e:  1 it: 2.86e-06 tt: 3.36e-04
+     6: f: 2.448490e+00 d: 3.91e-01 g: 1.29e+01 h: 3.04e-01 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 3.58e-04
+     7: f: 1.943019e+00 d: 5.05e-01 g: 4.00e+00 h: 8.81e-02 s: 7.43e-01 e:  1 it: 4.05e-06 tt: 3.79e-04
+     8: f: 1.731469e+00 d: 2.12e-01 g: 7.36e+00 h: 1.71e-01 s: 4.60e-01 e:  2 it: 9.06e-06 tt: 4.06e-04
+     9: f: 1.503267e+00 d: 2.28e-01 g: 6.47e+00 h: 8.66e-02 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 4.33e-04
+    10: f: 1.228331e+00 d: 2.75e-01 g: 2.00e+00 h: 7.70e-02 s: 7.90e-01 e:  1 it: 3.81e-06 tt: 4.54e-04
+    11: f: 1.016523e+00 d: 2.12e-01 g: 5.15e+00 h: 1.39e-01 s: 3.76e-01 e:  2 it: 1.00e-05 tt: 4.82e-04
+    12: f: 9.145773e-01 d: 1.02e-01 g: 6.74e+00 h: 7.98e-02 s: 1.00e+00 e:  1 it: 3.10e-06 tt: 5.03e-04
+    13: f: 7.508302e-01 d: 1.64e-01 g: 3.88e+00 h: 5.76e-02 s: 4.93e-01 e:  1 it: 2.86e-06 tt: 5.25e-04
+    14: f: 5.832378e-01 d: 1.68e-01 g: 5.56e+00 h: 1.42e-01 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 5.47e-04
+    15: f: 3.969581e-01 d: 1.86e-01 g: 1.64e+00 h: 1.17e-01 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 5.68e-04
+    16: f: 3.171557e-01 d: 7.98e-02 g: 3.84e+00 h: 1.18e-01 s: 3.97e-01 e:  2 it: 9.06e-06 tt: 5.94e-04
+    17: f: 2.641257e-01 d: 5.30e-02 g: 3.27e+00 h: 6.14e-02 s: 1.00e+00 e:  1 it: 3.10e-06 tt: 6.16e-04
+    18: f: 1.909730e-01 d: 7.32e-02 g: 5.29e-01 h: 8.55e-02 s: 6.82e-01 e:  1 it: 4.05e-06 tt: 6.42e-04
+    19: f: 1.472012e-01 d: 4.38e-02 g: 3.11e+00 h: 1.20e-01 s: 3.47e-01 e:  2 it: 1.00e-05 tt: 6.69e-04
+    20: f: 1.093558e-01 d: 3.78e-02 g: 2.97e+00 h: 8.43e-02 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 6.91e-04
+    21: f: 6.710346e-02 d: 4.23e-02 g: 1.42e+00 h: 9.64e-02 s: 8.85e-01 e:  1 it: 3.81e-06 tt: 7.12e-04
+    22: f: 3.993377e-02 d: 2.72e-02 g: 2.30e+00 h: 1.29e-01 s: 4.63e-01 e:  2 it: 9.06e-06 tt: 7.39e-04
+    23: f: 2.911794e-02 d: 1.08e-02 g: 2.55e+00 h: 6.55e-02 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 7.62e-04
+    24: f: 1.457683e-02 d: 1.45e-02 g: 2.77e-01 h: 6.37e-02 s: 6.14e-01 e:  1 it: 3.81e-06 tt: 7.84e-04
+    25: f: 8.577515e-03 d: 6.00e-03 g: 2.86e+00 h: 1.40e-01 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 8.05e-04
+    26: f: 3.486574e-03 d: 5.09e-03 g: 1.76e-01 h: 1.23e-02 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 8.27e-04
+    27: f: 1.257570e-03 d: 2.23e-03 g: 1.39e-01 h: 5.08e-02 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 8.48e-04
+    28: f: 2.783568e-04 d: 9.79e-04 g: 6.20e-01 h: 6.47e-02 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 8.69e-04
+    29: f: 2.533399e-05 d: 2.53e-04 g: 1.68e-02 h: 1.98e-03 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 8.91e-04
+    30: f: 7.591572e-07 d: 2.46e-05 g: 5.40e-03 h: 9.27e-03 s: 1.00e+00 e:  1 it: 3.81e-06 tt: 9.12e-04
+    31: f: 1.902460e-09 d: 7.57e-07 g: 1.62e-03 h: 1.89e-03 s: 1.00e+00 e:  1 it: 2.86e-06 tt: 9.33e-04
+    32: f: 1.003030e-12 d: 1.90e-09 g: 3.50e-05 h: 3.52e-05 s: 1.00e+00 e:  1 it: 3.10e-06 tt: 9.54e-04
+    33: f: 4.835994e-17 d: 1.00e-12 g: 1.05e-07 h: 1.13e-06 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 9.81e-04
+    34: f: 1.885250e-22 d: 4.84e-17 g: 2.69e-10 h: 1.45e-08 s: 1.00e+00 e:  1 it: 4.05e-06 tt: 1.00e-03
+
+  Solver Summary (v 1.12.0-lapack-suitesparse-cxsparse-no_openmp)
+
+  Parameters                                  2
+  Line search direction              LBFGS (20)
+  Line search type                  CUBIC WOLFE
+
+
+  Cost:
+  Initial                          2.420000e+01
+  Final                            1.885250e-22
+  Change                           2.420000e+01
+
+  Minimizer iterations                       35
+
+  Time (in seconds):
+
+    Cost evaluation                       0.000
+    Gradient evaluation                   0.000
+  Total                                   0.003
+
+  Termination:                      CONVERGENCE (Gradient tolerance reached. Gradient max norm: 9.032775e-13 <= 1.000000e-10)
+
+.. rubric:: Footnotes
+
+.. [#f1] `examples/rosenbrock.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/rosenbrock.cc>`_
diff --git a/docs/source/index.rst b/docs/source/index.rst
new file mode 100644
index 0000000..d72368f
--- /dev/null
+++ b/docs/source/index.rst
@@ -0,0 +1,67 @@
+============
+Ceres Solver
+============
+
+Ceres Solver [#f1]_ is an open source C++ library for modeling and
+solving large, complicated optimization problems. It can be used to
+solve `Non-linear Least Squares`_ problems with bounds constraints and
+general unconstrained optimization problems. It is a mature, feature
+rich, and performant library that has been used in production at
+Google since 2010. For more, see :doc:`features`.
+
+`ceres-solver@googlegroups.com
+<https://groups.google.com/forum/?fromgroups#!forum/ceres-solver>`_ is
+the place for discussions and questions about Ceres Solver. We use the
+`GitHub Issue Tracker
+<https://github.com/ceres-solver/ceres-solver/issues>`_ to manage bug
+reports and feature requests.
+
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   features
+   installation
+   tutorial
+   derivatives
+   nnls_modeling
+   nnls_solving
+   nnls_covariance
+   gradient_solver
+   faqs
+   users
+   contributing
+   version_history
+   bibliography
+   license
+
+.. _Non-linear Least Squares: http://en.wikipedia.org/wiki/Non-linear_least_squares
+
+
+Cite Us
+=======
+
+If you use Ceres Solver for a publication, please cite it as::
+
+    @misc{ceres-solver,
+      author = "Sameer Agarwal and Keir Mierle and Others",
+      title = "Ceres Solver",
+      howpublished = "\url{http://ceres-solver.org}",
+    }
+
+
+.. rubric:: Footnotes
+
+.. [#f1] While there is some debate as to who invented the method of
+         Least Squares [Stigler]_, there is no questioning the fact
+         that it was `Carl Friedrich Gauss
+         <http://www-groups.dcs.st-and.ac.uk/~history/Biographies/Gauss.html>`_
+         who brought it to the attention of the world. Using just 22
+         observations of the newly discovered asteroid `Ceres
+         <http://en.wikipedia.org/wiki/Ceres_(dwarf_planet)>`_, Gauss
+         used the method of least squares to correctly predict when
+         and where the asteroid will emerge from behind the Sun
+         [TenenbaumDirector]_. We named our solver after Ceres to
+         celebrate this seminal event in the history of astronomy,
+         statistics and optimization.
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
new file mode 100644
index 0000000..53c557c
--- /dev/null
+++ b/docs/source/installation.rst
@@ -0,0 +1,1052 @@
+.. _chapter-installation:
+
+============
+Installation
+============
+
+Getting the source code
+=======================
+.. _section-source:
+
+You can start with the `latest stable release
+<http://ceres-solver.org/ceres-solver-1.13.0.tar.gz>`_ . Or if you want
+the latest version, you can clone the git repository
+
+.. code-block:: bash
+
+       git clone https://ceres-solver.googlesource.com/ceres-solver
+
+.. _section-dependencies:
+
+Dependencies
+============
+
+Ceres relies on a number of open source libraries, some of which are
+optional. For details on customizing the build process, see
+:ref:`section-customizing` .
+
+- `Eigen <http://eigen.tuxfamily.org/index.php?title=Main_Page>`_
+  3.2.2 or later **strongly** recommended, 3.1.0 or later **required**.
+
+  .. NOTE ::
+
+    Ceres can also use Eigen as a sparse linear algebra
+    library. Please see the documentation for ``EIGENSPARSE`` for
+    more details.
+
+- `CMake <http://www.cmake.org>`_ 2.8.0 or later.
+  **Required on all platforms except for Android.**
+
+- `glog <https://github.com/google/glog>`_ 0.3.1 or
+  later. **Recommended**
+
+  ``glog`` is used extensively throughout Ceres for logging detailed
+  information about memory allocations and time consumed in various
+  parts of the solve, internal error conditions etc. The Ceres
+  developers use it extensively to observe and analyze Ceres's
+  performance. `glog <https://github.com/google/glog>`_ allows you to
+  control its behaviour from the command line. Starting with
+  ``-logtostderr`` you can add ``-v=N`` for increasing values of ``N``
+  to get more and more verbose and detailed information about Ceres
+  internals.
+
+  Unfortunately, the current version of `google-glog
+  <https://github.com/google/glog>`_ does not build using the Android
+  NDK. So, Ceres also ships with a minimal replacement of ``glog``
+  called ``miniglog`` that can be enabled with the ``MINIGLOG`` build
+  option.
+
+  So, in an attempt to reduce dependencies, it is tempting to use
+  `miniglog` on platforms other than Android. While there is nothing
+  preventing the user from doing so, we strongly recommend against
+  it. ``miniglog`` has worse performance than ``glog`` and is much
+  harder to control and use.
+
+  .. NOTE ::
+
+     If you are compiling ``glog`` from source, please note that
+     currently, the unit tests for ``glog`` (which are enabled by
+     default) do not compile against a default build of ``gflags`` 2.1
+     as the gflags namespace changed from ``google::`` to
+     ``gflags::``.  A patch to fix this is available from `here
+     <https://code.google.com/p/google-glog/issues/detail?id=194>`_.
+
+- `gflags <https://github.com/gflags/gflags>`_. Needed to build
+  examples and tests.
+
+- `SuiteSparse
+  <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_. Needed for
+  solving large sparse linear systems. **Optional; strongly recomended
+  for large scale bundle adjustment**
+
+- `CXSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_.
+  Similar to ``SuiteSparse`` but simpler and slower. CXSparse has
+  no dependencies on ``LAPACK`` and ``BLAS``. This makes for a simpler
+  build process and a smaller binary. **Optional**
+
+- `BLAS <http://www.netlib.org/blas/>`_ and `LAPACK
+  <http://www.netlib.org/lapack/>`_ routines are needed by
+  ``SuiteSparse``, and optionally used by Ceres directly for some
+  operations.
+
+  On ``UNIX`` OSes other than Mac OS X we recommend `ATLAS
+  <http://math-atlas.sourceforge.net/>`_, which includes ``BLAS`` and
+  ``LAPACK`` routines. It is also possible to use `OpenBLAS
+  <https://github.com/xianyi/OpenBLAS>`_ . However, one needs to be
+  careful to `turn off the threading
+  <https://github.com/xianyi/OpenBLAS/wiki/faq#wiki-multi-threaded>`_
+  inside ``OpenBLAS`` as it conflicts with use of threads in Ceres.
+
+  Mac OS X ships with an optimized ``LAPACK`` and ``BLAS``
+  implementation as part of the ``Accelerate`` framework. The Ceres
+  build system will automatically detect and use it.
+
+  For Windows things are much more complicated. `LAPACK For
+  Windows <http://icl.cs.utk.edu/lapack-for-windows/lapack/>`_
+  has detailed instructions..
+
+  **Optional but required for** ``SuiteSparse``.
+
+.. _section-linux:
+
+Linux
+=====
+
+We will use `Ubuntu <http://www.ubuntu.com>`_ as our example linux
+distribution.
+
+.. NOTE::
+
+ Up to at least Ubuntu 14.04, the SuiteSparse package in the official
+ package repository (built from SuiteSparse v3.4.0) **cannot** be used
+ to build Ceres as a *shared* library.  Thus if you want to build
+ Ceres as a shared library using SuiteSparse, you must perform a
+ source install of SuiteSparse or use an external PPA (see `bug report
+ here
+ <https://bugs.launchpad.net/ubuntu/+source/suitesparse/+bug/1333214>`_).
+ It is recommended that you use the current version of SuiteSparse
+ (4.2.1 at the time of writing).
+
+
+Start by installing all the dependencies.
+
+.. code-block:: bash
+
+     # CMake
+     sudo apt-get install cmake
+     # google-glog + gflags
+     sudo apt-get install libgoogle-glog-dev
+     # BLAS & LAPACK
+     sudo apt-get install libatlas-base-dev
+     # Eigen3
+     sudo apt-get install libeigen3-dev
+     # SuiteSparse and CXSparse (optional)
+     # - If you want to build Ceres as a *static* library (the default)
+     #   you can use the SuiteSparse package in the main Ubuntu package
+     #   repository:
+     sudo apt-get install libsuitesparse-dev
+     # - However, if you want to build Ceres as a *shared* library, you must
+     #   add the following PPA:
+     sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
+     sudo apt-get update
+     sudo apt-get install libsuitesparse-dev
+
+We are now ready to build, test, and install Ceres.
+
+.. code-block:: bash
+
+ tar zxf ceres-solver-1.13.0.tar.gz
+ mkdir ceres-bin
+ cd ceres-bin
+ cmake ../ceres-solver-1.13.0
+ make -j3
+ make test
+ # Optionally install Ceres, it can also be exported using CMake which
+ # allows Ceres to be used without requiring installation, see the documentation
+ # for the EXPORT_BUILD_DIR option for more information.
+ make install
+
+You can also try running the command line bundling application with one of the
+included problems, which comes from the University of Washington's BAL
+dataset [Agarwal]_.
+
+.. code-block:: bash
+
+ bin/simple_bundle_adjuster ../ceres-solver-1.13.0/data/problem-16-22106-pre.txt
+
+This runs Ceres for a maximum of 10 iterations using the
+``DENSE_SCHUR`` linear solver. The output should look something like
+this.
+
+.. code-block:: bash
+
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04       0    7.59e-02    3.37e-01
+       1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04       1    1.65e-01    5.03e-01
+       2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04       1    1.45e-01    6.48e-01
+       3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04       1    1.43e-01    7.92e-01
+       4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05       1    1.45e-01    9.36e-01
+       5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05       1    1.45e-01    1.08e+00
+       6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06       1    1.50e-01    1.23e+00
+
+    Ceres Solver v1.13.0 Solve Report
+    ----------------------------------
+                                         Original                  Reduced
+    Parameter blocks                        22122                    22122
+    Parameters                              66462                    66462
+    Residual blocks                         83718                    83718
+    Residual                               167436                   167436
+
+    Minimizer                        TRUST_REGION
+
+    Dense linear algebra library            EIGEN
+    Trust region strategy     LEVENBERG_MARQUARDT
+
+                                            Given                     Used
+    Linear solver                     DENSE_SCHUR              DENSE_SCHUR
+    Threads                                     1                        1
+    Linear solver threads                       1                        1
+    Linear solver ordering              AUTOMATIC                22106, 16
+
+    Cost:
+    Initial                          4.185660e+06
+    Final                            1.803390e+04
+    Change                           4.167626e+06
+
+    Minimizer iterations                        6
+    Successful steps                            6
+    Unsuccessful steps                          0
+
+    Time (in seconds):
+    Preprocessor                            0.261
+
+      Residual evaluation                   0.082
+      Jacobian evaluation                   0.412
+      Linear solver                         0.442
+    Minimizer                               1.051
+
+    Postprocessor                           0.002
+    Total                                   1.357
+
+    Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
+
+.. section-osx:
+
+Mac OS X
+========
+.. NOTE::
+
+ Ceres will not compile using Xcode 4.5.x (Clang version 4.1) due to a
+ bug in that version of Clang.  If you are running Xcode 4.5.x, please
+ update to Xcode >= 4.6.x before attempting to build Ceres.
+
+
+On OS X, you can either use `MacPorts <https://www.macports.org/>`_ or
+`Homebrew <http://mxcl.github.com/homebrew/>`_ to install Ceres Solver.
+
+If using `MacPorts <https://www.macports.org/>`_, then
+
+.. code-block:: bash
+
+   sudo port install ceres-solver
+
+will install the latest version.
+
+If using `Homebrew <http://mxcl.github.com/homebrew/>`_ and assuming
+that you have the ``homebrew/science`` [#f1]_ tap enabled, then
+
+.. code-block:: bash
+
+      brew install ceres-solver
+
+will install the latest stable version along with all the required
+dependencies and
+
+.. code-block:: bash
+
+      brew install ceres-solver --HEAD
+
+will install the latest version in the git repo.
+
+You can also install each of the dependencies by hand using `Homebrew
+<http://mxcl.github.com/homebrew/>`_. There is no need to install
+``BLAS`` or ``LAPACK`` separately as OS X ships with optimized
+``BLAS`` and ``LAPACK`` routines as part of the `vecLib
+<https://developer.apple.com/library/mac/#documentation/Performance/Conceptual/vecLib/Reference/reference.html>`_
+framework.
+
+.. code-block:: bash
+
+      # CMake
+      brew install cmake
+      # google-glog and gflags
+      brew install glog
+      # Eigen3
+      brew install eigen
+      # SuiteSparse and CXSparse
+      brew install suite-sparse
+
+We are now ready to build, test, and install Ceres.
+
+.. code-block:: bash
+
+   tar zxf ceres-solver-1.13.0.tar.gz
+   mkdir ceres-bin
+   cd ceres-bin
+   cmake ../ceres-solver-1.13.0
+   make -j3
+   make test
+   # Optionally install Ceres, it can also be exported using CMake which
+   # allows Ceres to be used without requiring installation, see the
+   # documentation for the EXPORT_BUILD_DIR option for more information.
+   make install
+
+Like the Linux build, you should now be able to run
+``bin/simple_bundle_adjuster``.
+
+
+.. rubric:: Footnotes
+
+.. [#f1] Ceres and many of its dependencies are in `homebrew/science
+   <https://github.com/Homebrew/homebrew-science>`_ tap. So, if you
+   don't have this tap enabled, then you will need to enable it as
+   follows before executing any of the commands in this section.
+
+   .. code-block:: bash
+
+      brew tap homebrew/science
+
+
+.. _section-windows:
+
+Windows
+=======
+
+.. NOTE::
+
+  If you find the following CMake difficult to set up, then you may
+  be interested in a `Microsoft Visual Studio wrapper
+  <https://github.com/tbennun/ceres-windows>`_ for Ceres Solver by Tal
+  Ben-Nun.
+
+On Windows, we support building with Visual Studio 2010 or newer. Note
+that the Windows port is less featureful and less tested than the
+Linux or Mac OS X versions due to the lack of an officially supported
+way of building SuiteSparse and CXSparse.  There are however a number
+of unofficial ways of building these libraries. Building on Windows
+also a bit more involved since there is no automated way to install
+dependencies.
+
+.. NOTE:: Using ``google-glog`` & ``miniglog`` with windows.h.
+
+ The windows.h header if used with GDI (Graphics Device Interface)
+ defines ``ERROR``, which conflicts with the definition of ``ERROR``
+ as a LogSeverity level in ``google-glog`` and ``miniglog``.  There
+ are at least two possible fixes to this problem:
+
+ #. Use ``google-glog`` and define ``GLOG_NO_ABBREVIATED_SEVERITIES``
+    when building Ceres and your own project, as documented `here
+    <http://google-glog.googlecode.com/svn/trunk/doc/glog.html>`__.
+    Note that this fix will not work for ``miniglog``, but use of
+    ``miniglog`` is strongly discouraged on any platform for which
+    ``google-glog`` is available (which includes Windows).
+ #. If you do not require GDI, then define ``NOGDI`` **before**
+    including windows.h.  This solution should work for both
+    ``google-glog`` and ``miniglog`` and is documented for
+    ``google-glog`` `here
+    <https://code.google.com/p/google-glog/issues/detail?id=33>`__.
+
+#. Make a toplevel directory for deps & build & src somewhere: ``ceres/``
+#. Get dependencies; unpack them as subdirectories in ``ceres/``
+   (``ceres/eigen``, ``ceres/glog``, etc)
+
+   #. ``Eigen`` 3.1 (needed on Windows; 3.0.x will not work). There is
+      no need to build anything; just unpack the source tarball.
+
+   #. ``google-glog`` Open up the Visual Studio solution and build it.
+   #. ``gflags`` Open up the Visual Studio solution and build it.
+
+   #. (Experimental) ``SuiteSparse`` Previously SuiteSparse was not
+      available on Windows, recently it has become possible to build
+      it on Windows using the `suitesparse-metis-for-windows
+      <https://github.com/jlblancoc/suitesparse-metis-for-windows>`_
+      project.  If you wish to use ``SuiteSparse``, follow their
+      instructions for obtaining and building it.
+
+   #. (Experimental) ``CXSparse`` Previously CXSparse was not
+      available on Windows, there are now several ports that enable it
+      to be, including: `[1] <https://github.com/PetterS/CXSparse>`_
+      and `[2] <https://github.com/TheFrenchLeaf/CXSparse>`_.  If you
+      wish to use ``CXSparse``, follow their instructions for
+      obtaining and building it.
+
+#. Unpack the Ceres tarball into ``ceres``. For the tarball, you
+   should get a directory inside ``ceres`` similar to
+   ``ceres-solver-1.3.0``. Alternately, checkout Ceres via ``git`` to
+   get ``ceres-solver.git`` inside ``ceres``.
+
+#. Install ``CMake``,
+
+#. Make a dir ``ceres/ceres-bin`` (for an out-of-tree build)
+
+#. Run ``CMake``; select the ``ceres-solver-X.Y.Z`` or
+   ``ceres-solver.git`` directory for the CMake file. Then select the
+   ``ceres-bin`` for the build dir.
+
+#. Try running ``Configure``. It won't work. It'll show a bunch of options.
+   You'll need to set:
+
+   #. ``EIGEN_INCLUDE_DIR_HINTS``
+   #. ``GLOG_INCLUDE_DIR_HINTS``
+   #. ``GLOG_LIBRARY_DIR_HINTS``
+   #. ``GFLAGS_INCLUDE_DIR_HINTS``
+   #. ``GFLAGS_LIBRARY_DIR_HINTS``
+   #. (Optional) ``SUITESPARSE_INCLUDE_DIR_HINTS``
+   #. (Optional) ``SUITESPARSE_LIBRARY_DIR_HINTS``
+   #. (Optional) ``CXSPARSE_INCLUDE_DIR_HINTS``
+   #. (Optional) ``CXSPARSE_LIBRARY_DIR_HINTS``
+
+   to the appropriate directories where you unpacked/built them. If
+   any of the variables are not visible in the ``CMake`` GUI, create a
+   new entry for them.  We recommend using the
+   ``<NAME>_(INCLUDE/LIBRARY)_DIR_HINTS`` variables rather than
+   setting the ``<NAME>_INCLUDE_DIR`` & ``<NAME>_LIBRARY`` variables
+   directly to keep all of the validity checking, and to avoid having
+   to specify the library files manually.
+
+#. You may have to tweak some more settings to generate a MSVC
+   project.  After each adjustment, try pressing Configure & Generate
+   until it generates successfully.
+
+#. Open the solution and build it in MSVC
+
+
+To run the tests, select the ``RUN_TESTS`` target and hit **Build
+RUN_TESTS** from the build menu.
+
+Like the Linux build, you should now be able to run
+``bin/simple_bundle_adjuster``.
+
+Notes:
+
+#. The default build is Debug; consider switching it to release mode.
+#. Currently ``system_test`` is not working properly.
+#. CMake puts the resulting test binaries in ``ceres-bin/examples/Debug``
+   by default.
+#. The solvers supported on Windows are ``DENSE_QR``, ``DENSE_SCHUR``,
+   ``CGNR``, and ``ITERATIVE_SCHUR``.
+#. We're looking for someone to work with upstream ``SuiteSparse`` to
+   port their build system to something sane like ``CMake``, and get a
+   fully supported Windows port.
+
+
+.. _section-android:
+
+Android
+=======
+
+Download the ``Android NDK`` version ``r9d`` or later. Run
+``ndk-build`` from inside the ``jni`` directory. Use the
+``libceres.a`` that gets created.
+
+.. _section-ios:
+
+iOS
+===
+
+.. NOTE::
+
+   You need iOS version 7.0 or higher to build Ceres Solver.
+
+To build Ceres for iOS, we need to force ``CMake`` to find the
+toolchains from the iOS SDK instead of using the standard ones. For
+example:
+
+.. code-block:: bash
+
+   cmake \
+   -DCMAKE_TOOLCHAIN_FILE=../ceres-solver/cmake/iOS.cmake \
+   -DEIGEN_INCLUDE_DIR=/path/to/eigen/header \
+   -DIOS_PLATFORM=<PLATFORM> \
+   <PATH_TO_CERES_SOURCE>
+
+``PLATFORM`` can be: ``OS``, ``SIMULATOR`` or ``SIMULATOR64``. You can
+build for ``OS`` (``armv7``, ``armv7s``, ``arm64``), ``SIMULATOR``
+(``i386``) or ``SIMULATOR64`` (``x86_64``) separately and use ``lipo``
+to merge them into one static library.  See ``cmake/iOS.cmake`` for
+more options.
+
+After building, you will get a ``libceres.a`` library, which you will
+need to add to your Xcode project.
+
+The default CMake configuration builds a bare bones version of Ceres
+Solver that only depends on Eigen (``MINIGLOG`` is compiled into Ceres
+if it is used), this should be sufficient for solving small to
+moderate sized problems (No ``SPARSE_SCHUR``,
+``SPARSE_NORMAL_CHOLESKY`` linear solvers and no ``CLUSTER_JACOBI``
+and ``CLUSTER_TRIDIAGONAL`` preconditioners).
+
+If you decide to use ``LAPACK`` and ``BLAS``, then you also need to
+add ``Accelerate.framework`` to your Xcode project's linking
+dependency.
+
+.. _section-customizing:
+
+Customizing the build
+=====================
+
+It is possible to reduce the libraries needed to build Ceres and
+customize the build process by setting the appropriate options in
+``CMake``.  These options can either be set in the ``CMake`` GUI, or
+via ``-D<OPTION>=<ON/OFF>`` when running ``CMake`` from the command
+line.  In general, you should only modify these options from their
+defaults if you know what you are doing.
+
+.. NOTE::
+
+ If you are setting variables via ``-D<VARIABLE>=<VALUE>`` when
+ calling ``CMake``, it is important to understand that this forcibly
+ **overwrites** the variable ``<VARIABLE>`` in the ``CMake`` cache at
+ the start of *every configure*.
+
+ This can lead to confusion if you are invoking the ``CMake`` `curses
+ <http://www.gnu.org/software/ncurses/ncurses.html>`_ terminal GUI
+ (via ``ccmake``, e.g. ```ccmake -D<VARIABLE>=<VALUE>
+ <PATH_TO_SRC>``).  In this case, even if you change the value of
+ ``<VARIABLE>`` in the ``CMake`` GUI, your changes will be
+ **overwritten** with the value passed via ``-D<VARIABLE>=<VALUE>``
+ (if one exists) at the start of each configure.
+
+ As such, it is generally easier not to pass values to ``CMake`` via
+ ``-D`` and instead interactively experiment with their values in the
+ ``CMake`` GUI.  If they are not present in the *Standard View*,
+ toggle to the *Advanced View* with ``<t>``.
+
+Options controlling Ceres configuration
+---------------------------------------
+
+#. ``LAPACK [Default: ON]``: By default Ceres will use ``LAPACK`` (&
+   ``BLAS``) if they are found.  Turn this ``OFF`` to build Ceres
+   without ``LAPACK``. Turning this ``OFF`` also disables
+   ``SUITESPARSE`` as it depends on ``LAPACK``.
+
+#. ``SUITESPARSE [Default: ON]``: By default, Ceres will link to
+   ``SuiteSparse`` if it and all of its dependencies are present. Turn
+   this ``OFF`` to build Ceres without ``SuiteSparse``. Note that
+   ``LAPACK`` must be ``ON`` in order to build with ``SuiteSparse``.
+
+#. ``CXSPARSE [Default: ON]``: By default, Ceres will link to
+   ``CXSparse`` if all its dependencies are present. Turn this ``OFF``
+   to build Ceres without ``CXSparse``.
+
+#. ``EIGENSPARSE [Default: OFF]``: By default, Ceres will not use
+   Eigen's sparse Cholesky factorization. The is because this part of
+   the code is licensed under the ``LGPL`` and since ``Eigen`` is a
+   header only library, including this code will result in an ``LGPL``
+   licensed version of Ceres.
+
+   .. NOTE::
+
+      For good performance, use Eigen version 3.2.2 or later.
+
+#. ``GFLAGS [Default: ON]``: Turn this ``OFF`` to build Ceres without
+   ``gflags``. This will also prevent some of the example code from
+   building.
+
+#. ``MINIGLOG [Default: OFF]``: Ceres includes a stripped-down,
+   minimal implementation of ``glog`` which can optionally be used as
+   a substitute for ``glog``, thus removing ``glog`` as a required
+   dependency. Turn this ``ON`` to use this minimal ``glog``
+   implementation.
+
+#. ``SCHUR_SPECIALIZATIONS [Default: ON]``: If you are concerned about
+   binary size/compilation time over some small (10-20%) performance
+   gains in the ``SPARSE_SCHUR`` solver, you can disable some of the
+   template specializations by turning this ``OFF``.
+
+#. ``OPENMP [Default: ON]``: On certain platforms like Android,
+   multi-threading with ``OpenMP`` is not supported. Turn this ``OFF``
+   to disable multi-threading.
+
+#. ``CXX11 [Default: OFF]`` *Non-MSVC compilers only*.
+
+   Although Ceres does not currently use C++11, it does use
+   ``shared_ptr`` (required) and ``unordered_map`` (if available);
+   both of which existed in the previous iterations of what became the
+   C++11 standard: TR1 & C++0x.  As such, Ceres can compile on
+   pre-C++11 compilers, using the TR1/C++0x versions of ``shared_ptr``
+   & ``unordered_map``.
+
+   Note that when using GCC & Clang, compiling against the TR1/C++0x
+   versions: ``CXX11=OFF`` (the default) *does not* require
+   ``-std=c++11`` when compiling Ceres, *nor* does it require that any
+   client code using Ceres use ``-std=c++11``.  However, this will
+   cause compile errors if any client code that uses Ceres also uses
+   C++11 (mismatched versions of ``shared_ptr`` & ``unordered_map``).
+
+   Enabling this option: ``CXX11=ON`` forces Ceres to use the C++11
+   versions of ``shared_ptr`` & ``unordered_map`` if they are
+   available, and thus imposes the requirement that all client code
+   using Ceres also compile with ``-std=c++11``.  This requirement is
+   handled automatically through CMake target properties on the
+   exported Ceres target for CMake >= 2.8.12 (when it was introduced).
+   Thus, any client code which uses CMake will automatically be
+   compiled with ``-std=c++11``.  **On CMake versions < 2.8.12, you
+   are responsible for ensuring that any code which uses Ceres is
+   compiled with** ``-std=c++11``.
+
+   On OS X 10.9+, Clang will use the C++11 versions of ``shared_ptr``
+   & ``unordered_map`` without ``-std=c++11`` and so this option does
+   not change the versions detected, although enabling it *will*
+   require that client code compile with ``-std=c++11``.
+
+   The following table summarises the effects of the ``CXX11`` option:
+
+   ===================  ==========  ================  ======================================
+   OS                   CXX11       Detected Version  Ceres & client code require ``-std=c++11``
+   ===================  ==========  ================  ======================================
+   Linux (GCC & Clang)  OFF         tr1               **No**
+   Linux (GCC & Clang)  ON          std               **Yes**
+   OS X 10.9+           OFF         std               **No**
+   OS X 10.9+           ON          std               **Yes**
+   ===================  ==========  ================  ======================================
+
+   The ``CXX11`` option does does not exist when using MSVC, as there
+   any new C++ features available are enabled by default, and there is
+   no analogue of ``-std=c++11``.  It will however be available on
+   MinGW & CygWin, which can support ``-std=c++11``.
+
+#. ``BUILD_SHARED_LIBS [Default: OFF]``: By default Ceres is built as
+   a static library, turn this ``ON`` to instead build Ceres as a
+   shared library.
+
+#. ``EXPORT_BUILD_DIR [Default: OFF]``: By default Ceres is configured
+   solely for installation, and so must be installed in order for
+   clients to use it.  Turn this ``ON`` to export Ceres' build
+   directory location into the `user's local CMake package registry
+   <http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_
+   where it will be detected **without requiring installation** in a
+   client project using CMake when `find_package(Ceres)
+   <http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+   is invoked.
+
+#. ``BUILD_DOCUMENTATION [Default: OFF]``: Use this to enable building
+   the documentation, requires `Sphinx <http://sphinx-doc.org/>`_ and
+   the `sphinx-better-theme
+   <https://pypi.python.org/pypi/sphinx-better-theme>`_ package
+   available from the Python package index. In addition, ``make
+   ceres_docs`` can be used to build only the documentation.
+
+#. ``MSVC_USE_STATIC_CRT [Default: OFF]`` *Windows Only*: By default
+   Ceres will use the Visual Studio default, *shared* C-Run Time (CRT)
+   library.  Turn this ``ON`` to use the *static* C-Run Time library
+   instead.
+
+#. ``LIB_SUFFIX [Default: "64" on non-Debian/Arch based 64-bit Linux,
+   otherwise: ""]``: The suffix to append to the library install
+   directory, built from:
+   ``${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}``.
+
+   The filesystem hierarchy standard recommends that 64-bit systems
+   install native libraries to lib64 rather than lib.  Most Linux
+   distributions follow this convention, but Debian and Arch based
+   distros do not.  Note that the only generally sensible values for
+   ``LIB_SUFFIX`` are "" and "64".
+
+   Although by default Ceres will auto-detect non-Debian/Arch based
+   64-bit Linux distributions and default ``LIB_SUFFIX`` to "64", this
+   can always be overridden by manually specifying LIB_SUFFIX using:
+   ``-DLIB_SUFFIX=<VALUE>`` when invoking CMake.
+
+
+Options controlling Ceres dependency locations
+----------------------------------------------
+
+Ceres uses the ``CMake`` `find_package
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+function to find all of its dependencies using
+``Find<DEPENDENCY_NAME>.cmake`` scripts which are either included in
+Ceres (for most dependencies) or are shipped as standard with
+``CMake`` (for ``LAPACK`` & ``BLAS``).  These scripts will search all
+of the "standard" install locations for various OSs for each
+dependency.  However, particularly for Windows, they may fail to find
+the library, in this case you will have to manually specify its
+installed location.  The ``Find<DEPENDENCY_NAME>.cmake`` scripts
+shipped with Ceres support two ways for you to do this:
+
+#. Set the *hints* variables specifying the *directories* to search in
+   preference, but in addition, to the search directories in the
+   ``Find<DEPENDENCY_NAME>.cmake`` script:
+
+   - ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR_HINTS``
+   - ``<DEPENDENCY_NAME (CAPS)>_LIBRARY_DIR_HINTS``
+
+   These variables should be set via ``-D<VAR>=<VALUE>``
+   ``CMake`` arguments as they are not visible in the GUI.
+
+#. Set the variables specifying the *explicit* include directory
+   and library file to use:
+
+   - ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR``
+   - ``<DEPENDENCY_NAME (CAPS)>_LIBRARY``
+
+   This bypasses *all* searching in the
+   ``Find<DEPENDENCY_NAME>.cmake`` script, but validation is still
+   performed.
+
+   These variables are available to set in the ``CMake`` GUI. They are
+   visible in the *Standard View* if the library has not been found
+   (but the current Ceres configuration requires it), but are always
+   visible in the *Advanced View*.  They can also be set directly via
+   ``-D<VAR>=<VALUE>`` arguments to ``CMake``.
+
+Building using custom BLAS & LAPACK installs
+----------------------------------------------
+
+If the standard find package scripts for ``BLAS`` & ``LAPACK`` which
+ship with ``CMake`` fail to find the desired libraries on your system,
+try setting ``CMAKE_LIBRARY_PATH`` to the path(s) to the directories
+containing the ``BLAS`` & ``LAPACK`` libraries when invoking ``CMake``
+to build Ceres via ``-D<VAR>=<VALUE>``.  This should result in the
+libraries being found for any common variant of each.
+
+If you are building on an exotic system, or setting
+``CMAKE_LIBRARY_PATH`` does not work, or is not appropriate for some
+other reason, one option would be to write your own custom versions of
+``FindBLAS.cmake`` & ``FindLAPACK.cmake`` specific to your
+environment.  In this case you must set ``CMAKE_MODULE_PATH`` to the
+directory containing these custom scripts when invoking ``CMake`` to
+build Ceres and they will be used in preference to the default
+versions.  However, in order for this to work, your scripts must
+provide the full set of variables provided by the default scripts.
+Also, if you are building Ceres with ``SuiteSparse``, the versions of
+``BLAS`` & ``LAPACK`` used by ``SuiteSparse`` and Ceres should be the
+same.
+
+.. _section-using-ceres:
+
+Using Ceres with CMake
+======================
+
+In order to use Ceres in client code with CMake using `find_package()
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+then either:
+
+#. Ceres must have been installed with ``make install``.  If the
+    install location is non-standard (i.e. is not in CMake's default
+    search paths) then it will not be detected by default, see:
+    :ref:`section-local-installations`.
+
+    Note that if you are using a non-standard install location you
+    should consider exporting Ceres instead, as this will not require
+    any extra information to be provided in client code for Ceres to
+    be detected.
+
+#. Or Ceres' build directory must have been exported by enabling the
+    ``EXPORT_BUILD_DIR`` option when Ceres was configured.
+
+
+As an example of how to use Ceres, to compile `examples/helloworld.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+in a separate standalone project, the following CMakeList.txt can be
+used:
+
+.. code-block:: cmake
+
+    cmake_minimum_required(VERSION 2.8)
+
+    project(helloworld)
+
+    find_package(Ceres REQUIRED)
+    include_directories(${CERES_INCLUDE_DIRS})
+
+    # helloworld
+    add_executable(helloworld helloworld.cc)
+    target_link_libraries(helloworld ${CERES_LIBRARIES})
+
+Irrespective of whether Ceres was installed or exported, if multiple
+versions are detected, set: ``Ceres_DIR`` to control which is used.
+If Ceres was installed ``Ceres_DIR`` should be the path to the
+directory containing the installed ``CeresConfig.cmake`` file
+(e.g. ``/usr/local/share/Ceres``).  If Ceres was exported, then
+``Ceres_DIR`` should be the path to the exported Ceres build
+directory.
+
+Specify Ceres components
+-------------------------------------
+
+You can specify particular Ceres components that you require (in order
+for Ceres to be reported as found) when invoking
+``find_package(Ceres)``.  This allows you to specify, for example,
+that you require a version of Ceres built with SuiteSparse support.
+By definition, if you do not specify any components when calling
+``find_package(Ceres)`` (the default) any version of Ceres detected
+will be reported as found, irrespective of which components it was
+built with.
+
+The Ceres components which can be specified are:
+
+#. ``LAPACK``: Ceres built using LAPACK (``LAPACK=ON``).
+
+#. ``SuiteSparse``: Ceres built with SuiteSparse (``SUITESPARSE=ON``).
+
+#. ``CXSparse``: Ceres built with CXSparse (``CXSPARSE=ON``).
+
+#. ``EigenSparse``: Ceres built with Eigen's sparse Cholesky factorization
+   (``EIGENSPARSE=ON``).
+
+#. ``SparseLinearAlgebraLibrary``: Ceres built with *at least one* sparse linear
+   algebra library.  This is equivalent to ``SuiteSparse`` **OR** ``CXSparse``
+   **OR** ``EigenSparse``.
+
+#. ``SchurSpecializations``: Ceres built with Schur specializations
+   (``SCHUR_SPECIALIZATIONS=ON``).
+
+#. ``OpenMP``: Ceres built with OpenMP (``OPENMP=ON``).
+
+#. ``C++11``: Ceres built with C++11 (``CXX11=ON``).
+
+To specify one/multiple Ceres components use the ``COMPONENTS`` argument to
+`find_package()
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_ like so:
+
+.. code-block:: cmake
+
+    # Find a version of Ceres compiled with SuiteSparse & EigenSparse support.
+    #
+    # NOTE: This will report Ceres as **not** found if the detected version of
+    #            Ceres was not compiled with both SuiteSparse & EigenSparse.
+    #            Remember, if you have multiple versions of Ceres installed, you
+    #            can use Ceres_DIR to specify which should be used.
+    find_package(Ceres REQUIRED COMPONENTS SuiteSparse EigenSparse)
+
+
+Specify Ceres version
+---------------------
+
+Additionally, when CMake has found Ceres it can optionally check the package
+version, if it has been specified in the `find_package()
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
+call.  For example:
+
+.. code-block:: cmake
+
+    find_package(Ceres 1.2.3 REQUIRED)
+
+.. _section-local-installations:
+
+Local installations
+-------------------
+
+If Ceres was installed in a non-standard path by specifying
+``-DCMAKE_INSTALL_PREFIX="/some/where/local"``, then the user should
+add the **PATHS** option to the ``find_package()`` command, e.g.,
+
+.. code-block:: cmake
+
+   find_package(Ceres REQUIRED PATHS "/some/where/local/")
+
+Note that this can be used to have multiple versions of Ceres
+installed.  However, particularly if you have only a single version of
+Ceres which you want to use but do not wish to install to a system
+location, you should consider exporting Ceres using the
+``EXPORT_BUILD_DIR`` option instead of a local install, as exported
+versions of Ceres will be automatically detected by CMake,
+irrespective of their location.
+
+Understanding the CMake Package System
+----------------------------------------
+
+Although a full tutorial on CMake is outside the scope of this guide,
+here we cover some of the most common CMake misunderstandings that
+crop up when using Ceres.  For more detailed CMake usage, the
+following references are very useful:
+
+- The `official CMake tutorial <http://www.cmake.org/cmake-tutorial/>`_
+
+   Provides a tour of the core features of CMake.
+
+- `ProjectConfig tutorial
+  <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_
+  and the `cmake-packages documentation
+  <http://www.cmake.org/cmake/help/git-master/manual/cmake-packages.7.html>`_
+
+   Cover how to write a ``ProjectConfig.cmake`` file, discussed below,
+   for your own project when installing or exporting it using CMake.
+   It also covers how these processes in conjunction with
+   ``find_package()`` are actually handled by CMake.  The
+   `ProjectConfig tutorial
+   <http://www.cmake.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file>`_
+   is the older style, currently used by Ceres for compatibility with
+   older versions of CMake.
+
+  .. NOTE :: **Targets in CMake.**
+
+    All libraries and executables built using CMake are represented as
+    *targets* created using `add_library()
+    <http://www.cmake.org/cmake/help/v3.2/command/add_library.html>`_
+    and `add_executable()
+    <http://www.cmake.org/cmake/help/v3.2/command/add_executable.html>`_.
+    Targets encapsulate the rules and dependencies (which can be other
+    targets) required to build or link against an object.  This allows
+    CMake to implicitly manage dependency chains.  Thus it is
+    sufficient to tell CMake that a library target: ``B`` depends on a
+    previously declared library target ``A``, and CMake will
+    understand that this means that ``B`` also depends on all of the
+    public dependencies of ``A``.
+
+When a project like Ceres is installed using CMake, or its build
+directory is exported into the local CMake package registry (see
+:ref:`section-install-vs-export`), in addition to the public headers
+and compiled libraries, a set of CMake-specific project configuration
+files are also installed to: ``<INSTALL_ROOT>/share/Ceres`` (if Ceres
+is installed), or created in the build directory (if Ceres' build
+directory is exported).  When `find_package
+<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_ is
+invoked, CMake checks various standard install locations (including
+``/usr/local`` on Linux & UNIX systems), and the local CMake package
+registry for CMake configuration files for the project to be found
+(i.e. Ceres in the case of ``find_package(Ceres)``).  Specifically it
+looks for:
+
+- ``<PROJECT_NAME>Config.cmake`` (or
+  ``<lower_case_project_name>-config.cmake``)
+
+   Which is written by the developers of the project, and is
+   configured with the selected options and installed locations when
+   the project is built and defines the CMake variables:
+   ``<PROJECT_NAME>_INCLUDE_DIRS`` & ``<PROJECT_NAME>_LIBRARIES``
+   which are used by the caller to import the project.
+
+The ``<PROJECT_NAME>Config.cmake`` typically includes a second file
+installed to the same location:
+
+- ``<PROJECT_NAME>Targets.cmake``
+
+   Which is autogenerated by CMake as part of the install process and defines
+   **imported targets** for the project in the caller's CMake scope.
+
+An **imported target** contains the same information about a library
+as a CMake target that was declared locally in the current CMake
+project using ``add_library()``.  However, imported targets refer to
+objects that have already been built by a different CMake project.
+Principally, an imported target contains the location of the compiled
+object and all of its public dependencies required to link against it.
+Any locally declared target can depend on an imported target, and
+CMake will manage the dependency chain, just as if the imported target
+had been declared locally by the current project.
+
+Crucially, just like any locally declared CMake target, an imported target is
+identified by its **name** when adding it as a dependency to another target.
+
+Thus, if in a project using Ceres you had the following in your CMakeLists.txt:
+
+.. code-block:: cmake
+
+    find_package(Ceres REQUIRED)
+    message("CERES_LIBRARIES = ${CERES_LIBRARIES}")
+
+You would see the output: ``CERES_LIBRARIES = ceres``.  **However**,
+here ``ceres`` is an **imported target** created when
+``CeresTargets.cmake`` was read as part of ``find_package(Ceres
+REQUIRED)``.  It does **not** refer (directly) to the compiled Ceres
+library: ``libceres.a/so/dylib/lib``.  This distinction is important,
+as depending on the options selected when it was built, Ceres can have
+public link dependencies which are encapsulated in the imported target
+and automatically added to the link step when Ceres is added as a
+dependency of another target by CMake.  In this case, linking only
+against ``libceres.a/so/dylib/lib`` without these other public
+dependencies would result in a linker error.
+
+Note that this description applies both to projects that are
+**installed** using CMake, and to those whose **build directory is
+exported** using `export()
+<http://www.cmake.org/cmake/help/v3.2/command/export.html>`_ (instead
+of `install()
+<http://www.cmake.org/cmake/help/v3.2/command/install.html>`_).  Ceres
+supports both installation and export of its build directory if the
+``EXPORT_BUILD_DIR`` option is enabled, see
+:ref:`section-customizing`.
+
+.. _section-install-vs-export:
+
+Installing a project with CMake vs Exporting its build directory
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+When a project is **installed**, the compiled libraries and headers
+are copied from the source & build directory to the install location,
+and it is these copied files that are used by any client code.  When a
+project's build directory is **exported**, instead of copying the
+compiled libraries and headers, CMake creates an entry for the project
+in the `user's local CMake package registry
+<http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_,
+``<USER_HOME>/.cmake/packages`` on Linux & OS X, which contains the
+path to the project's build directory which will be checked by CMake
+during a call to ``find_package()``.  The effect of which is that any
+client code uses the compiled libraries and headers in the build
+directory directly, **thus not requiring the project to be installed
+to be used**.
+
+Installing / Exporting a project that uses Ceres
+--------------------------------------------------
+
+As described in `Understanding the CMake Package System`_, the contents of
+the ``CERES_LIBRARIES`` variable is the **name** of an imported target which
+represents Ceres.  If you are installing / exporting your *own* project which
+*uses* Ceres, it is important to understand that:
+
+**Imported targets are not (re)exported when a project which imported them is
+exported**.
+
+Thus, when a project ``Foo`` which uses Ceres is exported, its list of
+dependencies as seen by another project ``Bar`` which imports ``Foo``
+via: ``find_package(Foo REQUIRED)`` will contain: ``ceres``.  However,
+the definition of ``ceres`` as an imported target is **not
+(re)exported** when Foo is exported.  Hence, without any additional
+steps, when processing ``Bar``, ``ceres`` will not be defined as an
+imported target.  Thus, when processing ``Bar``, CMake will assume
+that ``ceres`` refers only to: ``libceres.a/so/dylib/lib`` (the
+compiled Ceres library) directly if it is on the current list of
+search paths.  In which case, no CMake errors will occur, but ``Bar``
+will not link properly, as it does not have the required public link
+dependencies of Ceres, which are stored in the imported target
+defintion.
+
+The solution to this is for ``Foo`` (i.e., the project that uses
+Ceres) to invoke ``find_package(Ceres)`` in ``FooConfig.cmake``, thus
+``ceres`` will be defined as an imported target when CMake processes
+``Bar``.  An example of the required modifications to
+``FooConfig.cmake`` are show below:
+
+.. code-block:: cmake
+
+    # Importing Ceres in FooConfig.cmake using CMake 2.8.x style.
+    #
+    # When configure_file() is used to generate FooConfig.cmake from
+    # FooConfig.cmake.in, @Ceres_DIR@ will be replaced with the current
+    # value of Ceres_DIR being used by Foo.  This should be passed as a hint
+    # when invoking find_package(Ceres) to ensure that the same install of
+    # Ceres is used as was used to build Foo.
+    set(CERES_DIR_HINTS @Ceres_DIR@)
+
+    # Forward the QUIET / REQUIRED options.
+    if (Foo_FIND_QUIETLY)
+       find_package(Ceres QUIET HINTS ${CERES_DIR_HINTS})
+    elseif (Foo_FIND_REQUIRED)
+       find_package(Ceres REQUIRED HINTS ${CERES_DIR_HINTS})
+    else ()
+       find_package(Ceres HINTS ${CERES_DIR_HINTS})
+    endif()
+
+.. code-block:: cmake
+
+    # Importing Ceres in FooConfig.cmake using CMake 3.x style.
+    #
+    # In CMake v3.x, the find_dependency() macro exists to forward the REQUIRED
+    # / QUIET parameters to find_package() when searching for dependencies.
+    #
+    # Note that find_dependency() does not take a path hint, so if Ceres was
+    # installed in a non-standard location, that location must be added to
+    # CMake's search list before this call.
+    include(CMakeFindDependencyMacro)
+    find_dependency(Ceres)
diff --git a/docs/source/interfacing_with_autodiff.rst b/docs/source/interfacing_with_autodiff.rst
new file mode 100644
index 0000000..707c071
--- /dev/null
+++ b/docs/source/interfacing_with_autodiff.rst
@@ -0,0 +1,293 @@
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-interfacing_with_automatic_differentiation:
+
+Interfacing with Automatic Differentiation
+==========================================
+
+Automatic differentiation is straightforward to use in cases where an
+explicit expression for the cost function is available. But this is
+not always possible. Often one has to interface with external routines
+or data. In this chapter we will consider a number of different ways
+of doing so.
+
+To do this, we will consider the problem of finding parameters
+:math:`\theta` and :math:`t` that solve an optimization problem of the
+form:
+
+.. math::
+   \min & \quad \sum_i \left \|y_i - f\left (\|q_{i}\|^2\right) q_i
+   \right \|^2\\
+   \text{such that} & \quad q_i = R(\theta) x_i + t
+
+Here, :math:`R` is a two dimensional rotation matrix parameterized
+using the angle :math:`\theta` and :math:`t` is a two dimensional
+vector. :math:`f` is an external distortion function.
+
+We begin by considering the case, where we have a templated function
+:code:`TemplatedComputeDistortion` that can compute the function
+:math:`f`. Then the implementation of the corresponding residual
+functor is straightforward and will look as follows:
+
+.. code-block:: c++
+   :emphasize-lines: 21
+
+   template <typename T> T TemplatedComputeDistortion(const T r2) {
+     const double k1 = 0.0082;
+     const double k2 = 0.000023;
+     return 1.0 + k1 * y2 + k2 * r2 * r2;
+   }
+
+   struct Affine2DWithDistortion {
+     Affine2DWithDistortion(const double x_in[2], const double y_in[2]) {
+       x[0] = x_in[0];
+       x[1] = x_in[1];
+       y[0] = y_in[0];
+       y[1] = y_in[1];
+     }
+
+     template <typename T>
+     bool operator()(const T* theta,
+                     const T* t,
+                     T* residuals) const {
+       const T q_0 =  cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+       const T q_1 =  sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+       const T f = TemplatedComputeDistortion(q_0 * q_0 + q_1 * q_1);
+       residuals[0] = y[0] - f * q_0;
+       residuals[1] = y[1] - f * q_1;
+       return true;
+     }
+
+     double x[2];
+     double y[2];
+   };
+
+So far so good, but let us now consider three ways of defining
+:math:`f` which are not directly amenable to being used with automatic
+differentiation:
+
+#. A non-templated function that evaluates its value.
+#. A function that evaluates its value and derivative.
+#. A function that is defined as a table of values to be interpolated.
+
+We will consider them in turn below.
+
+A function that returns its value
+----------------------------------
+
+Suppose we were given a function :code:`ComputeDistortionValue` with
+the following signature
+
+.. code-block:: c++
+
+   double ComputeDistortionValue(double r2);
+
+that computes the value of :math:`f`. The actual implementation of the
+function does not matter. Interfacing this function with
+:code:`Affine2DWithDistortion` is a three step process:
+
+1. Wrap :code:`ComputeDistortionValue` into a functor
+   :code:`ComputeDistortionValueFunctor`.
+2. Numerically differentiate :code:`ComputeDistortionValueFunctor`
+   using :class:`NumericDiffCostFunction` to create a
+   :class:`CostFunction`.
+3. Wrap the resulting :class:`CostFunction` object using
+   :class:`CostFunctionToFunctor`. The resulting object is a functor
+   with a templated :code:`operator()` method, which pipes the
+   Jacobian computed by :class:`NumericDiffCostFunction` into the
+   approproate :code:`Jet` objects.
+
+An implementation of the above three steps looks as follows:
+
+.. code-block:: c++
+   :emphasize-lines: 15,16,17,18,19,20, 29
+
+   struct ComputeDistortionValueFunctor {
+     bool operator()(const double* r2, double* value) const {
+       *value = ComputeDistortionValue(r2[0]);
+       return true;
+     }
+   };
+
+   struct Affine2DWithDistortion {
+     Affine2DWithDistortion(const double x_in[2], const double y_in[2]) {
+       x[0] = x_in[0];
+       x[1] = x_in[1];
+       y[0] = y_in[0];
+       y[1] = y_in[1];
+
+       compute_distortion.reset(new ceres::CostFunctionToFunctor<1, 1>(
+            new ceres::NumericDiffCostFunction<ComputeDistortionValueFunctor,
+                                               ceres::CENTRAL,
+                                               1,
+                                               1>(
+               new ComputeDistortionValueFunctor)));
+     }
+
+     template <typename T>
+     bool operator()(const T* theta, const T* t, T* residuals) const {
+       const T q_0 = cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+       const T q_1 = sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+       const T r2 = q_0 * q_0 + q_1 * q_1;
+       T f;
+       (*compute_distortion)(&r2, &f);
+       residuals[0] = y[0] - f * q_0;
+       residuals[1] = y[1] - f * q_1;
+       return true;
+     }
+
+     double x[2];
+     double y[2];
+     std::unique_ptr<ceres::CostFunctionToFunctor<1, 1> > compute_distortion;
+   };
+
+
+A function that returns its value and derivative
+------------------------------------------------
+
+Now suppose we are given a function :code:`ComputeDistortionValue`
+thatis able to compute its value and optionally its Jacobian on demand
+and has the following signature:
+
+.. code-block:: c++
+
+   void ComputeDistortionValueAndJacobian(double r2,
+                                          double* value,
+                                          double* jacobian);
+
+Again, the actual implementation of the function does not
+matter. Interfacing this function with :code:`Affine2DWithDistortion`
+is a two step process:
+
+1. Wrap :code:`ComputeDistortionValueAndJacobian` into a
+   :class:`CostFunction` object which we call
+   :code:`ComputeDistortionFunction`.
+2. Wrap the resulting :class:`ComputeDistortionFunction` object using
+   :class:`CostFunctionToFunctor`. The resulting object is a functor
+   with a templated :code:`operator()` method, which pipes the
+   Jacobian computed by :class:`NumericDiffCostFunction` into the
+   approproate :code:`Jet` objects.
+
+The resulting code will look as follows:
+
+.. code-block:: c++
+   :emphasize-lines: 21,22, 33
+
+   class ComputeDistortionFunction : public ceres::SizedCostFunction<1, 1> {
+    public:
+     virtual bool Evaluate(double const* const* parameters,
+                           double* residuals,
+                           double** jacobians) const {
+       if (!jacobians) {
+         ComputeDistortionValueAndJacobian(parameters[0][0], residuals, NULL);
+       } else {
+         ComputeDistortionValueAndJacobian(parameters[0][0], residuals, jacobians[0]);
+       }
+       return true;
+     }
+   };
+
+   struct Affine2DWithDistortion {
+     Affine2DWithDistortion(const double x_in[2], const double y_in[2]) {
+       x[0] = x_in[0];
+       x[1] = x_in[1];
+       y[0] = y_in[0];
+       y[1] = y_in[1];
+       compute_distortion.reset(
+           new ceres::CostFunctionToFunctor<1, 1>(new ComputeDistortionFunction));
+     }
+
+     template <typename T>
+     bool operator()(const T* theta,
+                     const T* t,
+                     T* residuals) const {
+       const T q_0 =  cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+       const T q_1 =  sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+       const T r2 = q_0 * q_0 + q_1 * q_1;
+       T f;
+       (*compute_distortion)(&r2, &f);
+       residuals[0] = y[0] - f * q_0;
+       residuals[1] = y[1] - f * q_1;
+       return true;
+     }
+
+     double x[2];
+     double y[2];
+     std::unique_ptr<ceres::CostFunctionToFunctor<1, 1> > compute_distortion;
+   };
+
+
+A function that is defined as a table of values
+-----------------------------------------------
+
+The third and final case we will consider is where the function
+:math:`f` is defined as a table of values on the interval :math:`[0,
+100)`, with a value for each integer.
+
+.. code-block:: c++
+
+   vector<double> distortion_values;
+
+There are many ways of interpolating a table of values. Perhaps the
+simplest and most common method is linear interpolation. But it is not
+a great idea to use linear interpolation because the interpolating
+function is not differentiable at the sample points.
+
+A simple (well behaved) differentiable interpolation is the `Cubic
+Hermite Spline
+<http://en.wikipedia.org/wiki/Cubic_Hermite_spline>`_. Ceres Solver
+ships with routines to perform Cubic & Bi-Cubic interpolation that is
+automatic differentiation friendly.
+
+Using Cubic interpolation requires first constructing a
+:class:`Grid1D` object to wrap the table of values and then
+constructing a :class:`CubicInterpolator` object using it.
+
+The resulting code will look as follows:
+
+.. code-block:: c++
+   :emphasize-lines: 10,11,12,13, 24, 32,33
+
+   struct Affine2DWithDistortion {
+     Affine2DWithDistortion(const double x_in[2],
+                            const double y_in[2],
+                            const std::vector<double>& distortion_values) {
+       x[0] = x_in[0];
+       x[1] = x_in[1];
+       y[0] = y_in[0];
+       y[1] = y_in[1];
+
+       grid.reset(new ceres::Grid1D<double, 1>(
+           &distortion_values[0], 0, distortion_values.size()));
+       compute_distortion.reset(
+           new ceres::CubicInterpolator<ceres::Grid1D<double, 1> >(*grid));
+     }
+
+     template <typename T>
+     bool operator()(const T* theta,
+                     const T* t,
+                     T* residuals) const {
+       const T q_0 =  cos(theta[0]) * x[0] - sin(theta[0]) * x[1] + t[0];
+       const T q_1 =  sin(theta[0]) * x[0] + cos(theta[0]) * x[1] + t[1];
+       const T r2 = q_0 * q_0 + q_1 * q_1;
+       T f;
+       compute_distortion->Evaluate(r2, &f);
+       residuals[0] = y[0] - f * q_0;
+       residuals[1] = y[1] - f * q_1;
+       return true;
+     }
+
+     double x[2];
+     double y[2];
+     std::unique_ptr<ceres::Grid1D<double, 1> > grid;
+     std::unique_ptr<ceres::CubicInterpolator<ceres::Grid1D<double, 1> > > compute_distortion;
+   };
+
+In the above example we used :class:`Grid1D` and
+:class:`CubicInterpolator` to interpolate a one dimensional table of
+values. :class:`Grid2D` combined with :class:`CubicInterpolator` lets
+the user to interpolate two dimensional tables of values. Note that
+neither :class:`Grid1D` or :class:`Grid2D` are limited to scalar
+valued functions, they also work with vector valued functions.
diff --git a/docs/source/least_squares_fit.png b/docs/source/least_squares_fit.png
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diff --git a/docs/source/license.rst b/docs/source/license.rst
new file mode 100644
index 0000000..2abbcec
--- /dev/null
+++ b/docs/source/license.rst
@@ -0,0 +1,30 @@
+=======
+License
+=======
+
+Ceres Solver is licensed under the New BSD license, whose terms are as follows.
+
+Copyright 2016 Google Inc. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1.    Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+2.    Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+3.    Neither the name of Google Inc.,  nor the names of its contributors may
+      be used to endorse or promote products derived from this software without
+      specific prior written permission.
+
+This software is provided by the copyright holders and contributors "AS IS" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall Google Inc. be liable for any direct, indirect,
+incidental, special, exemplary, or consequential damages (including, but not
+limited to, procurement of substitute goods or services; loss of use, data, or
+profits; or business interruption) however caused and on any theory of
+liability, whether in contract, strict liability, or tort (including negligence
+or otherwise) arising in any way out of the use of this software, even if
+advised of the possibility of such damage.
diff --git a/docs/source/loss.png b/docs/source/loss.png
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diff --git a/docs/source/modeling_faqs.rst b/docs/source/modeling_faqs.rst
new file mode 100644
index 0000000..ee4e62c
--- /dev/null
+++ b/docs/source/modeling_faqs.rst
@@ -0,0 +1,134 @@
+.. _chapter-modeling_faqs:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+========
+Modeling
+========
+
+#. Use analytical/automatic derivatives.
+
+   This is the single most important piece of advice we can give to
+   you. It is tempting to take the easy way out and use numeric
+   differentiation. This is a bad idea. Numeric differentiation is
+   slow, ill-behaved, hard to get right, and results in poor
+   convergence behaviour.
+
+   Ceres allows the user to define templated functors which will
+   be automatically differentiated. For most situations this is enough
+   and we recommend using this facility. In some cases the derivatives
+   are simple enough or the performance considerations are such that
+   the overhead of automatic differentiation is too much. In such
+   cases, analytic derivatives are recommended.
+
+   The use of numerical derivatives should be a measure of last
+   resort, where it is simply not possible to write a templated
+   implementation of the cost function.
+
+   In many cases it is not possible to do analytic or automatic
+   differentiation of the entire cost function, but it is generally
+   the case that it is possible to decompose the cost function into
+   parts that need to be numerically differentiated and parts that can
+   be automatically or analytically differentiated.
+
+   To this end, Ceres has extensive support for mixing analytic,
+   automatic and numeric differentiation. See
+   :class:`CostFunctionToFunctor`.
+
+#. When using Quaternions,  consider using :class:`QuaternionParameterization`.
+
+   `Quaternions <https://en.wikipedia.org/wiki/Quaternion>`_ are a
+   four dimensional parameterization of the space of three dimensional
+   rotations :math:`SO(3)`.  However, the :math:`SO(3)` is a three
+   dimensional set, and so is the tangent space of a
+   Quaternion. Therefore, it is sometimes (not always) benefecial to
+   associate a local parameterization with parameter blocks
+   representing a Quaternion. Assuming that the order of entries in
+   your parameter block is :math:`w,x,y,z`, you can use
+   :class:`QuaternionParameterization`.
+
+   .. NOTE::
+
+     If you are using `Eigen's Quaternion
+     <http://eigen.tuxfamily.org/dox/classEigen_1_1Quaternion.html>`_
+     object, whose layout is :math:`x,y,z,w`, then you should use
+     :class:`EigenQuaternionParameterization`.
+
+
+#. How do I solve problems with general linear & non-linear
+   **inequality** constraints with Ceres Solver?
+
+   Currently, Ceres Solver only supports upper and lower bounds
+   constraints on the parameter blocks.
+
+   A crude way of dealing with inequality constraints is have one or
+   more of your cost functions check if the inequalities you are
+   interested in are satisfied, and if not return false instead of
+   true. This will prevent the solver from ever stepping into an
+   infeasible region.
+
+   This requires that the starting point for the optimization be a
+   feasible point.  You also risk pre-mature convergence using this
+   method.
+
+#. How do I solve problems with general linear & non-linear **equality**
+   constraints with Ceres Solver?
+
+   There is no built in support in ceres for solving problems with
+   equality constraints.  Currently, Ceres Solver only supports upper
+   and lower bounds constraints on the parameter blocks.
+
+   The trick described above for dealing with inequality
+   constraints will **not** work for equality constraints.
+
+#. How do I set one or more components of a parameter block constant?
+
+   Using :class:`SubsetParameterization`.
+
+#. Putting `Inverse Function Theorem
+   <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ to use.
+
+   Every now and then we have to deal with functions which cannot be
+   evaluated analytically. Computing the Jacobian in such cases is
+   tricky. A particularly interesting case is where the inverse of the
+   function is easy to compute analytically. An example of such a
+   function is the Coordinate transformation between the `ECEF
+   <http://en.wikipedia.org/wiki/ECEF>`_ and the `WGS84
+   <http://en.wikipedia.org/wiki/World_Geodetic_System>`_ where the
+   conversion from WGS84 to ECEF is analytic, but the conversion
+   back to WGS84 uses an iterative algorithm. So how do you compute the
+   derivative of the ECEF to WGS84 transformation?
+
+   One obvious approach would be to numerically
+   differentiate the conversion function. This is not a good idea. For
+   one, it will be slow, but it will also be numerically quite
+   bad.
+
+   Turns out you can use the `Inverse Function Theorem
+   <http://en.wikipedia.org/wiki/Inverse_function_theorem>`_ in this
+   case to compute the derivatives more or less analytically.
+
+   The key result here is. If :math:`x = f^{-1}(y)`, and :math:`Df(x)`
+   is the invertible Jacobian of :math:`f` at :math:`x`. Then the
+   Jacobian :math:`Df^{-1}(y) = [Df(x)]^{-1}`, i.e., the Jacobian of
+   the :math:`f^{-1}` is the inverse of the Jacobian of :math:`f`.
+
+   Algorithmically this means that given :math:`y`, compute :math:`x =
+   f^{-1}(y)` by whatever means you can. Evaluate the Jacobian of
+   :math:`f` at :math:`x`. If the Jacobian matrix is invertible, then
+   its inverse is the Jacobian of :math:`f^{-1}(y)` at  :math:`y`.
+
+   One can put this into practice with the following code fragment.
+
+   .. code-block:: c++
+
+      Eigen::Vector3d ecef; // Fill some values
+      // Iterative computation.
+      Eigen::Vector3d lla = ECEFToLLA(ecef);
+      // Analytic derivatives
+      Eigen::Matrix3d lla_to_ecef_jacobian = LLAToECEFJacobian(lla);
+      bool invertible;
+      Eigen::Matrix3d ecef_to_lla_jacobian;
+      lla_to_ecef_jacobian.computeInverseWithCheck(ecef_to_lla_jacobian, invertible);
diff --git a/docs/source/nnls_covariance.rst b/docs/source/nnls_covariance.rst
new file mode 100644
index 0000000..60f15a0
--- /dev/null
+++ b/docs/source/nnls_covariance.rst
@@ -0,0 +1,376 @@
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-nnls_covariance:
+
+=====================
+Covariance Estimation
+=====================
+
+Introduction
+============
+
+One way to assess the quality of the solution returned by a non-linear
+least squares solver is to analyze the covariance of the solution.
+
+Let us consider the non-linear regression problem
+
+.. math::  y = f(x) + N(0, I)
+
+i.e., the observation :math:`y` is a random non-linear function of the
+independent variable :math:`x` with mean :math:`f(x)` and identity
+covariance. Then the maximum likelihood estimate of :math:`x` given
+observations :math:`y` is the solution to the non-linear least squares
+problem:
+
+.. math:: x^* = \arg \min_x \|f(x)\|^2
+
+And the covariance of :math:`x^*` is given by
+
+.. math:: C(x^*) = \left(J'(x^*)J(x^*)\right)^{-1}
+
+Here :math:`J(x^*)` is the Jacobian of :math:`f` at :math:`x^*`. The
+above formula assumes that :math:`J(x^*)` has full column rank.
+
+If :math:`J(x^*)` is rank deficient, then the covariance matrix :math:`C(x^*)`
+is also rank deficient and is given by the Moore-Penrose pseudo inverse.
+
+.. math:: C(x^*) =  \left(J'(x^*)J(x^*)\right)^{\dagger}
+
+Note that in the above, we assumed that the covariance matrix for
+:math:`y` was identity. This is an important assumption. If this is
+not the case and we have
+
+.. math:: y = f(x) + N(0, S)
+
+Where :math:`S` is a positive semi-definite matrix denoting the
+covariance of :math:`y`, then the maximum likelihood problem to be
+solved is
+
+.. math:: x^* = \arg \min_x f'(x) S^{-1} f(x)
+
+and the corresponding covariance estimate of :math:`x^*` is given by
+
+.. math:: C(x^*) = \left(J'(x^*) S^{-1} J(x^*)\right)^{-1}
+
+So, if it is the case that the observations being fitted to have a
+covariance matrix not equal to identity, then it is the user's
+responsibility that the corresponding cost functions are correctly
+scaled, e.g. in the above case the cost function for this problem
+should evaluate :math:`S^{-1/2} f(x)` instead of just :math:`f(x)`,
+where :math:`S^{-1/2}` is the inverse square root of the covariance
+matrix :math:`S`.
+
+Gauge Invariance
+================
+
+In structure from motion (3D reconstruction) problems, the
+reconstruction is ambiguous upto a similarity transform. This is
+known as a *Gauge Ambiguity*. Handling Gauges correctly requires the
+use of SVD or custom inversion algorithms. For small problems the
+user can use the dense algorithm. For more details see the work of
+Kanatani & Morris [KanataniMorris]_.
+
+
+:class:`Covariance`
+===================
+
+:class:`Covariance` allows the user to evaluate the covariance for a
+non-linear least squares problem and provides random access to its
+blocks. The computation assumes that the cost functions compute
+residuals such that their covariance is identity.
+
+Since the computation of the covariance matrix requires computing the
+inverse of a potentially large matrix, this can involve a rather large
+amount of time and memory. However, it is usually the case that the
+user is only interested in a small part of the covariance
+matrix. Quite often just the block diagonal. :class:`Covariance`
+allows the user to specify the parts of the covariance matrix that she
+is interested in and then uses this information to only compute and
+store those parts of the covariance matrix.
+
+Rank of the Jacobian
+====================
+
+As we noted above, if the Jacobian is rank deficient, then the inverse
+of :math:`J'J` is not defined and instead a pseudo inverse needs to be
+computed.
+
+The rank deficiency in :math:`J` can be *structural* -- columns
+which are always known to be zero or *numerical* -- depending on the
+exact values in the Jacobian.
+
+Structural rank deficiency occurs when the problem contains parameter
+blocks that are constant. This class correctly handles structural rank
+deficiency like that.
+
+Numerical rank deficiency, where the rank of the matrix cannot be
+predicted by its sparsity structure and requires looking at its
+numerical values is more complicated. Here again there are two
+cases.
+
+  a. The rank deficiency arises from overparameterization. e.g., a
+     four dimensional quaternion used to parameterize :math:`SO(3)`,
+     which is a three dimensional manifold. In cases like this, the
+     user should use an appropriate
+     :class:`LocalParameterization`. Not only will this lead to better
+     numerical behaviour of the Solver, it will also expose the rank
+     deficiency to the :class:`Covariance` object so that it can
+     handle it correctly.
+
+  b. More general numerical rank deficiency in the Jacobian requires
+     the computation of the so called Singular Value Decomposition
+     (SVD) of :math:`J'J`. We do not know how to do this for large
+     sparse matrices efficiently. For small and moderate sized
+     problems this is done using dense linear algebra.
+
+
+:class:`Covariance::Options`
+
+.. class:: Covariance::Options
+
+.. member:: int Covariance::Options::num_threads
+
+   Default: ``1``
+
+   Number of threads to be used for evaluating the Jacobian and
+   estimation of covariance.
+
+.. member:: SparseLinearAlgebraLibraryType Covariance::Options::sparse_linear_algebra_library_type
+
+   Default: ``SUITE_SPARSE`` Ceres Solver is built with support for
+   `SuiteSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_
+   and ``EIGEN_SPARSE`` otherwise. Note that ``EIGEN_SPARSE`` is
+   always available.
+
+.. member:: CovarianceAlgorithmType Covariance::Options::algorithm_type
+
+   Default: ``SPARSE_QR``
+
+   Ceres supports two different algorithms for covariance estimation,
+   which represent different tradeoffs in speed, accuracy and
+   reliability.
+
+   1. ``SPARSE_QR`` uses the sparse QR factorization algorithm to
+      compute the decomposition
+
+       .. math::
+
+          QR &= J\\
+          \left(J^\top J\right)^{-1} &= \left(R^\top R\right)^{-1}
+
+      The speed of this algorithm depends on the sparse linear algebra
+      library being used. ``Eigen``'s sparse QR factorization is a
+      moderately fast algorithm suitable for small to medium sized
+      matrices. For best performance we recommend using
+      ``SuiteSparseQR`` which is enabled by setting
+      :member:`Covaraince::Options::sparse_linear_algebra_library_type`
+      to ``SUITE_SPARSE``.
+
+      Neither ``SPARSE_QR`` cannot compute the covariance if the
+      Jacobian is rank deficient.
+
+
+   2. ``DENSE_SVD`` uses ``Eigen``'s ``JacobiSVD`` to perform the
+      computations. It computes the singular value decomposition
+
+      .. math::   U S V^\top = J
+
+      and then uses it to compute the pseudo inverse of J'J as
+
+      .. math::   (J'J)^{\dagger} = V  S^{\dagger}  V^\top
+
+      It is an accurate but slow method and should only be used for
+      small to moderate sized problems. It can handle full-rank as
+      well as rank deficient Jacobians.
+
+
+.. member:: int Covariance::Options::min_reciprocal_condition_number
+
+   Default: :math:`10^{-14}`
+
+   If the Jacobian matrix is near singular, then inverting :math:`J'J`
+   will result in unreliable results, e.g, if
+
+   .. math::
+
+     J = \begin{bmatrix}
+         1.0& 1.0 \\
+         1.0& 1.0000001
+         \end{bmatrix}
+
+   which is essentially a rank deficient matrix, we have
+
+   .. math::
+
+     (J'J)^{-1} = \begin{bmatrix}
+                  2.0471e+14&  -2.0471e+14 \\
+                  -2.0471e+14   2.0471e+14
+                  \end{bmatrix}
+
+
+   This is not a useful result. Therefore, by default
+   :func:`Covariance::Compute` will return ``false`` if a rank
+   deficient Jacobian is encountered. How rank deficiency is detected
+   depends on the algorithm being used.
+
+   1. ``DENSE_SVD``
+
+      .. math:: \frac{\sigma_{\text{min}}}{\sigma_{\text{max}}}  < \sqrt{\text{min_reciprocal_condition_number}}
+
+      where :math:`\sigma_{\text{min}}` and
+      :math:`\sigma_{\text{max}}` are the minimum and maxiumum
+      singular values of :math:`J` respectively.
+
+   2. ``SPARSE_QR``
+
+       .. math:: \operatorname{rank}(J) < \operatorname{num\_col}(J)
+
+       Here :math:`\operatorname{rank}(J)` is the estimate of the rank
+       of :math:`J` returned by the sparse QR factorization
+       algorithm. It is a fairly reliable indication of rank
+       deficiency.
+
+.. member:: int Covariance::Options::null_space_rank
+
+    When using ``DENSE_SVD``, the user has more control in dealing
+    with singular and near singular covariance matrices.
+
+    As mentioned above, when the covariance matrix is near singular,
+    instead of computing the inverse of :math:`J'J`, the Moore-Penrose
+    pseudoinverse of :math:`J'J` should be computed.
+
+    If :math:`J'J` has the eigen decomposition :math:`(\lambda_i,
+    e_i)`, where :math:`\lambda_i` is the :math:`i^\textrm{th}`
+    eigenvalue and :math:`e_i` is the corresponding eigenvector, then
+    the inverse of :math:`J'J` is
+
+    .. math:: (J'J)^{-1} = \sum_i \frac{1}{\lambda_i} e_i e_i'
+
+    and computing the pseudo inverse involves dropping terms from this
+    sum that correspond to small eigenvalues.
+
+    How terms are dropped is controlled by
+    `min_reciprocal_condition_number` and `null_space_rank`.
+
+    If `null_space_rank` is non-negative, then the smallest
+    `null_space_rank` eigenvalue/eigenvectors are dropped irrespective
+    of the magnitude of :math:`\lambda_i`. If the ratio of the
+    smallest non-zero eigenvalue to the largest eigenvalue in the
+    truncated matrix is still below min_reciprocal_condition_number,
+    then the `Covariance::Compute()` will fail and return `false`.
+
+    Setting `null_space_rank = -1` drops all terms for which
+
+    .. math::  \frac{\lambda_i}{\lambda_{\textrm{max}}} < \textrm{min_reciprocal_condition_number}
+
+    This option has no effect on ``SPARSE_QR``.
+
+.. member:: bool Covariance::Options::apply_loss_function
+
+   Default: `true`
+
+   Even though the residual blocks in the problem may contain loss
+   functions, setting ``apply_loss_function`` to false will turn off
+   the application of the loss function to the output of the cost
+   function and in turn its effect on the covariance.
+
+.. class:: Covariance
+
+   :class:`Covariance::Options` as the name implies is used to control
+   the covariance estimation algorithm. Covariance estimation is a
+   complicated and numerically sensitive procedure. Please read the
+   entire documentation for :class:`Covariance::Options` before using
+   :class:`Covariance`.
+
+.. function:: bool Covariance::Compute(const vector<pair<const double*, const double*> >& covariance_blocks, Problem* problem)
+
+   Compute a part of the covariance matrix.
+
+   The vector ``covariance_blocks``, indexes into the covariance
+   matrix block-wise using pairs of parameter blocks. This allows the
+   covariance estimation algorithm to only compute and store these
+   blocks.
+
+   Since the covariance matrix is symmetric, if the user passes
+   ``<block1, block2>``, then ``GetCovarianceBlock`` can be called with
+   ``block1``, ``block2`` as well as ``block2``, ``block1``.
+
+   ``covariance_blocks`` cannot contain duplicates. Bad things will
+   happen if they do.
+
+   Note that the list of ``covariance_blocks`` is only used to
+   determine what parts of the covariance matrix are computed. The
+   full Jacobian is used to do the computation, i.e. they do not have
+   an impact on what part of the Jacobian is used for computation.
+
+   The return value indicates the success or failure of the covariance
+   computation. Please see the documentation for
+   :class:`Covariance::Options` for more on the conditions under which
+   this function returns ``false``.
+
+.. function:: bool GetCovarianceBlock(const double* parameter_block1, const double* parameter_block2, double* covariance_block) const
+
+   Return the block of the cross-covariance matrix corresponding to
+   ``parameter_block1`` and ``parameter_block2``.
+
+   Compute must be called before the first call to ``GetCovarianceBlock``
+   and the pair ``<parameter_block1, parameter_block2>`` OR the pair
+   ``<parameter_block2, parameter_block1>`` must have been present in the
+   vector covariance_blocks when ``Compute`` was called. Otherwise
+   ``GetCovarianceBlock`` will return false.
+
+   ``covariance_block`` must point to a memory location that can store
+   a ``parameter_block1_size x parameter_block2_size`` matrix. The
+   returned covariance will be a row-major matrix.
+
+.. function:: bool GetCovarianceBlockInTangentSpace(const double* parameter_block1, const double* parameter_block2, double* covariance_block) const
+
+   Return the block of the cross-covariance matrix corresponding to
+   ``parameter_block1`` and ``parameter_block2``.
+   Returns cross-covariance in the tangent space if a local
+   parameterization is associated with either parameter block;
+   else returns cross-covariance in the ambient space.
+
+   Compute must be called before the first call to ``GetCovarianceBlock``
+   and the pair ``<parameter_block1, parameter_block2>`` OR the pair
+   ``<parameter_block2, parameter_block1>`` must have been present in the
+   vector covariance_blocks when ``Compute`` was called. Otherwise
+   ``GetCovarianceBlock`` will return false.
+
+   ``covariance_block`` must point to a memory location that can store
+   a ``parameter_block1_local_size x parameter_block2_local_size`` matrix. The
+   returned covariance will be a row-major matrix.
+
+Example Usage
+=============
+
+.. code-block:: c++
+
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 2);
+ <Build Problem>
+ <Solve Problem>
+
+ Covariance::Options options;
+ Covariance covariance(options);
+
+ vector<pair<const double*, const double*> > covariance_blocks;
+ covariance_blocks.push_back(make_pair(x, x));
+ covariance_blocks.push_back(make_pair(y, y));
+ covariance_blocks.push_back(make_pair(x, y));
+
+ CHECK(covariance.Compute(covariance_blocks, &problem));
+
+ double covariance_xx[3 * 3];
+ double covariance_yy[2 * 2];
+ double covariance_xy[3 * 2];
+ covariance.GetCovarianceBlock(x, x, covariance_xx)
+ covariance.GetCovarianceBlock(y, y, covariance_yy)
+ covariance.GetCovarianceBlock(x, y, covariance_xy)
diff --git a/docs/source/nnls_modeling.rst b/docs/source/nnls_modeling.rst
new file mode 100644
index 0000000..abc1ccc
--- /dev/null
+++ b/docs/source/nnls_modeling.rst
@@ -0,0 +1,2041 @@
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _`chapter-nnls_modeling`:
+
+=================================
+Modeling Non-linear Least Squares
+=================================
+
+Introduction
+============
+
+Ceres solver consists of two distinct parts. A modeling API which
+provides a rich set of tools to construct an optimization problem one
+term at a time and a solver API that controls the minimization
+algorithm. This chapter is devoted to the task of modeling
+optimization problems using Ceres. :ref:`chapter-nnls_solving` discusses
+the various ways in which an optimization problem can be solved using
+Ceres.
+
+Ceres solves robustified bounds constrained non-linear least squares
+problems of the form:
+
+.. math:: :label: ceresproblem
+
+   \min_{\mathbf{x}} &\quad \frac{1}{2}\sum_{i}
+   \rho_i\left(\left\|f_i\left(x_{i_1},
+   ... ,x_{i_k}\right)\right\|^2\right)  \\
+   \text{s.t.} &\quad l_j \le x_j \le u_j
+
+In Ceres parlance, the expression
+:math:`\rho_i\left(\left\|f_i\left(x_{i_1},...,x_{i_k}\right)\right\|^2\right)`
+is known as a **residual block**, where :math:`f_i(\cdot)` is a
+:class:`CostFunction` that depends on the **parameter blocks**
+:math:`\left\{x_{i_1},... , x_{i_k}\right\}`.
+
+In most optimization problems small groups of scalars occur
+together. For example the three components of a translation vector and
+the four components of the quaternion that define the pose of a
+camera. We refer to such a group of scalars as a **parameter block**. Of
+course a parameter block can be just a single scalar too.
+
+:math:`\rho_i` is a :class:`LossFunction`. A :class:`LossFunction` is
+a scalar valued function that is used to reduce the influence of
+outliers on the solution of non-linear least squares problems.
+
+:math:`l_j` and :math:`u_j` are lower and upper bounds on the
+parameter block :math:`x_j`.
+
+As a special case, when :math:`\rho_i(x) = x`, i.e., the identity
+function, and :math:`l_j = -\infty` and :math:`u_j = \infty` we get
+the more familiar unconstrained `non-linear least squares problem
+<http://en.wikipedia.org/wiki/Non-linear_least_squares>`_.
+
+.. math:: :label: ceresproblemunconstrained
+
+   \frac{1}{2}\sum_{i} \left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2.
+
+:class:`CostFunction`
+=====================
+
+For each term in the objective function, a :class:`CostFunction` is
+responsible for computing a vector of residuals and if asked a vector
+of Jacobian matrices, i.e., given :math:`\left[x_{i_1}, ... ,
+x_{i_k}\right]`, compute the vector
+:math:`f_i\left(x_{i_1},...,x_{i_k}\right)` and the matrices
+
+ .. math:: J_{ij} = \frac{\partial}{\partial
+           x_{i_j}}f_i\left(x_{i_1},...,x_{i_k}\right),\quad \forall j
+           \in \{1, \ldots, k\}
+
+.. class:: CostFunction
+
+   .. code-block:: c++
+
+    class CostFunction {
+     public:
+      virtual bool Evaluate(double const* const* parameters,
+                            double* residuals,
+                            double** jacobians) = 0;
+      const vector<int32>& parameter_block_sizes();
+      int num_residuals() const;
+
+     protected:
+      vector<int32>* mutable_parameter_block_sizes();
+      void set_num_residuals(int num_residuals);
+    };
+
+
+The signature of the :class:`CostFunction` (number and sizes of input
+parameter blocks and number of outputs) is stored in
+:member:`CostFunction::parameter_block_sizes_` and
+:member:`CostFunction::num_residuals_` respectively. User code
+inheriting from this class is expected to set these two members with
+the corresponding accessors. This information will be verified by the
+:class:`Problem` when added with :func:`Problem::AddResidualBlock`.
+
+.. function:: bool CostFunction::Evaluate(double const* const* parameters, double* residuals, double** jacobians)
+
+   Compute the residual vector and the Jacobian matrices.
+
+   ``parameters`` is an array of pointers to arrays containing the
+   various parameter blocks. ``parameters`` has the same number of
+   elements as :member:`CostFunction::parameter_block_sizes_` and the
+   parameter blocks are in the same order as
+   :member:`CostFunction::parameter_block_sizes_`.
+
+   ``residuals`` is an array of size ``num_residuals_``.
+
+   ``jacobians`` is an array of size
+   :member:`CostFunction::parameter_block_sizes_` containing pointers
+   to storage for Jacobian matrices corresponding to each parameter
+   block. The Jacobian matrices are in the same order as
+   :member:`CostFunction::parameter_block_sizes_`. ``jacobians[i]`` is
+   an array that contains :member:`CostFunction::num_residuals_` x
+   :member:`CostFunction::parameter_block_sizes_` ``[i]``
+   elements. Each Jacobian matrix is stored in row-major order, i.e.,
+   ``jacobians[i][r * parameter_block_size_[i] + c]`` =
+   :math:`\frac{\partial residual[r]}{\partial parameters[i][c]}`
+
+
+   If ``jacobians`` is ``NULL``, then no derivatives are returned;
+   this is the case when computing cost only. If ``jacobians[i]`` is
+   ``NULL``, then the Jacobian matrix corresponding to the
+   :math:`i^{\textrm{th}}` parameter block must not be returned, this
+   is the case when a parameter block is marked constant.
+
+   **NOTE** The return value indicates whether the computation of the
+   residuals and/or jacobians was successful or not.
+
+   This can be used to communicate numerical failures in Jacobian
+   computations for instance.
+
+:class:`SizedCostFunction`
+==========================
+
+.. class:: SizedCostFunction
+
+   If the size of the parameter blocks and the size of the residual
+   vector is known at compile time (this is the common case),
+   :class:`SizeCostFunction` can be used where these values can be
+   specified as template parameters and the user only needs to
+   implement :func:`CostFunction::Evaluate`.
+
+   .. code-block:: c++
+
+    template<int kNumResiduals,
+             int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+             int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+    class SizedCostFunction : public CostFunction {
+     public:
+      virtual bool Evaluate(double const* const* parameters,
+                            double* residuals,
+                            double** jacobians) const = 0;
+    };
+
+
+:class:`AutoDiffCostFunction`
+=============================
+
+.. class:: AutoDiffCostFunction
+
+   Defining a :class:`CostFunction` or a :class:`SizedCostFunction`
+   can be a tedious and error prone especially when computing
+   derivatives.  To this end Ceres provides `automatic differentiation
+   <http://en.wikipedia.org/wiki/Automatic_differentiation>`_.
+
+   .. code-block:: c++
+
+     template <typename CostFunctor,
+            int kNumResiduals,  // Number of residuals, or ceres::DYNAMIC.
+            int N0,       // Number of parameters in block 0.
+            int N1 = 0,   // Number of parameters in block 1.
+            int N2 = 0,   // Number of parameters in block 2.
+            int N3 = 0,   // Number of parameters in block 3.
+            int N4 = 0,   // Number of parameters in block 4.
+            int N5 = 0,   // Number of parameters in block 5.
+            int N6 = 0,   // Number of parameters in block 6.
+            int N7 = 0,   // Number of parameters in block 7.
+            int N8 = 0,   // Number of parameters in block 8.
+            int N9 = 0>   // Number of parameters in block 9.
+     class AutoDiffCostFunction : public
+     SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
+      public:
+       explicit AutoDiffCostFunction(CostFunctor* functor);
+       // Ignore the template parameter kNumResiduals and use
+       // num_residuals instead.
+       AutoDiffCostFunction(CostFunctor* functor, int num_residuals);
+     };
+
+   To get an auto differentiated cost function, you must define a
+   class with a templated ``operator()`` (a functor) that computes the
+   cost function in terms of the template parameter ``T``. The
+   autodiff framework substitutes appropriate ``Jet`` objects for
+   ``T`` in order to compute the derivative when necessary, but this
+   is hidden, and you should write the function as if ``T`` were a
+   scalar type (e.g. a double-precision floating point number).
+
+   The function must write the computed value in the last argument
+   (the only non-``const`` one) and return true to indicate success.
+
+   For example, consider a scalar error :math:`e = k - x^\top y`,
+   where both :math:`x` and :math:`y` are two-dimensional vector
+   parameters and :math:`k` is a constant. The form of this error,
+   which is the difference between a constant and an expression, is a
+   common pattern in least squares problems. For example, the value
+   :math:`x^\top y` might be the model expectation for a series of
+   measurements, where there is an instance of the cost function for
+   each measurement :math:`k`.
+
+   The actual cost added to the total problem is :math:`e^2`, or
+   :math:`(k - x^\top y)^2`; however, the squaring is implicitly done
+   by the optimization framework.
+
+   To write an auto-differentiable cost function for the above model,
+   first define the object
+
+   .. code-block:: c++
+
+    class MyScalarCostFunctor {
+      MyScalarCostFunctor(double k): k_(k) {}
+
+      template <typename T>
+      bool operator()(const T* const x , const T* const y, T* e) const {
+        e[0] = k_ - x[0] * y[0] - x[1] * y[1];
+        return true;
+      }
+
+     private:
+      double k_;
+    };
+
+
+   Note that in the declaration of ``operator()`` the input parameters
+   ``x`` and ``y`` come first, and are passed as const pointers to arrays
+   of ``T``. If there were three input parameters, then the third input
+   parameter would come after ``y``. The output is always the last
+   parameter, and is also a pointer to an array. In the example above,
+   ``e`` is a scalar, so only ``e[0]`` is set.
+
+   Then given this class definition, the auto differentiated cost
+   function for it can be constructed as follows.
+
+   .. code-block:: c++
+
+    CostFunction* cost_function
+        = new AutoDiffCostFunction<MyScalarCostFunctor, 1, 2, 2>(
+            new MyScalarCostFunctor(1.0));              ^  ^  ^
+                                                        |  |  |
+                            Dimension of residual ------+  |  |
+                            Dimension of x ----------------+  |
+                            Dimension of y -------------------+
+
+
+   In this example, there is usually an instance for each measurement
+   of ``k``.
+
+   In the instantiation above, the template parameters following
+   ``MyScalarCostFunction``, ``<1, 2, 2>`` describe the functor as
+   computing a 1-dimensional output from two arguments, both
+   2-dimensional.
+
+   :class:`AutoDiffCostFunction` also supports cost functions with a
+   runtime-determined number of residuals. For example:
+
+   .. code-block:: c++
+
+     CostFunction* cost_function
+         = new AutoDiffCostFunction<MyScalarCostFunctor, DYNAMIC, 2, 2>(
+             new CostFunctorWithDynamicNumResiduals(1.0),   ^     ^  ^
+             runtime_number_of_residuals); <----+           |     |  |
+                                                |           |     |  |
+                                                |           |     |  |
+               Actual number of residuals ------+           |     |  |
+               Indicate dynamic number of residuals --------+     |  |
+               Dimension of x ------------------------------------+  |
+               Dimension of y ---------------------------------------+
+
+   The framework can currently accommodate cost functions of up to 10
+   independent variables, and there is no limit on the dimensionality
+   of each of them.
+
+   **WARNING 1** A common beginner's error when first using
+   :class:`AutoDiffCostFunction` is to get the sizing wrong. In particular,
+   there is a tendency to set the template parameters to (dimension of
+   residual, number of parameters) instead of passing a dimension
+   parameter for *every parameter block*. In the example above, that
+   would be ``<MyScalarCostFunction, 1, 2>``, which is missing the 2
+   as the last template argument.
+
+
+:class:`DynamicAutoDiffCostFunction`
+====================================
+
+.. class:: DynamicAutoDiffCostFunction
+
+   :class:`AutoDiffCostFunction` requires that the number of parameter
+   blocks and their sizes be known at compile time. It also has an
+   upper limit of 10 parameter blocks. In a number of applications,
+   this is not enough e.g., Bezier curve fitting, Neural Network
+   training etc.
+
+     .. code-block:: c++
+
+      template <typename CostFunctor, int Stride = 4>
+      class DynamicAutoDiffCostFunction : public CostFunction {
+      };
+
+   In such cases :class:`DynamicAutoDiffCostFunction` can be
+   used. Like :class:`AutoDiffCostFunction` the user must define a
+   templated functor, but the signature of the functor differs
+   slightly. The expected interface for the cost functors is:
+
+     .. code-block:: c++
+
+       struct MyCostFunctor {
+         template<typename T>
+         bool operator()(T const* const* parameters, T* residuals) const {
+         }
+       }
+
+   Since the sizing of the parameters is done at runtime, you must
+   also specify the sizes after creating the dynamic autodiff cost
+   function. For example:
+
+     .. code-block:: c++
+
+       DynamicAutoDiffCostFunction<MyCostFunctor, 4>* cost_function =
+         new DynamicAutoDiffCostFunction<MyCostFunctor, 4>(
+           new MyCostFunctor());
+       cost_function->AddParameterBlock(5);
+       cost_function->AddParameterBlock(10);
+       cost_function->SetNumResiduals(21);
+
+   Under the hood, the implementation evaluates the cost function
+   multiple times, computing a small set of the derivatives (four by
+   default, controlled by the ``Stride`` template parameter) with each
+   pass. There is a performance tradeoff with the size of the passes;
+   Smaller sizes are more cache efficient but result in larger number
+   of passes, and larger stride lengths can destroy cache-locality
+   while reducing the number of passes over the cost function. The
+   optimal value depends on the number and sizes of the various
+   parameter blocks.
+
+   As a rule of thumb, try using :class:`AutoDiffCostFunction` before
+   you use :class:`DynamicAutoDiffCostFunction`.
+
+:class:`NumericDiffCostFunction`
+================================
+
+.. class:: NumericDiffCostFunction
+
+  In some cases, its not possible to define a templated cost functor,
+  for example when the evaluation of the residual involves a call to a
+  library function that you do not have control over.  In such a
+  situation, `numerical differentiation
+  <http://en.wikipedia.org/wiki/Numerical_differentiation>`_ can be
+  used.
+
+  .. NOTE ::
+
+    TODO(sameeragarwal): Add documentation for the constructor and for
+    NumericDiffOptions. Update DynamicNumericDiffOptions in a similar
+    manner.
+
+  .. code-block:: c++
+
+      template <typename CostFunctor,
+                NumericDiffMethodType method = CENTRAL,
+                int kNumResiduals,  // Number of residuals, or ceres::DYNAMIC.
+                int N0,       // Number of parameters in block 0.
+                int N1 = 0,   // Number of parameters in block 1.
+                int N2 = 0,   // Number of parameters in block 2.
+                int N3 = 0,   // Number of parameters in block 3.
+                int N4 = 0,   // Number of parameters in block 4.
+                int N5 = 0,   // Number of parameters in block 5.
+                int N6 = 0,   // Number of parameters in block 6.
+                int N7 = 0,   // Number of parameters in block 7.
+                int N8 = 0,   // Number of parameters in block 8.
+                int N9 = 0>   // Number of parameters in block 9.
+      class NumericDiffCostFunction : public
+      SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
+      };
+
+  To get a numerically differentiated :class:`CostFunction`, you must
+  define a class with a ``operator()`` (a functor) that computes the
+  residuals. The functor must write the computed value in the last
+  argument (the only non-``const`` one) and return ``true`` to
+  indicate success.  Please see :class:`CostFunction` for details on
+  how the return value may be used to impose simple constraints on the
+  parameter block. e.g., an object of the form
+
+  .. code-block:: c++
+
+     struct ScalarFunctor {
+      public:
+       bool operator()(const double* const x1,
+                       const double* const x2,
+                       double* residuals) const;
+     }
+
+  For example, consider a scalar error :math:`e = k - x'y`, where both
+  :math:`x` and :math:`y` are two-dimensional column vector
+  parameters, the prime sign indicates transposition, and :math:`k` is
+  a constant. The form of this error, which is the difference between
+  a constant and an expression, is a common pattern in least squares
+  problems. For example, the value :math:`x'y` might be the model
+  expectation for a series of measurements, where there is an instance
+  of the cost function for each measurement :math:`k`.
+
+  To write an numerically-differentiable class:`CostFunction` for the
+  above model, first define the object
+
+  .. code-block::  c++
+
+     class MyScalarCostFunctor {
+       MyScalarCostFunctor(double k): k_(k) {}
+
+       bool operator()(const double* const x,
+                       const double* const y,
+                       double* residuals) const {
+         residuals[0] = k_ - x[0] * y[0] + x[1] * y[1];
+         return true;
+       }
+
+      private:
+       double k_;
+     };
+
+  Note that in the declaration of ``operator()`` the input parameters
+  ``x`` and ``y`` come first, and are passed as const pointers to
+  arrays of ``double`` s. If there were three input parameters, then
+  the third input parameter would come after ``y``. The output is
+  always the last parameter, and is also a pointer to an array. In the
+  example above, the residual is a scalar, so only ``residuals[0]`` is
+  set.
+
+  Then given this class definition, the numerically differentiated
+  :class:`CostFunction` with central differences used for computing
+  the derivative can be constructed as follows.
+
+  .. code-block:: c++
+
+    CostFunction* cost_function
+        = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 2, 2>(
+            new MyScalarCostFunctor(1.0));                    ^     ^  ^  ^
+                                                              |     |  |  |
+                                  Finite Differencing Scheme -+     |  |  |
+                                  Dimension of residual ------------+  |  |
+                                  Dimension of x ----------------------+  |
+                                  Dimension of y -------------------------+
+
+  In this example, there is usually an instance for each measurement
+  of `k`.
+
+  In the instantiation above, the template parameters following
+  ``MyScalarCostFunctor``, ``1, 2, 2``, describe the functor as
+  computing a 1-dimensional output from two arguments, both
+  2-dimensional.
+
+  NumericDiffCostFunction also supports cost functions with a
+  runtime-determined number of residuals. For example:
+
+   .. code-block:: c++
+
+     CostFunction* cost_function
+         = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
+             new CostFunctorWithDynamicNumResiduals(1.0),               ^     ^  ^
+             TAKE_OWNERSHIP,                                            |     |  |
+             runtime_number_of_residuals); <----+                       |     |  |
+                                                |                       |     |  |
+                                                |                       |     |  |
+               Actual number of residuals ------+                       |     |  |
+               Indicate dynamic number of residuals --------------------+     |  |
+               Dimension of x ------------------------------------------------+  |
+               Dimension of y ---------------------------------------------------+
+
+
+  The framework can currently accommodate cost functions of up to 10
+  independent variables, and there is no limit on the dimensionality
+  of each of them.
+
+  There are three available numeric differentiation schemes in ceres-solver:
+
+  The ``FORWARD`` difference method, which approximates :math:`f'(x)`
+  by computing :math:`\frac{f(x+h)-f(x)}{h}`, computes the cost
+  function one additional time at :math:`x+h`. It is the fastest but
+  least accurate method.
+
+  The ``CENTRAL`` difference method is more accurate at the cost of
+  twice as many function evaluations than forward difference,
+  estimating :math:`f'(x)` by computing
+  :math:`\frac{f(x+h)-f(x-h)}{2h}`.
+
+  The ``RIDDERS`` difference method[Ridders]_ is an adaptive scheme
+  that estimates derivatives by performing multiple central
+  differences at varying scales. Specifically, the algorithm starts at
+  a certain :math:`h` and as the derivative is estimated, this step
+  size decreases.  To conserve function evaluations and estimate the
+  derivative error, the method performs Richardson extrapolations
+  between the tested step sizes.  The algorithm exhibits considerably
+  higher accuracy, but does so by additional evaluations of the cost
+  function.
+
+  Consider using ``CENTRAL`` differences to begin with. Based on the
+  results, either try forward difference to improve performance or
+  Ridders' method to improve accuracy.
+
+  **WARNING** A common beginner's error when first using
+  :class:`NumericDiffCostFunction` is to get the sizing wrong. In
+  particular, there is a tendency to set the template parameters to
+  (dimension of residual, number of parameters) instead of passing a
+  dimension parameter for *every parameter*. In the example above,
+  that would be ``<MyScalarCostFunctor, 1, 2>``, which is missing the
+  last ``2`` argument. Please be careful when setting the size
+  parameters.
+
+
+Numeric Differentiation & LocalParameterization
+-----------------------------------------------
+
+   If your cost function depends on a parameter block that must lie on
+   a manifold and the functor cannot be evaluated for values of that
+   parameter block not on the manifold then you may have problems
+   numerically differentiating such functors.
+
+   This is because numeric differentiation in Ceres is performed by
+   perturbing the individual coordinates of the parameter blocks that
+   a cost functor depends on. In doing so, we assume that the
+   parameter blocks live in an Euclidean space and ignore the
+   structure of manifold that they live As a result some of the
+   perturbations may not lie on the manifold corresponding to the
+   parameter block.
+
+   For example consider a four dimensional parameter block that is
+   interpreted as a unit Quaternion. Perturbing the coordinates of
+   this parameter block will violate the unit norm property of the
+   parameter block.
+
+   Fixing this problem requires that :class:`NumericDiffCostFunction`
+   be aware of the :class:`LocalParameterization` associated with each
+   parameter block and only generate perturbations in the local
+   tangent space of each parameter block.
+
+   For now this is not considered to be a serious enough problem to
+   warrant changing the :class:`NumericDiffCostFunction` API. Further,
+   in most cases it is relatively straightforward to project a point
+   off the manifold back onto the manifold before using it in the
+   functor. For example in case of the Quaternion, normalizing the
+   4-vector before using it does the trick.
+
+   **Alternate Interface**
+
+   For a variety of reasons, including compatibility with legacy code,
+   :class:`NumericDiffCostFunction` can also take
+   :class:`CostFunction` objects as input. The following describes
+   how.
+
+   To get a numerically differentiated cost function, define a
+   subclass of :class:`CostFunction` such that the
+   :func:`CostFunction::Evaluate` function ignores the ``jacobians``
+   parameter. The numeric differentiation wrapper will fill in the
+   jacobian parameter if necessary by repeatedly calling the
+   :func:`CostFunction::Evaluate` with small changes to the
+   appropriate parameters, and computing the slope. For performance,
+   the numeric differentiation wrapper class is templated on the
+   concrete cost function, even though it could be implemented only in
+   terms of the :class:`CostFunction` interface.
+
+   The numerically differentiated version of a cost function for a
+   cost function can be constructed as follows:
+
+   .. code-block:: c++
+
+     CostFunction* cost_function
+         = new NumericDiffCostFunction<MyCostFunction, CENTRAL, 1, 4, 8>(
+             new MyCostFunction(...), TAKE_OWNERSHIP);
+
+   where ``MyCostFunction`` has 1 residual and 2 parameter blocks with
+   sizes 4 and 8 respectively. Look at the tests for a more detailed
+   example.
+
+:class:`DynamicNumericDiffCostFunction`
+=======================================
+
+.. class:: DynamicNumericDiffCostFunction
+
+   Like :class:`AutoDiffCostFunction` :class:`NumericDiffCostFunction`
+   requires that the number of parameter blocks and their sizes be
+   known at compile time. It also has an upper limit of 10 parameter
+   blocks. In a number of applications, this is not enough.
+
+     .. code-block:: c++
+
+      template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
+      class DynamicNumericDiffCostFunction : public CostFunction {
+      };
+
+   In such cases when numeric differentiation is desired,
+   :class:`DynamicNumericDiffCostFunction` can be used.
+
+   Like :class:`NumericDiffCostFunction` the user must define a
+   functor, but the signature of the functor differs slightly. The
+   expected interface for the cost functors is:
+
+     .. code-block:: c++
+
+       struct MyCostFunctor {
+         bool operator()(double const* const* parameters, double* residuals) const {
+         }
+       }
+
+   Since the sizing of the parameters is done at runtime, you must
+   also specify the sizes after creating the dynamic numeric diff cost
+   function. For example:
+
+     .. code-block:: c++
+
+       DynamicNumericDiffCostFunction<MyCostFunctor>* cost_function =
+         new DynamicNumericDiffCostFunction<MyCostFunctor>(new MyCostFunctor);
+       cost_function->AddParameterBlock(5);
+       cost_function->AddParameterBlock(10);
+       cost_function->SetNumResiduals(21);
+
+   As a rule of thumb, try using :class:`NumericDiffCostFunction` before
+   you use :class:`DynamicNumericDiffCostFunction`.
+
+   **WARNING** The same caution about mixing local parameterizations
+   with numeric differentiation applies as is the case with
+   :class:`NumericDiffCostFunction`.
+
+:class:`CostFunctionToFunctor`
+==============================
+
+.. class:: CostFunctionToFunctor
+
+   :class:`CostFunctionToFunctor` is an adapter class that allows
+   users to use :class:`CostFunction` objects in templated functors
+   which are to be used for automatic differentiation. This allows
+   the user to seamlessly mix analytic, numeric and automatic
+   differentiation.
+
+   For example, let us assume that
+
+   .. code-block:: c++
+
+     class IntrinsicProjection : public SizedCostFunction<2, 5, 3> {
+       public:
+         IntrinsicProjection(const double* observation);
+         virtual bool Evaluate(double const* const* parameters,
+                               double* residuals,
+                               double** jacobians) const;
+     };
+
+   is a :class:`CostFunction` that implements the projection of a
+   point in its local coordinate system onto its image plane and
+   subtracts it from the observed point projection. It can compute its
+   residual and either via analytic or numerical differentiation can
+   compute its jacobians.
+
+   Now we would like to compose the action of this
+   :class:`CostFunction` with the action of camera extrinsics, i.e.,
+   rotation and translation. Say we have a templated function
+
+   .. code-block:: c++
+
+      template<typename T>
+      void RotateAndTranslatePoint(const T* rotation,
+                                   const T* translation,
+                                   const T* point,
+                                   T* result);
+
+
+   Then we can now do the following,
+
+   .. code-block:: c++
+
+    struct CameraProjection {
+      CameraProjection(double* observation)
+      : intrinsic_projection_(new IntrinsicProjection(observation)) {
+      }
+
+      template <typename T>
+      bool operator()(const T* rotation,
+                      const T* translation,
+                      const T* intrinsics,
+                      const T* point,
+                      T* residual) const {
+        T transformed_point[3];
+        RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+
+        // Note that we call intrinsic_projection_, just like it was
+        // any other templated functor.
+        return intrinsic_projection_(intrinsics, transformed_point, residual);
+      }
+
+     private:
+      CostFunctionToFunctor<2,5,3> intrinsic_projection_;
+    };
+
+   Note that :class:`CostFunctionToFunctor` takes ownership of the
+   :class:`CostFunction` that was passed in to the constructor.
+
+   In the above example, we assumed that ``IntrinsicProjection`` is a
+   ``CostFunction`` capable of evaluating its value and its
+   derivatives. Suppose, if that were not the case and
+   ``IntrinsicProjection`` was defined as follows:
+
+   .. code-block:: c++
+
+    struct IntrinsicProjection
+      IntrinsicProjection(const double* observation) {
+        observation_[0] = observation[0];
+        observation_[1] = observation[1];
+      }
+
+      bool operator()(const double* calibration,
+                      const double* point,
+                      double* residuals) {
+        double projection[2];
+        ThirdPartyProjectionFunction(calibration, point, projection);
+        residuals[0] = observation_[0] - projection[0];
+        residuals[1] = observation_[1] - projection[1];
+        return true;
+      }
+     double observation_[2];
+    };
+
+
+  Here ``ThirdPartyProjectionFunction`` is some third party library
+  function that we have no control over. So this function can compute
+  its value and we would like to use numeric differentiation to
+  compute its derivatives. In this case we can use a combination of
+  ``NumericDiffCostFunction`` and ``CostFunctionToFunctor`` to get the
+  job done.
+
+  .. code-block:: c++
+
+   struct CameraProjection {
+     CameraProjection(double* observation)
+       intrinsic_projection_(
+         new NumericDiffCostFunction<IntrinsicProjection, CENTRAL, 2, 5, 3>(
+           new IntrinsicProjection(observation)) {
+     }
+
+     template <typename T>
+     bool operator()(const T* rotation,
+                     const T* translation,
+                     const T* intrinsics,
+                     const T* point,
+                     T* residuals) const {
+       T transformed_point[3];
+       RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+       return intrinsic_projection_(intrinsics, transformed_point, residual);
+     }
+
+    private:
+     CostFunctionToFunctor<2,5,3> intrinsic_projection_;
+   };
+
+:class:`DynamicCostFunctionToFunctor`
+=====================================
+
+.. class:: DynamicCostFunctionToFunctor
+
+   :class:`DynamicCostFunctionToFunctor` provides the same functionality as
+   :class:`CostFunctionToFunctor` for cases where the number and size of the
+   parameter vectors and residuals are not known at compile-time. The API
+   provided by :class:`DynamicCostFunctionToFunctor` matches what would be
+   expected by :class:`DynamicAutoDiffCostFunction`, i.e. it provides a
+   templated functor of this form:
+
+   .. code-block:: c++
+
+    template<typename T>
+    bool operator()(T const* const* parameters, T* residuals) const;
+
+   Similar to the example given for :class:`CostFunctionToFunctor`, let us
+   assume that
+
+   .. code-block:: c++
+
+     class IntrinsicProjection : public CostFunction {
+       public:
+         IntrinsicProjection(const double* observation);
+         virtual bool Evaluate(double const* const* parameters,
+                               double* residuals,
+                               double** jacobians) const;
+     };
+
+   is a :class:`CostFunction` that projects a point in its local coordinate
+   system onto its image plane and subtracts it from the observed point
+   projection.
+
+   Using this :class:`CostFunction` in a templated functor would then look like
+   this:
+
+   .. code-block:: c++
+
+    struct CameraProjection {
+      CameraProjection(double* observation)
+          : intrinsic_projection_(new IntrinsicProjection(observation)) {
+      }
+
+      template <typename T>
+      bool operator()(T const* const* parameters,
+                      T* residual) const {
+        const T* rotation = parameters[0];
+        const T* translation = parameters[1];
+        const T* intrinsics = parameters[2];
+        const T* point = parameters[3];
+
+        T transformed_point[3];
+        RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+
+        const T* projection_parameters[2];
+        projection_parameters[0] = intrinsics;
+        projection_parameters[1] = transformed_point;
+        return intrinsic_projection_(projection_parameters, residual);
+      }
+
+     private:
+      DynamicCostFunctionToFunctor intrinsic_projection_;
+    };
+
+   Like :class:`CostFunctionToFunctor`, :class:`DynamicCostFunctionToFunctor`
+   takes ownership of the :class:`CostFunction` that was passed in to the
+   constructor.
+
+:class:`ConditionedCostFunction`
+================================
+
+.. class:: ConditionedCostFunction
+
+   This class allows you to apply different conditioning to the residual
+   values of a wrapped cost function. An example where this is useful is
+   where you have an existing cost function that produces N values, but you
+   want the total cost to be something other than just the sum of these
+   squared values - maybe you want to apply a different scaling to some
+   values, to change their contribution to the cost.
+
+   Usage:
+
+   .. code-block:: c++
+
+       //  my_cost_function produces N residuals
+       CostFunction* my_cost_function = ...
+       CHECK_EQ(N, my_cost_function->num_residuals());
+       vector<CostFunction*> conditioners;
+
+       //  Make N 1x1 cost functions (1 parameter, 1 residual)
+       CostFunction* f_1 = ...
+       conditioners.push_back(f_1);
+
+       CostFunction* f_N = ...
+       conditioners.push_back(f_N);
+       ConditionedCostFunction* ccf =
+         new ConditionedCostFunction(my_cost_function, conditioners);
+
+
+   Now ``ccf`` 's ``residual[i]`` (i=0..N-1) will be passed though the
+   :math:`i^{\text{th}}` conditioner.
+
+   .. code-block:: c++
+
+      ccf_residual[i] = f_i(my_cost_function_residual[i])
+
+   and the Jacobian will be affected appropriately.
+
+
+:class:`GradientChecker`
+================================
+
+.. class:: GradientChecker
+
+    This class compares the Jacobians returned by a cost function against
+    derivatives estimated using finite differencing. It is meant as a tool for
+    unit testing, giving you more fine-grained control than the check_gradients
+    option in the solver options.
+
+    The condition enforced is that
+
+    .. math:: \forall{i,j}: \frac{J_{ij} - J'_{ij}}{max_{ij}(J_{ij} - J'_{ij})} < r
+
+    where :math:`J_{ij}` is the jacobian as computed by the supplied cost
+    function (by the user) multiplied by the local parameterization Jacobian,
+    :math:`J'_{ij}` is the jacobian as computed by finite differences,
+    multiplied by the local parameterization Jacobian as well, and :math:`r`
+    is the relative precision.
+
+   Usage:
+
+   .. code-block:: c++
+
+       //  my_cost_function takes two parameter blocks. The first has a local
+       //  parameterization associated with it.
+       CostFunction* my_cost_function = ...
+       LocalParameterization* my_parameterization = ...
+       NumericDiffOptions numeric_diff_options;
+
+       std::vector<LocalParameterization*> local_parameterizations;
+       local_parameterizations.push_back(my_parameterization);
+       local_parameterizations.push_back(NULL);
+
+       std::vector parameter1;
+       std::vector parameter2;
+       // Fill parameter 1 & 2 with test data...
+
+       std::vector<double*> parameter_blocks;
+       parameter_blocks.push_back(parameter1.data());
+       parameter_blocks.push_back(parameter2.data());
+
+       GradientChecker gradient_checker(my_cost_function,
+           local_parameterizations, numeric_diff_options);
+       GradientCheckResults results;
+       if (!gradient_checker.Probe(parameter_blocks.data(), 1e-9, &results) {
+         LOG(ERROR) << "An error has occurred:\n" << results.error_log;
+       }
+
+
+:class:`NormalPrior`
+====================
+
+.. class:: NormalPrior
+
+   .. code-block:: c++
+
+     class NormalPrior: public CostFunction {
+      public:
+       // Check that the number of rows in the vector b are the same as the
+       // number of columns in the matrix A, crash otherwise.
+       NormalPrior(const Matrix& A, const Vector& b);
+
+       virtual bool Evaluate(double const* const* parameters,
+                             double* residuals,
+                             double** jacobians) const;
+      };
+
+   Implements a cost function of the form
+
+   .. math::  cost(x) = ||A(x - b)||^2
+
+   where, the matrix :math:`A` and the vector :math:`b` are fixed and :math:`x`
+   is the variable. In case the user is interested in implementing a cost
+   function of the form
+
+  .. math::  cost(x) = (x - \mu)^T S^{-1} (x - \mu)
+
+  where, :math:`\mu` is a vector and :math:`S` is a covariance matrix,
+  then, :math:`A = S^{-1/2}`, i.e the matrix :math:`A` is the square
+  root of the inverse of the covariance, also known as the stiffness
+  matrix. There are however no restrictions on the shape of
+  :math:`A`. It is free to be rectangular, which would be the case if
+  the covariance matrix :math:`S` is rank deficient.
+
+
+
+.. _`section-loss_function`:
+
+:class:`LossFunction`
+=====================
+
+.. class:: LossFunction
+
+   For least squares problems where the minimization may encounter
+   input terms that contain outliers, that is, completely bogus
+   measurements, it is important to use a loss function that reduces
+   their influence.
+
+   Consider a structure from motion problem. The unknowns are 3D
+   points and camera parameters, and the measurements are image
+   coordinates describing the expected reprojected position for a
+   point in a camera. For example, we want to model the geometry of a
+   street scene with fire hydrants and cars, observed by a moving
+   camera with unknown parameters, and the only 3D points we care
+   about are the pointy tippy-tops of the fire hydrants. Our magic
+   image processing algorithm, which is responsible for producing the
+   measurements that are input to Ceres, has found and matched all
+   such tippy-tops in all image frames, except that in one of the
+   frame it mistook a car's headlight for a hydrant. If we didn't do
+   anything special the residual for the erroneous measurement will
+   result in the entire solution getting pulled away from the optimum
+   to reduce the large error that would otherwise be attributed to the
+   wrong measurement.
+
+   Using a robust loss function, the cost for large residuals is
+   reduced. In the example above, this leads to outlier terms getting
+   down-weighted so they do not overly influence the final solution.
+
+   .. code-block:: c++
+
+    class LossFunction {
+     public:
+      virtual void Evaluate(double s, double out[3]) const = 0;
+    };
+
+
+   The key method is :func:`LossFunction::Evaluate`, which given a
+   non-negative scalar ``s``, computes
+
+   .. math:: out = \begin{bmatrix}\rho(s), & \rho'(s), & \rho''(s)\end{bmatrix}
+
+   Here the convention is that the contribution of a term to the cost
+   function is given by :math:`\frac{1}{2}\rho(s)`, where :math:`s
+   =\|f_i\|^2`. Calling the method with a negative value of :math:`s`
+   is an error and the implementations are not required to handle that
+   case.
+
+   Most sane choices of :math:`\rho` satisfy:
+
+   .. math::
+
+      \rho(0) &= 0\\
+      \rho'(0) &= 1\\
+      \rho'(s) &< 1 \text{ in the outlier region}\\
+      \rho''(s) &< 0 \text{ in the outlier region}
+
+   so that they mimic the squared cost for small residuals.
+
+   **Scaling**
+
+   Given one robustifier :math:`\rho(s)` one can change the length
+   scale at which robustification takes place, by adding a scale
+   factor :math:`a > 0` which gives us :math:`\rho(s,a) = a^2 \rho(s /
+   a^2)` and the first and second derivatives as :math:`\rho'(s /
+   a^2)` and :math:`(1 / a^2) \rho''(s / a^2)` respectively.
+
+
+   The reason for the appearance of squaring is that :math:`a` is in
+   the units of the residual vector norm whereas :math:`s` is a squared
+   norm. For applications it is more convenient to specify :math:`a` than
+   its square.
+
+Instances
+---------
+
+Ceres includes a number of predefined loss functions. For simplicity
+we described their unscaled versions. The figure below illustrates
+their shape graphically. More details can be found in
+``include/ceres/loss_function.h``.
+
+.. figure:: loss.png
+   :figwidth: 500px
+   :height: 400px
+   :align: center
+
+   Shape of the various common loss functions.
+
+.. class:: TrivialLoss
+
+      .. math:: \rho(s) = s
+
+.. class:: HuberLoss
+
+   .. math:: \rho(s) = \begin{cases} s & s \le 1\\ 2 \sqrt{s} - 1 & s > 1 \end{cases}
+
+.. class:: SoftLOneLoss
+
+   .. math:: \rho(s) = 2 (\sqrt{1+s} - 1)
+
+.. class:: CauchyLoss
+
+   .. math:: \rho(s) = \log(1 + s)
+
+.. class:: ArctanLoss
+
+   .. math:: \rho(s) = \arctan(s)
+
+.. class:: TolerantLoss
+
+   .. math:: \rho(s,a,b) = b \log(1 + e^{(s - a) / b}) - b \log(1 + e^{-a / b})
+
+.. class:: ComposedLoss
+
+   Given two loss functions ``f`` and ``g``, implements the loss
+   function ``h(s) = f(g(s))``.
+
+   .. code-block:: c++
+
+      class ComposedLoss : public LossFunction {
+       public:
+        explicit ComposedLoss(const LossFunction* f,
+                              Ownership ownership_f,
+                              const LossFunction* g,
+                              Ownership ownership_g);
+      };
+
+.. class:: ScaledLoss
+
+   Sometimes you want to simply scale the output value of the
+   robustifier. For example, you might want to weight different error
+   terms differently (e.g., weight pixel reprojection errors
+   differently from terrain errors).
+
+   Given a loss function :math:`\rho(s)` and a scalar :math:`a`, :class:`ScaledLoss`
+   implements the function :math:`a \rho(s)`.
+
+   Since we treat a ``NULL`` Loss function as the Identity loss
+   function, :math:`rho` = ``NULL``: is a valid input and will result
+   in the input being scaled by :math:`a`. This provides a simple way
+   of implementing a scaled ResidualBlock.
+
+.. class:: LossFunctionWrapper
+
+   Sometimes after the optimization problem has been constructed, we
+   wish to mutate the scale of the loss function. For example, when
+   performing estimation from data which has substantial outliers,
+   convergence can be improved by starting out with a large scale,
+   optimizing the problem and then reducing the scale. This can have
+   better convergence behavior than just using a loss function with a
+   small scale.
+
+   This templated class allows the user to implement a loss function
+   whose scale can be mutated after an optimization problem has been
+   constructed, e.g,
+
+   .. code-block:: c++
+
+     Problem problem;
+
+     // Add parameter blocks
+
+     CostFunction* cost_function =
+         new AutoDiffCostFunction < UW_Camera_Mapper, 2, 9, 3>(
+             new UW_Camera_Mapper(feature_x, feature_y));
+
+     LossFunctionWrapper* loss_function(new HuberLoss(1.0), TAKE_OWNERSHIP);
+     problem.AddResidualBlock(cost_function, loss_function, parameters);
+
+     Solver::Options options;
+     Solver::Summary summary;
+     Solve(options, &problem, &summary);
+
+     loss_function->Reset(new HuberLoss(1.0), TAKE_OWNERSHIP);
+     Solve(options, &problem, &summary);
+
+
+Theory
+------
+
+Let us consider a problem with a single problem and a single parameter
+block.
+
+.. math::
+
+ \min_x \frac{1}{2}\rho(f^2(x))
+
+
+Then, the robustified gradient and the Gauss-Newton Hessian are
+
+.. math::
+
+        g(x) &= \rho'J^\top(x)f(x)\\
+        H(x) &= J^\top(x)\left(\rho' + 2 \rho''f(x)f^\top(x)\right)J(x)
+
+where the terms involving the second derivatives of :math:`f(x)` have
+been ignored. Note that :math:`H(x)` is indefinite if
+:math:`\rho''f(x)^\top f(x) + \frac{1}{2}\rho' < 0`. If this is not
+the case, then its possible to re-weight the residual and the Jacobian
+matrix such that the corresponding linear least squares problem for
+the robustified Gauss-Newton step.
+
+
+Let :math:`\alpha` be a root of
+
+.. math:: \frac{1}{2}\alpha^2 - \alpha - \frac{\rho''}{\rho'}\|f(x)\|^2 = 0.
+
+
+Then, define the rescaled residual and Jacobian as
+
+.. math::
+
+        \tilde{f}(x) &= \frac{\sqrt{\rho'}}{1 - \alpha} f(x)\\
+        \tilde{J}(x) &= \sqrt{\rho'}\left(1 - \alpha
+                        \frac{f(x)f^\top(x)}{\left\|f(x)\right\|^2} \right)J(x)
+
+
+In the case :math:`2 \rho''\left\|f(x)\right\|^2 + \rho' \lesssim 0`,
+we limit :math:`\alpha \le 1- \epsilon` for some small
+:math:`\epsilon`. For more details see [Triggs]_.
+
+With this simple rescaling, one can use any Jacobian based non-linear
+least squares algorithm to robustified non-linear least squares
+problems.
+
+
+:class:`LocalParameterization`
+==============================
+
+.. class:: LocalParameterization
+
+   .. code-block:: c++
+
+     class LocalParameterization {
+      public:
+       virtual ~LocalParameterization() {}
+       virtual bool Plus(const double* x,
+                         const double* delta,
+                         double* x_plus_delta) const = 0;
+       virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0;
+       virtual bool MultiplyByJacobian(const double* x,
+                                       const int num_rows,
+                                       const double* global_matrix,
+                                       double* local_matrix) const;
+       virtual int GlobalSize() const = 0;
+       virtual int LocalSize() const = 0;
+     };
+
+   Sometimes the parameters :math:`x` can overparameterize a
+   problem. In that case it is desirable to choose a parameterization
+   to remove the null directions of the cost. More generally, if
+   :math:`x` lies on a manifold of a smaller dimension than the
+   ambient space that it is embedded in, then it is numerically and
+   computationally more effective to optimize it using a
+   parameterization that lives in the tangent space of that manifold
+   at each point.
+
+   For example, a sphere in three dimensions is a two dimensional
+   manifold, embedded in a three dimensional space. At each point on
+   the sphere, the plane tangent to it defines a two dimensional
+   tangent space. For a cost function defined on this sphere, given a
+   point :math:`x`, moving in the direction normal to the sphere at
+   that point is not useful. Thus a better way to parameterize a point
+   on a sphere is to optimize over two dimensional vector
+   :math:`\Delta x` in the tangent space at the point on the sphere
+   point and then "move" to the point :math:`x + \Delta x`, where the
+   move operation involves projecting back onto the sphere. Doing so
+   removes a redundant dimension from the optimization, making it
+   numerically more robust and efficient.
+
+   More generally we can define a function
+
+   .. math:: x' = \boxplus(x, \Delta x),
+
+   where :math:`x'` has the same size as :math:`x`, and :math:`\Delta
+   x` is of size less than or equal to :math:`x`. The function
+   :math:`\boxplus`, generalizes the definition of vector
+   addition. Thus it satisfies the identity
+
+   .. math:: \boxplus(x, 0) = x,\quad \forall x.
+
+   Instances of :class:`LocalParameterization` implement the
+   :math:`\boxplus` operation and its derivative with respect to
+   :math:`\Delta x` at :math:`\Delta x = 0`.
+
+
+.. function:: int LocalParameterization::GlobalSize()
+
+   The dimension of the ambient space in which the parameter block
+   :math:`x` lives.
+
+.. function:: int LocalParameterization::LocalSize()
+
+   The size of the tangent space
+   that :math:`\Delta x` lives in.
+
+.. function:: bool LocalParameterization::Plus(const double* x, const double* delta, double* x_plus_delta) const
+
+    :func:`LocalParameterization::Plus` implements :math:`\boxplus(x,\Delta x)`.
+
+.. function:: bool LocalParameterization::ComputeJacobian(const double* x, double* jacobian) const
+
+   Computes the Jacobian matrix
+
+   .. math:: J = \left . \frac{\partial }{\partial \Delta x} \boxplus(x,\Delta x)\right|_{\Delta x = 0}
+
+   in row major form.
+
+.. function:: bool MultiplyByJacobian(const double* x, const int num_rows, const double* global_matrix, double* local_matrix) const
+
+   local_matrix = global_matrix * jacobian
+
+   global_matrix is a num_rows x GlobalSize  row major matrix.
+   local_matrix is a num_rows x LocalSize row major matrix.
+   jacobian is the matrix returned by :func:`LocalParameterization::ComputeJacobian` at :math:`x`.
+
+   This is only used by GradientProblem. For most normal uses, it is
+   okay to use the default implementation.
+
+Instances
+---------
+
+.. class:: IdentityParameterization
+
+   A trivial version of :math:`\boxplus` is when :math:`\Delta x` is
+   of the same size as :math:`x` and
+
+   .. math::  \boxplus(x, \Delta x) = x + \Delta x
+
+.. class:: SubsetParameterization
+
+   A more interesting case if :math:`x` is a two dimensional vector,
+   and the user wishes to hold the first coordinate constant. Then,
+   :math:`\Delta x` is a scalar and :math:`\boxplus` is defined as
+
+   .. math::
+
+      \boxplus(x, \Delta x) = x + \left[ \begin{array}{c} 0 \\ 1
+                                  \end{array} \right] \Delta x
+
+   :class:`SubsetParameterization` generalizes this construction to
+   hold any part of a parameter block constant.
+
+.. class:: QuaternionParameterization
+
+   Another example that occurs commonly in Structure from Motion
+   problems is when camera rotations are parameterized using a
+   quaternion. There, it is useful only to make updates orthogonal to
+   that 4-vector defining the quaternion. One way to do this is to let
+   :math:`\Delta x` be a 3 dimensional vector and define
+   :math:`\boxplus` to be
+
+    .. math:: \boxplus(x, \Delta x) = \left[ \cos(|\Delta x|), \frac{\sin\left(|\Delta x|\right)}{|\Delta x|} \Delta x \right] * x
+      :label: quaternion
+
+   The multiplication between the two 4-vectors on the right hand side
+   is the standard quaternion
+   product. :class:`QuaternionParameterization` is an implementation
+   of :eq:`quaternion`.
+
+.. class:: EigenQuaternionParameterization
+
+   Eigen uses a different internal memory layout for the elements of the
+   quaternion than what is commonly used. Specifically, Eigen stores the
+   elements in memory as [x, y, z, w] where the real part is last
+   whereas it is typically stored first. Note, when creating an Eigen
+   quaternion through the constructor the elements are accepted in w, x,
+   y, z order. Since Ceres operates on parameter blocks which are raw
+   double pointers this difference is important and requires a different
+   parameterization. :class:`EigenQuaternionParameterization` uses the
+   same update as :class:`QuaternionParameterization` but takes into
+   account Eigen's internal memory element ordering.
+
+.. class:: HomogeneousVectorParameterization
+
+   In computer vision, homogeneous vectors are commonly used to
+   represent entities in projective geometry such as points in
+   projective space. One example where it is useful to use this
+   over-parameterization is in representing points whose triangulation
+   is ill-conditioned. Here it is advantageous to use homogeneous
+   vectors, instead of an Euclidean vector, because it can represent
+   points at infinity.
+
+   When using homogeneous vectors it is useful to only make updates
+   orthogonal to that :math:`n`-vector defining the homogeneous
+   vector [HartleyZisserman]_. One way to do this is to let :math:`\Delta x`
+   be a :math:`n-1` dimensional vector and define :math:`\boxplus` to be
+
+    .. math:: \boxplus(x, \Delta x) = \left[ \frac{\sin\left(0.5 |\Delta x|\right)}{|\Delta x|} \Delta x, \cos(0.5 |\Delta x|) \right] * x
+
+   The multiplication between the two vectors on the right hand side
+   is defined as an operator which applies the update orthogonal to
+   :math:`x` to remain on the sphere. Note, it is assumed that
+   last element of :math:`x` is the scalar component of the homogeneous
+   vector.
+
+
+.. class:: ProductParameterization
+
+   Consider an optimization problem over the space of rigid
+   transformations :math:`SE(3)`, which is the Cartesian product of
+   :math:`SO(3)` and :math:`\mathbb{R}^3`. Suppose you are using
+   Quaternions to represent the rotation, Ceres ships with a local
+   parameterization for that and :math:`\mathbb{R}^3` requires no, or
+   :class:`IdentityParameterization` parameterization. So how do we
+   construct a local parameterization for a parameter block a rigid
+   transformation?
+
+   In cases, where a parameter block is the Cartesian product of a
+   number of manifolds and you have the local parameterization of the
+   individual manifolds available, :class:`ProductParameterization`
+   can be used to construct a local parameterization of the cartesian
+   product. For the case of the rigid transformation, where say you
+   have a parameter block of size 7, where the first four entries
+   represent the rotation as a quaternion, a local parameterization
+   can be constructed as
+
+   .. code-block:: c++
+
+     ProductParameterization se3_param(new QuaternionParameterization(),
+                                       new IdentityTransformation(3));
+
+
+:class:`AutoDiffLocalParameterization`
+======================================
+
+.. class:: AutoDiffLocalParameterization
+
+  :class:`AutoDiffLocalParameterization` does for
+  :class:`LocalParameterization` what :class:`AutoDiffCostFunction`
+  does for :class:`CostFunction`. It allows the user to define a
+  templated functor that implements the
+  :func:`LocalParameterization::Plus` operation and it uses automatic
+  differentiation to implement the computation of the Jacobian.
+
+  To get an auto differentiated local parameterization, you must
+  define a class with a templated operator() (a functor) that computes
+
+     .. math:: x' = \boxplus(x, \Delta x),
+
+  For example, Quaternions have a three dimensional local
+  parameterization. Its plus operation can be implemented as (taken
+  from `internal/ceres/autodiff_local_parameterization_test.cc
+  <https://ceres-solver.googlesource.com/ceres-solver/+/master/internal/ceres/autodiff_local_parameterization_test.cc>`_
+  )
+
+    .. code-block:: c++
+
+      struct QuaternionPlus {
+        template<typename T>
+        bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+          const T squared_norm_delta =
+              delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+          T q_delta[4];
+          if (squared_norm_delta > 0.0) {
+            T norm_delta = sqrt(squared_norm_delta);
+            const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+            q_delta[0] = cos(norm_delta);
+            q_delta[1] = sin_delta_by_delta * delta[0];
+            q_delta[2] = sin_delta_by_delta * delta[1];
+            q_delta[3] = sin_delta_by_delta * delta[2];
+          } else {
+            // We do not just use q_delta = [1,0,0,0] here because that is a
+            // constant and when used for automatic differentiation will
+            // lead to a zero derivative. Instead we take a first order
+            // approximation and evaluate it at zero.
+            q_delta[0] = T(1.0);
+            q_delta[1] = delta[0];
+            q_delta[2] = delta[1];
+            q_delta[3] = delta[2];
+          }
+
+          Quaternionproduct(q_delta, x, x_plus_delta);
+          return true;
+        }
+      };
+
+  Given this struct, the auto differentiated local
+  parameterization can now be constructed as
+
+  .. code-block:: c++
+
+     LocalParameterization* local_parameterization =
+         new AutoDiffLocalParameterization<QuaternionPlus, 4, 3>;
+                                                           |  |
+                                Global Size ---------------+  |
+                                Local Size -------------------+
+
+
+:class:`Problem`
+================
+
+.. class:: Problem
+
+   :class:`Problem` holds the robustified bounds constrained
+   non-linear least squares problem :eq:`ceresproblem`. To create a
+   least squares problem, use the :func:`Problem::AddResidualBlock`
+   and :func:`Problem::AddParameterBlock` methods.
+
+   For example a problem containing 3 parameter blocks of sizes 3, 4
+   and 5 respectively and two residual blocks of size 2 and 6:
+
+   .. code-block:: c++
+
+     double x1[] = { 1.0, 2.0, 3.0 };
+     double x2[] = { 1.0, 2.0, 3.0, 5.0 };
+     double x3[] = { 1.0, 2.0, 3.0, 6.0, 7.0 };
+
+     Problem problem;
+     problem.AddResidualBlock(new MyUnaryCostFunction(...), x1);
+     problem.AddResidualBlock(new MyBinaryCostFunction(...), x2, x3);
+
+   :func:`Problem::AddResidualBlock` as the name implies, adds a
+   residual block to the problem. It adds a :class:`CostFunction`, an
+   optional :class:`LossFunction` and connects the
+   :class:`CostFunction` to a set of parameter block.
+
+   The cost function carries with it information about the sizes of
+   the parameter blocks it expects. The function checks that these
+   match the sizes of the parameter blocks listed in
+   ``parameter_blocks``. The program aborts if a mismatch is
+   detected. ``loss_function`` can be ``NULL``, in which case the cost
+   of the term is just the squared norm of the residuals.
+
+   The user has the option of explicitly adding the parameter blocks
+   using :func:`Problem::AddParameterBlock`. This causes additional
+   correctness checking; however, :func:`Problem::AddResidualBlock`
+   implicitly adds the parameter blocks if they are not present, so
+   calling :func:`Problem::AddParameterBlock` explicitly is not
+   required.
+
+   :func:`Problem::AddParameterBlock` explicitly adds a parameter
+   block to the :class:`Problem`. Optionally it allows the user to
+   associate a :class:`LocalParameterization` object with the
+   parameter block too. Repeated calls with the same arguments are
+   ignored. Repeated calls with the same double pointer but a
+   different size results in undefined behavior.
+
+   You can set any parameter block to be constant using
+   :func:`Problem::SetParameterBlockConstant` and undo this using
+   :func:`SetParameterBlockVariable`.
+
+   In fact you can set any number of parameter blocks to be constant,
+   and Ceres is smart enough to figure out what part of the problem
+   you have constructed depends on the parameter blocks that are free
+   to change and only spends time solving it. So for example if you
+   constructed a problem with a million parameter blocks and 2 million
+   residual blocks, but then set all but one parameter blocks to be
+   constant and say only 10 residual blocks depend on this one
+   non-constant parameter block. Then the computational effort Ceres
+   spends in solving this problem will be the same if you had defined
+   a problem with one parameter block and 10 residual blocks.
+
+   **Ownership**
+
+   :class:`Problem` by default takes ownership of the
+   ``cost_function``, ``loss_function`` and ``local_parameterization``
+   pointers. These objects remain live for the life of the
+   :class:`Problem`. If the user wishes to keep control over the
+   destruction of these objects, then they can do this by setting the
+   corresponding enums in the :class:`Problem::Options` struct.
+
+   Note that even though the Problem takes ownership of ``cost_function``
+   and ``loss_function``, it does not preclude the user from re-using
+   them in another residual block. The destructor takes care to call
+   delete on each ``cost_function`` or ``loss_function`` pointer only
+   once, regardless of how many residual blocks refer to them.
+
+.. function:: ResidualBlockId Problem::AddResidualBlock(CostFunction* cost_function, LossFunction* loss_function, const vector<double*> parameter_blocks)
+
+   Add a residual block to the overall cost function. The cost
+   function carries with it information about the sizes of the
+   parameter blocks it expects. The function checks that these match
+   the sizes of the parameter blocks listed in parameter_blocks. The
+   program aborts if a mismatch is detected. loss_function can be
+   NULL, in which case the cost of the term is just the squared norm
+   of the residuals.
+
+   The user has the option of explicitly adding the parameter blocks
+   using AddParameterBlock. This causes additional correctness
+   checking; however, AddResidualBlock implicitly adds the parameter
+   blocks if they are not present, so calling AddParameterBlock
+   explicitly is not required.
+
+   The Problem object by default takes ownership of the
+   cost_function and loss_function pointers. These objects remain
+   live for the life of the Problem object. If the user wishes to
+   keep control over the destruction of these objects, then they can
+   do this by setting the corresponding enums in the Options struct.
+
+   Note: Even though the Problem takes ownership of cost_function
+   and loss_function, it does not preclude the user from re-using
+   them in another residual block. The destructor takes care to call
+   delete on each cost_function or loss_function pointer only once,
+   regardless of how many residual blocks refer to them.
+
+   Example usage:
+
+   .. code-block:: c++
+
+      double x1[] = {1.0, 2.0, 3.0};
+      double x2[] = {1.0, 2.0, 5.0, 6.0};
+      double x3[] = {3.0, 6.0, 2.0, 5.0, 1.0};
+
+      Problem problem;
+
+      problem.AddResidualBlock(new MyUnaryCostFunction(...), NULL, x1);
+      problem.AddResidualBlock(new MyBinaryCostFunction(...), NULL, x2, x1);
+
+
+.. function:: void Problem::AddParameterBlock(double* values, int size, LocalParameterization* local_parameterization)
+
+   Add a parameter block with appropriate size to the problem.
+   Repeated calls with the same arguments are ignored. Repeated calls
+   with the same double pointer but a different size results in
+   undefined behavior.
+
+.. function:: void Problem::AddParameterBlock(double* values, int size)
+
+   Add a parameter block with appropriate size and parameterization to
+   the problem. Repeated calls with the same arguments are
+   ignored. Repeated calls with the same double pointer but a
+   different size results in undefined behavior.
+
+.. function:: void Problem::RemoveResidualBlock(ResidualBlockId residual_block)
+
+   Remove a residual block from the problem. Any parameters that the residual
+   block depends on are not removed. The cost and loss functions for the
+   residual block will not get deleted immediately; won't happen until the
+   problem itself is deleted.  If Problem::Options::enable_fast_removal is
+   true, then the removal is fast (almost constant time). Otherwise, removing a
+   residual block will incur a scan of the entire Problem object to verify that
+   the residual_block represents a valid residual in the problem.
+
+   **WARNING:** Removing a residual or parameter block will destroy
+   the implicit ordering, rendering the jacobian or residuals returned
+   from the solver uninterpretable. If you depend on the evaluated
+   jacobian, do not use remove! This may change in a future release.
+   Hold the indicated parameter block constant during optimization.
+
+.. function:: void Problem::RemoveParameterBlock(double* values)
+
+   Remove a parameter block from the problem. The parameterization of
+   the parameter block, if it exists, will persist until the deletion
+   of the problem (similar to cost/loss functions in residual block
+   removal). Any residual blocks that depend on the parameter are also
+   removed, as described above in RemoveResidualBlock().  If
+   Problem::Options::enable_fast_removal is true, then
+   the removal is fast (almost constant time). Otherwise, removing a
+   parameter block will incur a scan of the entire Problem object.
+
+   **WARNING:** Removing a residual or parameter block will destroy
+   the implicit ordering, rendering the jacobian or residuals returned
+   from the solver uninterpretable. If you depend on the evaluated
+   jacobian, do not use remove! This may change in a future release.
+
+.. function:: void Problem::SetParameterBlockConstant(double* values)
+
+   Hold the indicated parameter block constant during optimization.
+
+.. function:: void Problem::SetParameterBlockVariable(double* values)
+
+   Allow the indicated parameter to vary during optimization.
+
+.. function:: void Problem::SetParameterization(double* values, LocalParameterization* local_parameterization)
+
+   Set the local parameterization for one of the parameter blocks.
+   The local_parameterization is owned by the Problem by default. It
+   is acceptable to set the same parameterization for multiple
+   parameters; the destructor is careful to delete local
+   parameterizations only once. The local parameterization can only be
+   set once per parameter, and cannot be changed once set.
+
+.. function:: LocalParameterization* Problem::GetParameterization(double* values) const
+
+   Get the local parameterization object associated with this
+   parameter block. If there is no parameterization object associated
+   then `NULL` is returned
+
+.. function:: void Problem::SetParameterLowerBound(double* values, int index, double lower_bound)
+
+   Set the lower bound for the parameter at position `index` in the
+   parameter block corresponding to `values`. By default the lower
+   bound is :math:`-\infty`.
+
+.. function:: void Problem::SetParameterUpperBound(double* values, int index, double upper_bound)
+
+   Set the upper bound for the parameter at position `index` in the
+   parameter block corresponding to `values`. By default the value is
+   :math:`\infty`.
+
+.. function:: int Problem::NumParameterBlocks() const
+
+   Number of parameter blocks in the problem. Always equals
+   parameter_blocks().size() and parameter_block_sizes().size().
+
+.. function:: int Problem::NumParameters() const
+
+   The size of the parameter vector obtained by summing over the sizes
+   of all the parameter blocks.
+
+.. function:: int Problem::NumResidualBlocks() const
+
+   Number of residual blocks in the problem. Always equals
+   residual_blocks().size().
+
+.. function:: int Problem::NumResiduals() const
+
+   The size of the residual vector obtained by summing over the sizes
+   of all of the residual blocks.
+
+.. function:: int Problem::ParameterBlockSize(const double* values) const
+
+   The size of the parameter block.
+
+.. function:: int Problem::ParameterBlockLocalSize(const double* values) const
+
+   The size of local parameterization for the parameter block. If
+   there is no local parameterization associated with this parameter
+   block, then ``ParameterBlockLocalSize`` = ``ParameterBlockSize``.
+
+.. function:: bool Problem::HasParameterBlock(const double* values) const
+
+   Is the given parameter block present in the problem or not?
+
+.. function:: void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const
+
+   Fills the passed ``parameter_blocks`` vector with pointers to the
+   parameter blocks currently in the problem. After this call,
+   ``parameter_block.size() == NumParameterBlocks``.
+
+.. function:: void Problem::GetResidualBlocks(vector<ResidualBlockId>* residual_blocks) const
+
+   Fills the passed `residual_blocks` vector with pointers to the
+   residual blocks currently in the problem. After this call,
+   `residual_blocks.size() == NumResidualBlocks`.
+
+.. function:: void Problem::GetParameterBlocksForResidualBlock(const ResidualBlockId residual_block, vector<double*>* parameter_blocks) const
+
+   Get all the parameter blocks that depend on the given residual
+   block.
+
+.. function:: void Problem::GetResidualBlocksForParameterBlock(const double* values, vector<ResidualBlockId>* residual_blocks) const
+
+   Get all the residual blocks that depend on the given parameter
+   block.
+
+   If `Problem::Options::enable_fast_removal` is
+   `true`, then getting the residual blocks is fast and depends only
+   on the number of residual blocks. Otherwise, getting the residual
+   blocks for a parameter block will incur a scan of the entire
+   :class:`Problem` object.
+
+.. function:: const CostFunction* GetCostFunctionForResidualBlock(const ResidualBlockId residual_block) const
+
+   Get the :class:`CostFunction` for the given residual block.
+
+.. function:: const LossFunction* GetLossFunctionForResidualBlock(const ResidualBlockId residual_block) const
+
+   Get the :class:`LossFunction` for the given residual block.
+
+.. function:: bool Problem::Evaluate(const Problem::EvaluateOptions& options, double* cost, vector<double>* residuals, vector<double>* gradient, CRSMatrix* jacobian)
+
+   Evaluate a :class:`Problem`. Any of the output pointers can be
+   `NULL`. Which residual blocks and parameter blocks are used is
+   controlled by the :class:`Problem::EvaluateOptions` struct below.
+
+   .. NOTE::
+
+      The evaluation will use the values stored in the memory
+      locations pointed to by the parameter block pointers used at the
+      time of the construction of the problem, for example in the
+      following code:
+
+      .. code-block:: c++
+
+        Problem problem;
+        double x = 1;
+        problem.Add(new MyCostFunction, NULL, &x);
+
+        double cost = 0.0;
+        problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+
+      The cost is evaluated at `x = 1`. If you wish to evaluate the
+      problem at `x = 2`, then
+
+      .. code-block:: c++
+
+         x = 2;
+         problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+
+      is the way to do so.
+
+   .. NOTE::
+
+      If no local parameterizations are used, then the size of
+      the gradient vector is the sum of the sizes of all the parameter
+      blocks. If a parameter block has a local parameterization, then
+      it contributes "LocalSize" entries to the gradient vector.
+
+   .. NOTE::
+
+      This function cannot be called while the problem is being
+      solved, for example it cannot be called from an
+      :class:`IterationCallback` at the end of an iteration during a
+      solve.
+
+.. class:: Problem::EvaluateOptions
+
+   Options struct that is used to control :func:`Problem::Evaluate`.
+
+.. member:: vector<double*> Problem::EvaluateOptions::parameter_blocks
+
+   The set of parameter blocks for which evaluation should be
+   performed. This vector determines the order in which parameter
+   blocks occur in the gradient vector and in the columns of the
+   jacobian matrix. If parameter_blocks is empty, then it is assumed
+   to be equal to a vector containing ALL the parameter
+   blocks. Generally speaking the ordering of the parameter blocks in
+   this case depends on the order in which they were added to the
+   problem and whether or not the user removed any parameter blocks.
+
+   **NOTE** This vector should contain the same pointers as the ones
+   used to add parameter blocks to the Problem. These parameter block
+   should NOT point to new memory locations. Bad things will happen if
+   you do.
+
+.. member:: vector<ResidualBlockId> Problem::EvaluateOptions::residual_blocks
+
+   The set of residual blocks for which evaluation should be
+   performed. This vector determines the order in which the residuals
+   occur, and how the rows of the jacobian are ordered. If
+   residual_blocks is empty, then it is assumed to be equal to the
+   vector containing all the parameter blocks.
+
+.. member:: bool Problem::EvaluateOptions::apply_loss_function
+
+   Even though the residual blocks in the problem may contain loss
+   functions, setting apply_loss_function to false will turn off the
+   application of the loss function to the output of the cost
+   function. This is of use for example if the user wishes to analyse
+   the solution quality by studying the distribution of residuals
+   before and after the solve.
+
+.. member:: int Problem::EvaluateOptions::num_threads
+
+   Number of threads to use. (Requires OpenMP).
+
+``rotation.h``
+==============
+
+Many applications of Ceres Solver involve optimization problems where
+some of the variables correspond to rotations. To ease the pain of
+work with the various representations of rotations (angle-axis,
+quaternion and matrix) we provide a handy set of templated
+functions. These functions are templated so that the user can use them
+within Ceres Solver's automatic differentiation framework.
+
+.. function:: template <typename T> void AngleAxisToQuaternion(T const* angle_axis, T* quaternion)
+
+   Convert a value in combined axis-angle representation to a
+   quaternion.
+
+   The value ``angle_axis`` is a triple whose norm is an angle in radians,
+   and whose direction is aligned with the axis of rotation, and
+   ``quaternion`` is a 4-tuple that will contain the resulting quaternion.
+
+.. function::  template <typename T> void QuaternionToAngleAxis(T const* quaternion, T* angle_axis)
+
+   Convert a quaternion to the equivalent combined axis-angle
+   representation.
+
+   The value ``quaternion`` must be a unit quaternion - it is not
+   normalized first, and ``angle_axis`` will be filled with a value
+   whose norm is the angle of rotation in radians, and whose direction
+   is the axis of rotation.
+
+.. function:: template <typename T, int row_stride, int col_stride> void RotationMatrixToAngleAxis(const MatrixAdapter<const T, row_stride, col_stride>& R, T * angle_axis)
+.. function:: template <typename T, int row_stride, int col_stride> void AngleAxisToRotationMatrix(T const * angle_axis, const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void RotationMatrixToAngleAxis(T const * R, T * angle_axis)
+.. function:: template <typename T> void AngleAxisToRotationMatrix(T const * angle_axis, T * R)
+
+   Conversions between 3x3 rotation matrix with given column and row strides and
+   axis-angle rotation representations. The functions that take a pointer to T instead
+   of a MatrixAdapter assume a column major representation with unit row stride and a column stride of 3.
+
+.. function:: template <typename T, int row_stride, int col_stride> void EulerAnglesToRotationMatrix(const T* euler, const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void EulerAnglesToRotationMatrix(const T* euler, int row_stride, T* R)
+
+   Conversions between 3x3 rotation matrix with given column and row strides and
+   Euler angle (in degrees) rotation representations.
+
+   The {pitch,roll,yaw} Euler angles are rotations around the {x,y,z}
+   axes, respectively.  They are applied in that same order, so the
+   total rotation R is Rz * Ry * Rx.
+
+   The function that takes a pointer to T as the rotation matrix assumes a row
+   major representation with unit column stride and a row stride of 3.
+   The additional parameter row_stride is required to be 3.
+
+.. function:: template <typename T, int row_stride, int col_stride> void QuaternionToScaledRotation(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void QuaternionToScaledRotation(const T q[4], T R[3 * 3])
+
+   Convert a 4-vector to a 3x3 scaled rotation matrix.
+
+   The choice of rotation is such that the quaternion
+   :math:`\begin{bmatrix} 1 &0 &0 &0\end{bmatrix}` goes to an identity
+   matrix and for small :math:`a, b, c` the quaternion
+   :math:`\begin{bmatrix}1 &a &b &c\end{bmatrix}` goes to the matrix
+
+   .. math::
+
+     I + 2 \begin{bmatrix} 0 & -c & b \\ c & 0 & -a\\ -b & a & 0
+           \end{bmatrix} + O(q^2)
+
+   which corresponds to a Rodrigues approximation, the last matrix
+   being the cross-product matrix of :math:`\begin{bmatrix} a& b&
+   c\end{bmatrix}`. Together with the property that :math:`R(q1 * q2)
+   = R(q1) * R(q2)` this uniquely defines the mapping from :math:`q` to
+   :math:`R`.
+
+   In the function that accepts a pointer to T instead of a MatrixAdapter,
+   the rotation matrix ``R`` is a row-major matrix with unit column stride
+   and a row stride of 3.
+
+   No normalization of the quaternion is performed, i.e.
+   :math:`R = \|q\|^2  Q`, where :math:`Q` is an orthonormal matrix
+   such that :math:`\det(Q) = 1` and :math:`Q*Q' = I`.
+
+
+.. function:: template <typename T> void QuaternionToRotation(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R)
+.. function:: template <typename T> void QuaternionToRotation(const T q[4], T R[3 * 3])
+
+   Same as above except that the rotation matrix is normalized by the
+   Frobenius norm, so that :math:`R R' = I` (and :math:`\det(R) = 1`).
+
+.. function:: template <typename T> void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3])
+
+   Rotates a point pt by a quaternion q:
+
+   .. math:: \text{result} = R(q)  \text{pt}
+
+   Assumes the quaternion is unit norm. If you pass in a quaternion
+   with :math:`|q|^2 = 2` then you WILL NOT get back 2 times the
+   result you get for a unit quaternion.
+
+
+.. function:: template <typename T> void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3])
+
+   With this function you do not need to assume that :math:`q` has unit norm.
+   It does assume that the norm is non-zero.
+
+.. function:: template <typename T> void QuaternionProduct(const T z[4], const T w[4], T zw[4])
+
+   .. math:: zw = z * w
+
+   where :math:`*` is the Quaternion product between 4-vectors.
+
+
+.. function:: template <typename T> void CrossProduct(const T x[3], const T y[3], T x_cross_y[3])
+
+   .. math:: \text{x_cross_y} = x \times y
+
+.. function:: template <typename T> void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3])
+
+   .. math:: y = R(\text{angle_axis}) x
+
+
+Cubic Interpolation
+===================
+
+Optimization problems often involve functions that are given in the
+form of a table of values, for example an image. Evaluating these
+functions and their derivatives requires interpolating these
+values. Interpolating tabulated functions is a vast area of research
+and there are a lot of libraries which implement a variety of
+interpolation schemes. However, using them within the automatic
+differentiation framework in Ceres is quite painful. To this end,
+Ceres provides the ability to interpolate one dimensional and two
+dimensional tabular functions.
+
+The one dimensional interpolation is based on the Cubic Hermite
+Spline, also known as the Catmull-Rom Spline. This produces a first
+order differentiable interpolating function. The two dimensional
+interpolation scheme is a generalization of the one dimensional scheme
+where the interpolating function is assumed to be separable in the two
+dimensions,
+
+More details of the construction can be found `Linear Methods for
+Image Interpolation <http://www.ipol.im/pub/art/2011/g_lmii/>`_ by
+Pascal Getreuer.
+
+.. class:: CubicInterpolator
+
+Given as input an infinite one dimensional grid, which provides the
+following interface.
+
+.. code::
+
+  struct Grid1D {
+    enum { DATA_DIMENSION = 2; };
+    void GetValue(int n, double* f) const;
+  };
+
+Where, ``GetValue`` gives us the value of a function :math:`f`
+(possibly vector valued) for any integer :math:`n` and the enum
+``DATA_DIMENSION`` indicates the dimensionality of the function being
+interpolated. For example if you are interpolating rotations in
+axis-angle format over time, then ``DATA_DIMENSION = 3``.
+
+:class:`CubicInterpolator` uses Cubic Hermite splines to produce a
+smooth approximation to it that can be used to evaluate the
+:math:`f(x)` and :math:`f'(x)` at any point on the real number
+line. For example, the following code interpolates an array of four
+numbers.
+
+.. code::
+
+  const double data[] = {1.0, 2.0, 5.0, 6.0};
+  Grid1D<double, 1> array(x, 0, 4);
+  CubicInterpolator interpolator(array);
+  double f, dfdx;
+  interpolator.Evaluate(1.5, &f, &dfdx);
+
+
+In the above code we use ``Grid1D`` a templated helper class that
+allows easy interfacing between ``C++`` arrays and
+:class:`CubicInterpolator`.
+
+``Grid1D`` supports vector valued functions where the various
+coordinates of the function can be interleaved or stacked. It also
+allows the use of any numeric type as input, as long as it can be
+safely cast to a double.
+
+.. class:: BiCubicInterpolator
+
+Given as input an infinite two dimensional grid, which provides the
+following interface:
+
+.. code::
+
+  struct Grid2D {
+    enum { DATA_DIMENSION = 2 };
+    void GetValue(int row, int col, double* f) const;
+  };
+
+Where, ``GetValue`` gives us the value of a function :math:`f`
+(possibly vector valued) for any pair of integers :code:`row` and
+:code:`col` and the enum ``DATA_DIMENSION`` indicates the
+dimensionality of the function being interpolated. For example if you
+are interpolating a color image with three channels (Red, Green &
+Blue), then ``DATA_DIMENSION = 3``.
+
+:class:`BiCubicInterpolator` uses the cubic convolution interpolation
+algorithm of R. Keys [Keys]_, to produce a smooth approximation to it
+that can be used to evaluate the :math:`f(r,c)`, :math:`\frac{\partial
+f(r,c)}{\partial r}` and :math:`\frac{\partial f(r,c)}{\partial c}` at
+any any point in the real plane.
+
+For example the following code interpolates a two dimensional array.
+
+.. code::
+
+   const double data[] = {1.0, 3.0, -1.0, 4.0,
+                          3.6, 2.1,  4.2, 2.0,
+                          2.0, 1.0,  3.1, 5.2};
+   Grid2D<double, 1>  array(data, 0, 3, 0, 4);
+   BiCubicInterpolator interpolator(array);
+   double f, dfdr, dfdc;
+   interpolator.Evaluate(1.2, 2.5, &f, &dfdr, &dfdc);
+
+In the above code, the templated helper class ``Grid2D`` is used to
+make a ``C++`` array look like a two dimensional table to
+:class:`BiCubicInterpolator`.
+
+``Grid2D`` supports row or column major layouts. It also supports
+vector valued functions where the individual coordinates of the
+function may be interleaved or stacked. It also allows the use of any
+numeric type as input, as long as it can be safely cast to double.
diff --git a/docs/source/nnls_solving.rst b/docs/source/nnls_solving.rst
new file mode 100644
index 0000000..fed0b3e
--- /dev/null
+++ b/docs/source/nnls_solving.rst
@@ -0,0 +1,2257 @@
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-nnls_solving:
+
+================================
+Solving Non-linear Least Squares
+================================
+
+Introduction
+============
+
+Effective use of Ceres requires some familiarity with the basic
+components of a non-linear least squares solver, so before we describe
+how to configure and use the solver, we will take a brief look at how
+some of the core optimization algorithms in Ceres work.
+
+Let :math:`x \in \mathbb{R}^n` be an :math:`n`-dimensional vector of
+variables, and
+:math:`F(x) = \left[f_1(x), ... ,  f_{m}(x) \right]^{\top}` be a
+:math:`m`-dimensional function of :math:`x`.  We are interested in
+solving the optimization problem [#f1]_
+
+.. math:: \arg \min_x \frac{1}{2}\|F(x)\|^2\ . \\
+          L \le x \le U
+  :label: nonlinsq
+
+Where, :math:`L` and :math:`U` are lower and upper bounds on the
+parameter vector :math:`x`.
+
+Since the efficient global minimization of :eq:`nonlinsq` for
+general :math:`F(x)` is an intractable problem, we will have to settle
+for finding a local minimum.
+
+In the following, the Jacobian :math:`J(x)` of :math:`F(x)` is an
+:math:`m\times n` matrix, where :math:`J_{ij}(x) = \partial_j f_i(x)`
+and the gradient vector is :math:`g(x) = \nabla \frac{1}{2}\|F(x)\|^2
+= J(x)^\top F(x)`.
+
+The general strategy when solving non-linear optimization problems is
+to solve a sequence of approximations to the original problem
+[NocedalWright]_. At each iteration, the approximation is solved to
+determine a correction :math:`\Delta x` to the vector :math:`x`. For
+non-linear least squares, an approximation can be constructed by using
+the linearization :math:`F(x+\Delta x) \approx F(x) + J(x)\Delta x`,
+which leads to the following linear least squares problem:
+
+.. math:: \min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2
+   :label: linearapprox
+
+Unfortunately, naively solving a sequence of these problems and
+updating :math:`x \leftarrow x+ \Delta x` leads to an algorithm that
+may not converge.  To get a convergent algorithm, we need to control
+the size of the step :math:`\Delta x`. Depending on how the size of
+the step :math:`\Delta x` is controlled, non-linear optimization
+algorithms can be divided into two major categories [NocedalWright]_.
+
+1. **Trust Region** The trust region approach approximates the
+   objective function using using a model function (often a quadratic)
+   over a subset of the search space known as the trust region. If the
+   model function succeeds in minimizing the true objective function
+   the trust region is expanded; conversely, otherwise it is
+   contracted and the model optimization problem is solved again.
+
+2. **Line Search** The line search approach first finds a descent
+   direction along which the objective function will be reduced and
+   then computes a step size that decides how far should move along
+   that direction. The descent direction can be computed by various
+   methods, such as gradient descent, Newton's method and Quasi-Newton
+   method. The step size can be determined either exactly or
+   inexactly.
+
+Trust region methods are in some sense dual to line search methods:
+trust region methods first choose a step size (the size of the trust
+region) and then a step direction while line search methods first
+choose a step direction and then a step size. Ceres implements
+multiple algorithms in both categories.
+
+.. _section-trust-region-methods:
+
+Trust Region Methods
+====================
+
+The basic trust region algorithm looks something like this.
+
+   1. Given an initial point :math:`x` and a trust region radius :math:`\mu`.
+   2. Solve
+
+      .. math::
+         \arg \min_{\Delta x}& \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 \\
+         \text{such that} &\|D(x)\Delta x\|^2 \le \mu\\
+         &L \le x + \Delta x \le U.
+
+   3. :math:`\rho = \frac{\displaystyle \|F(x + \Delta x)\|^2 -
+      \|F(x)\|^2}{\displaystyle \|J(x)\Delta x + F(x)\|^2 -
+      \|F(x)\|^2}`
+   4. if :math:`\rho > \epsilon` then  :math:`x = x + \Delta x`.
+   5. if :math:`\rho > \eta_1` then :math:`\mu = 2  \mu`
+   6. else if :math:`\rho < \eta_2` then :math:`\mu = 0.5 * \mu`
+   7. Go to 2.
+
+Here, :math:`\mu` is the trust region radius, :math:`D(x)` is some
+matrix used to define a metric on the domain of :math:`F(x)` and
+:math:`\rho` measures the quality of the step :math:`\Delta x`, i.e.,
+how well did the linear model predict the decrease in the value of the
+non-linear objective. The idea is to increase or decrease the radius
+of the trust region depending on how well the linearization predicts
+the behavior of the non-linear objective, which in turn is reflected
+in the value of :math:`\rho`.
+
+The key computational step in a trust-region algorithm is the solution
+of the constrained optimization problem
+
+.. math::
+   \arg \min_{\Delta x}&\quad \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 \\
+   \text{such that} &\quad \|D(x)\Delta x\|^2 \le \mu\\
+    &\quad L \le x + \Delta x \le U.
+   :label: trp
+
+There are a number of different ways of solving this problem, each
+giving rise to a different concrete trust-region algorithm. Currently,
+Ceres implements two trust-region algorithms - Levenberg-Marquardt
+and Dogleg, each of which is augmented with a line search if bounds
+constraints are present [Kanzow]_. The user can choose between them by
+setting :member:`Solver::Options::trust_region_strategy_type`.
+
+.. rubric:: Footnotes
+
+.. [#f1] At the level of the non-linear solver, the block structure is
+         not relevant, therefore our discussion here is in terms of an
+         optimization problem defined over a state vector of size
+         :math:`n`. Similarly the presence of loss functions is also
+         ignored as the problem is internally converted into a pure
+         non-linear least squares problem.
+
+
+.. _section-levenberg-marquardt:
+
+Levenberg-Marquardt
+-------------------
+
+The Levenberg-Marquardt algorithm [Levenberg]_  [Marquardt]_ is the
+most popular algorithm for solving non-linear least squares problems.
+It was also the first trust region algorithm to be developed
+[Levenberg]_ [Marquardt]_. Ceres implements an exact step [Madsen]_
+and an inexact step variant of the Levenberg-Marquardt algorithm
+[WrightHolt]_ [NashSofer]_.
+
+It can be shown, that the solution to :eq:`trp` can be obtained by
+solving an unconstrained optimization of the form
+
+.. math:: \arg\min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 +\lambda  \|D(x)\Delta x\|^2
+
+Where, :math:`\lambda` is a Lagrange multiplier that is inverse
+related to :math:`\mu`. In Ceres, we solve for
+
+.. math:: \arg\min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 + \frac{1}{\mu} \|D(x)\Delta x\|^2
+   :label: lsqr
+
+The matrix :math:`D(x)` is a non-negative diagonal matrix, typically
+the square root of the diagonal of the matrix :math:`J(x)^\top J(x)`.
+
+Before going further, let us make some notational simplifications. We
+will assume that the matrix :math:`\sqrt{\mu} D` has been concatenated
+at the bottom of the matrix :math:`J` and similarly a vector of zeros
+has been added to the bottom of the vector :math:`f` and the rest of
+our discussion will be in terms of :math:`J` and :math:`f`, i.e, the
+linear least squares problem.
+
+.. math:: \min_{\Delta x} \frac{1}{2} \|J(x)\Delta x + f(x)\|^2 .
+   :label: simple
+
+For all but the smallest problems the solution of :eq:`simple` in
+each iteration of the Levenberg-Marquardt algorithm is the dominant
+computational cost in Ceres. Ceres provides a number of different
+options for solving :eq:`simple`. There are two major classes of
+methods - factorization and iterative.
+
+The factorization methods are based on computing an exact solution of
+:eq:`lsqr` using a Cholesky or a QR factorization and lead to an exact
+step Levenberg-Marquardt algorithm. But it is not clear if an exact
+solution of :eq:`lsqr` is necessary at each step of the LM algorithm
+to solve :eq:`nonlinsq`. In fact, we have already seen evidence
+that this may not be the case, as :eq:`lsqr` is itself a regularized
+version of :eq:`linearapprox`. Indeed, it is possible to
+construct non-linear optimization algorithms in which the linearized
+problem is solved approximately. These algorithms are known as inexact
+Newton or truncated Newton methods [NocedalWright]_.
+
+An inexact Newton method requires two ingredients. First, a cheap
+method for approximately solving systems of linear
+equations. Typically an iterative linear solver like the Conjugate
+Gradients method is used for this
+purpose [NocedalWright]_. Second, a termination rule for
+the iterative solver. A typical termination rule is of the form
+
+.. math:: \|H(x) \Delta x + g(x)\| \leq \eta_k \|g(x)\|.
+   :label: inexact
+
+Here, :math:`k` indicates the Levenberg-Marquardt iteration number and
+:math:`0 < \eta_k <1` is known as the forcing sequence.  [WrightHolt]_
+prove that a truncated Levenberg-Marquardt algorithm that uses an
+inexact Newton step based on :eq:`inexact` converges for any
+sequence :math:`\eta_k \leq \eta_0 < 1` and the rate of convergence
+depends on the choice of the forcing sequence :math:`\eta_k`.
+
+Ceres supports both exact and inexact step solution strategies. When
+the user chooses a factorization based linear solver, the exact step
+Levenberg-Marquardt algorithm is used. When the user chooses an
+iterative linear solver, the inexact step Levenberg-Marquardt
+algorithm is used.
+
+.. _section-dogleg:
+
+Dogleg
+------
+
+Another strategy for solving the trust region problem :eq:`trp` was
+introduced by M. J. D. Powell. The key idea there is to compute two
+vectors
+
+.. math::
+
+        \Delta x^{\text{Gauss-Newton}} &= \arg \min_{\Delta x}\frac{1}{2} \|J(x)\Delta x + f(x)\|^2.\\
+        \Delta x^{\text{Cauchy}} &= -\frac{\|g(x)\|^2}{\|J(x)g(x)\|^2}g(x).
+
+Note that the vector :math:`\Delta x^{\text{Gauss-Newton}}` is the
+solution to :eq:`linearapprox` and :math:`\Delta
+x^{\text{Cauchy}}` is the vector that minimizes the linear
+approximation if we restrict ourselves to moving along the direction
+of the gradient. Dogleg methods finds a vector :math:`\Delta x`
+defined by :math:`\Delta x^{\text{Gauss-Newton}}` and :math:`\Delta
+x^{\text{Cauchy}}` that solves the trust region problem. Ceres
+supports two variants that can be chose by setting
+:member:`Solver::Options::dogleg_type`.
+
+``TRADITIONAL_DOGLEG`` as described by Powell, constructs two line
+segments using the Gauss-Newton and Cauchy vectors and finds the point
+farthest along this line shaped like a dogleg (hence the name) that is
+contained in the trust-region. For more details on the exact reasoning
+and computations, please see Madsen et al [Madsen]_.
+
+``SUBSPACE_DOGLEG`` is a more sophisticated method that considers the
+entire two dimensional subspace spanned by these two vectors and finds
+the point that minimizes the trust region problem in this subspace
+[ByrdSchnabel]_.
+
+The key advantage of the Dogleg over Levenberg-Marquardt is that if
+the step computation for a particular choice of :math:`\mu` does not
+result in sufficient decrease in the value of the objective function,
+Levenberg-Marquardt solves the linear approximation from scratch with
+a smaller value of :math:`\mu`. Dogleg on the other hand, only needs
+to compute the interpolation between the Gauss-Newton and the Cauchy
+vectors, as neither of them depend on the value of :math:`\mu`.
+
+The Dogleg method can only be used with the exact factorization based
+linear solvers.
+
+.. _section-inner-iterations:
+
+Inner Iterations
+----------------
+
+Some non-linear least squares problems have additional structure in
+the way the parameter blocks interact that it is beneficial to modify
+the way the trust region step is computed. For example, consider the
+following regression problem
+
+.. math::   y = a_1 e^{b_1 x} + a_2 e^{b_3 x^2 + c_1}
+
+
+Given a set of pairs :math:`\{(x_i, y_i)\}`, the user wishes to estimate
+:math:`a_1, a_2, b_1, b_2`, and :math:`c_1`.
+
+Notice that the expression on the left is linear in :math:`a_1` and
+:math:`a_2`, and given any value for :math:`b_1, b_2` and :math:`c_1`,
+it is possible to use linear regression to estimate the optimal values
+of :math:`a_1` and :math:`a_2`. It's possible to analytically
+eliminate the variables :math:`a_1` and :math:`a_2` from the problem
+entirely. Problems like these are known as separable least squares
+problem and the most famous algorithm for solving them is the Variable
+Projection algorithm invented by Golub & Pereyra [GolubPereyra]_.
+
+Similar structure can be found in the matrix factorization with
+missing data problem. There the corresponding algorithm is known as
+Wiberg's algorithm [Wiberg]_.
+
+Ruhe & Wedin present an analysis of various algorithms for solving
+separable non-linear least squares problems and refer to *Variable
+Projection* as Algorithm I in their paper [RuheWedin]_.
+
+Implementing Variable Projection is tedious and expensive. Ruhe &
+Wedin present a simpler algorithm with comparable convergence
+properties, which they call Algorithm II.  Algorithm II performs an
+additional optimization step to estimate :math:`a_1` and :math:`a_2`
+exactly after computing a successful Newton step.
+
+
+This idea can be generalized to cases where the residual is not
+linear in :math:`a_1` and :math:`a_2`, i.e.,
+
+.. math:: y = f_1(a_1, e^{b_1 x}) + f_2(a_2, e^{b_3 x^2 + c_1})
+
+In this case, we solve for the trust region step for the full problem,
+and then use it as the starting point to further optimize just `a_1`
+and `a_2`. For the linear case, this amounts to doing a single linear
+least squares solve. For non-linear problems, any method for solving
+the :math:`a_1` and :math:`a_2` optimization problems will do. The
+only constraint on :math:`a_1` and :math:`a_2` (if they are two
+different parameter block) is that they do not co-occur in a residual
+block.
+
+This idea can be further generalized, by not just optimizing
+:math:`(a_1, a_2)`, but decomposing the graph corresponding to the
+Hessian matrix's sparsity structure into a collection of
+non-overlapping independent sets and optimizing each of them.
+
+Setting :member:`Solver::Options::use_inner_iterations` to ``true``
+enables the use of this non-linear generalization of Ruhe & Wedin's
+Algorithm II.  This version of Ceres has a higher iteration
+complexity, but also displays better convergence behavior per
+iteration.
+
+Setting :member:`Solver::Options::num_threads` to the maximum number
+possible is highly recommended.
+
+.. _section-non-monotonic-steps:
+
+Non-monotonic Steps
+-------------------
+
+Note that the basic trust-region algorithm described in
+:ref:`section-trust-region-methods` is a descent algorithm in that it
+only accepts a point if it strictly reduces the value of the objective
+function.
+
+Relaxing this requirement allows the algorithm to be more efficient in
+the long term at the cost of some local increase in the value of the
+objective function.
+
+This is because allowing for non-decreasing objective function values
+in a principled manner allows the algorithm to *jump over boulders* as
+the method is not restricted to move into narrow valleys while
+preserving its convergence properties.
+
+Setting :member:`Solver::Options::use_nonmonotonic_steps` to ``true``
+enables the non-monotonic trust region algorithm as described by Conn,
+Gould & Toint in [Conn]_.
+
+Even though the value of the objective function may be larger
+than the minimum value encountered over the course of the
+optimization, the final parameters returned to the user are the
+ones corresponding to the minimum cost over all iterations.
+
+The option to take non-monotonic steps is available for all trust
+region strategies.
+
+
+.. _section-line-search-methods:
+
+Line Search Methods
+===================
+
+The line search method in Ceres Solver cannot handle bounds
+constraints right now, so it can only be used for solving
+unconstrained problems.
+
+Line search algorithms
+
+   1. Given an initial point :math:`x`
+   2. :math:`\Delta x = -H^{-1}(x) g(x)`
+   3. :math:`\arg \min_\mu \frac{1}{2} \| F(x + \mu \Delta x) \|^2`
+   4. :math:`x = x + \mu \Delta x`
+   5. Goto 2.
+
+Here :math:`H(x)` is some approximation to the Hessian of the
+objective function, and :math:`g(x)` is the gradient at
+:math:`x`. Depending on the choice of :math:`H(x)` we get a variety of
+different search directions :math:`\Delta x`.
+
+Step 4, which is a one dimensional optimization or `Line Search` along
+:math:`\Delta x` is what gives this class of methods its name.
+
+Different line search algorithms differ in their choice of the search
+direction :math:`\Delta x` and the method used for one dimensional
+optimization along :math:`\Delta x`. The choice of :math:`H(x)` is the
+primary source of computational complexity in these
+methods. Currently, Ceres Solver supports three choices of search
+directions, all aimed at large scale problems.
+
+1. ``STEEPEST_DESCENT`` This corresponds to choosing :math:`H(x)` to
+   be the identity matrix. This is not a good search direction for
+   anything but the simplest of the problems. It is only included here
+   for completeness.
+
+2. ``NONLINEAR_CONJUGATE_GRADIENT`` A generalization of the Conjugate
+   Gradient method to non-linear functions. The generalization can be
+   performed in a number of different ways, resulting in a variety of
+   search directions. Ceres Solver currently supports
+   ``FLETCHER_REEVES``, ``POLAK_RIBIERE`` and ``HESTENES_STIEFEL``
+   directions.
+
+3. ``BFGS`` A generalization of the Secant method to multiple
+   dimensions in which a full, dense approximation to the inverse
+   Hessian is maintained and used to compute a quasi-Newton step
+   [NocedalWright]_.  BFGS is currently the best known general
+   quasi-Newton algorithm.
+
+4. ``LBFGS`` A limited memory approximation to the full ``BFGS``
+   method in which the last `M` iterations are used to approximate the
+   inverse Hessian used to compute a quasi-Newton step [Nocedal]_,
+   [ByrdNocedal]_.
+
+Currently Ceres Solver supports both a backtracking and interpolation
+based Armijo line search algorithm, and a sectioning / zoom
+interpolation (strong) Wolfe condition line search algorithm.
+However, note that in order for the assumptions underlying the
+``BFGS`` and ``LBFGS`` methods to be guaranteed to be satisfied the
+Wolfe line search algorithm should be used.
+
+.. _section-linear-solver:
+
+LinearSolver
+============
+
+Recall that in both of the trust-region methods described above, the
+key computational cost is the solution of a linear least squares
+problem of the form
+
+.. math:: \min_{\Delta x} \frac{1}{2} \|J(x)\Delta x + f(x)\|^2 .
+   :label: simple2
+
+Let :math:`H(x)= J(x)^\top J(x)` and :math:`g(x) = -J(x)^\top
+f(x)`. For notational convenience let us also drop the dependence on
+:math:`x`. Then it is easy to see that solving :eq:`simple2` is
+equivalent to solving the *normal equations*.
+
+.. math:: H \Delta x = g
+   :label: normal
+
+Ceres provides a number of different options for solving :eq:`normal`.
+
+.. _section-qr:
+
+``DENSE_QR``
+------------
+
+For small problems (a couple of hundred parameters and a few thousand
+residuals) with relatively dense Jacobians, ``DENSE_QR`` is the method
+of choice [Bjorck]_. Let :math:`J = QR` be the QR-decomposition of
+:math:`J`, where :math:`Q` is an orthonormal matrix and :math:`R` is
+an upper triangular matrix [TrefethenBau]_. Then it can be shown that
+the solution to :eq:`normal` is given by
+
+.. math:: \Delta x^* = -R^{-1}Q^\top f
+
+
+Ceres uses ``Eigen`` 's dense QR factorization routines.
+
+.. _section-cholesky:
+
+``DENSE_NORMAL_CHOLESKY`` & ``SPARSE_NORMAL_CHOLESKY``
+------------------------------------------------------
+
+Large non-linear least square problems are usually sparse. In such
+cases, using a dense QR factorization is inefficient. Let :math:`H =
+R^\top R` be the Cholesky factorization of the normal equations, where
+:math:`R` is an upper triangular matrix, then the solution to
+:eq:`normal` is given by
+
+.. math::
+
+    \Delta x^* = R^{-1} R^{-\top} g.
+
+
+The observant reader will note that the :math:`R` in the Cholesky
+factorization of :math:`H` is the same upper triangular matrix
+:math:`R` in the QR factorization of :math:`J`. Since :math:`Q` is an
+orthonormal matrix, :math:`J=QR` implies that :math:`J^\top J = R^\top
+Q^\top Q R = R^\top R`. There are two variants of Cholesky
+factorization -- sparse and dense.
+
+``DENSE_NORMAL_CHOLESKY``  as the name implies performs a dense
+Cholesky factorization of the normal equations. Ceres uses
+``Eigen`` 's dense LDLT factorization routines.
+
+``SPARSE_NORMAL_CHOLESKY``, as the name implies performs a sparse
+Cholesky factorization of the normal equations. This leads to
+substantial savings in time and memory for large sparse
+problems. Ceres uses the sparse Cholesky factorization routines in
+Professor Tim Davis' ``SuiteSparse`` or ``CXSparse`` packages [Chen]_
+or the sparse Cholesky factorization algorithm in ``Eigen`` (which
+incidently is a port of the algorithm implemented inside ``CXSparse``)
+
+.. _section-cgnr:
+
+``CGNR``
+--------
+
+For general sparse problems, if the problem is too large for
+``CHOLMOD`` or a sparse linear algebra library is not linked into
+Ceres, another option is the ``CGNR`` solver. This solver uses the
+Conjugate Gradients solver on the *normal equations*, but without
+forming the normal equations explicitly. It exploits the relation
+
+.. math::
+    H x = J^\top J x = J^\top(J x)
+
+The convergence of Conjugate Gradients depends on the conditioner
+number :math:`\kappa(H)`. Usually :math:`H` is poorly conditioned and
+a :ref:`section-preconditioner` must be used to get reasonable
+performance. Currently only the ``JACOBI`` preconditioner is available
+for use with ``CGNR``. It uses the block diagonal of :math:`H` to
+precondition the normal equations.
+
+When the user chooses ``CGNR`` as the linear solver, Ceres
+automatically switches from the exact step algorithm to an inexact
+step algorithm.
+
+.. _section-schur:
+
+``DENSE_SCHUR`` & ``SPARSE_SCHUR``
+----------------------------------
+
+While it is possible to use ``SPARSE_NORMAL_CHOLESKY`` to solve bundle
+adjustment problems, bundle adjustment problem have a special
+structure, and a more efficient scheme for solving :eq:`normal`
+can be constructed.
+
+Suppose that the SfM problem consists of :math:`p` cameras and
+:math:`q` points and the variable vector :math:`x` has the block
+structure :math:`x = [y_{1}, ... ,y_{p},z_{1}, ... ,z_{q}]`. Where,
+:math:`y` and :math:`z` correspond to camera and point parameters,
+respectively.  Further, let the camera blocks be of size :math:`c` and
+the point blocks be of size :math:`s` (for most problems :math:`c` =
+:math:`6`--`9` and :math:`s = 3`). Ceres does not impose any constancy
+requirement on these block sizes, but choosing them to be constant
+simplifies the exposition.
+
+A key characteristic of the bundle adjustment problem is that there is
+no term :math:`f_{i}` that includes two or more point blocks.  This in
+turn implies that the matrix :math:`H` is of the form
+
+.. math:: H = \left[ \begin{matrix} B & E\\ E^\top & C \end{matrix} \right]\ ,
+   :label: hblock
+
+where :math:`B \in \mathbb{R}^{pc\times pc}` is a block sparse matrix
+with :math:`p` blocks of size :math:`c\times c` and :math:`C \in
+\mathbb{R}^{qs\times qs}` is a block diagonal matrix with :math:`q` blocks
+of size :math:`s\times s`. :math:`E \in \mathbb{R}^{pc\times qs}` is a
+general block sparse matrix, with a block of size :math:`c\times s`
+for each observation. Let us now block partition :math:`\Delta x =
+[\Delta y,\Delta z]` and :math:`g=[v,w]` to restate :eq:`normal`
+as the block structured linear system
+
+.. math:: \left[ \begin{matrix} B & E\\ E^\top & C \end{matrix}
+                \right]\left[ \begin{matrix} \Delta y \\ \Delta z
+                    \end{matrix} \right] = \left[ \begin{matrix} v\\ w
+                    \end{matrix} \right]\ ,
+   :label: linear2
+
+and apply Gaussian elimination to it. As we noted above, :math:`C` is
+a block diagonal matrix, with small diagonal blocks of size
+:math:`s\times s`.  Thus, calculating the inverse of :math:`C` by
+inverting each of these blocks is cheap. This allows us to eliminate
+:math:`\Delta z` by observing that :math:`\Delta z = C^{-1}(w - E^\top
+\Delta y)`, giving us
+
+.. math:: \left[B - EC^{-1}E^\top\right] \Delta y = v - EC^{-1}w\ .
+   :label: schur
+
+The matrix
+
+.. math:: S = B - EC^{-1}E^\top
+
+is the Schur complement of :math:`C` in :math:`H`. It is also known as
+the *reduced camera matrix*, because the only variables
+participating in :eq:`schur` are the ones corresponding to the
+cameras. :math:`S \in \mathbb{R}^{pc\times pc}` is a block structured
+symmetric positive definite matrix, with blocks of size :math:`c\times
+c`. The block :math:`S_{ij}` corresponding to the pair of images
+:math:`i` and :math:`j` is non-zero if and only if the two images
+observe at least one common point.
+
+
+Now, :eq:`linear2` can be solved by first forming :math:`S`, solving for
+:math:`\Delta y`, and then back-substituting :math:`\Delta y` to
+obtain the value of :math:`\Delta z`.  Thus, the solution of what was
+an :math:`n\times n`, :math:`n=pc+qs` linear system is reduced to the
+inversion of the block diagonal matrix :math:`C`, a few matrix-matrix
+and matrix-vector multiplies, and the solution of block sparse
+:math:`pc\times pc` linear system :eq:`schur`.  For almost all
+problems, the number of cameras is much smaller than the number of
+points, :math:`p \ll q`, thus solving :eq:`schur` is
+significantly cheaper than solving :eq:`linear2`. This is the
+*Schur complement trick* [Brown]_.
+
+This still leaves open the question of solving :eq:`schur`. The
+method of choice for solving symmetric positive definite systems
+exactly is via the Cholesky factorization [TrefethenBau]_ and
+depending upon the structure of the matrix, there are, in general, two
+options. The first is direct factorization, where we store and factor
+:math:`S` as a dense matrix [TrefethenBau]_. This method has
+:math:`O(p^2)` space complexity and :math:`O(p^3)` time complexity and
+is only practical for problems with up to a few hundred cameras. Ceres
+implements this strategy as the ``DENSE_SCHUR`` solver.
+
+
+But, :math:`S` is typically a fairly sparse matrix, as most images
+only see a small fraction of the scene. This leads us to the second
+option: Sparse Direct Methods. These methods store :math:`S` as a
+sparse matrix, use row and column re-ordering algorithms to maximize
+the sparsity of the Cholesky decomposition, and focus their compute
+effort on the non-zero part of the factorization [Chen]_. Sparse
+direct methods, depending on the exact sparsity structure of the Schur
+complement, allow bundle adjustment algorithms to significantly scale
+up over those based on dense factorization. Ceres implements this
+strategy as the ``SPARSE_SCHUR`` solver.
+
+.. _section-iterative_schur:
+
+``ITERATIVE_SCHUR``
+-------------------
+
+Another option for bundle adjustment problems is to apply
+Preconditioned Conjugate Gradients to the reduced camera matrix
+:math:`S` instead of :math:`H`. One reason to do this is that
+:math:`S` is a much smaller matrix than :math:`H`, but more
+importantly, it can be shown that :math:`\kappa(S)\leq \kappa(H)`.
+Ceres implements Conjugate Gradients on :math:`S` as the
+``ITERATIVE_SCHUR`` solver. When the user chooses ``ITERATIVE_SCHUR``
+as the linear solver, Ceres automatically switches from the exact step
+algorithm to an inexact step algorithm.
+
+The key computational operation when using Conjuagate Gradients is the
+evaluation of the matrix vector product :math:`Sx` for an arbitrary
+vector :math:`x`. There are two ways in which this product can be
+evaluated, and this can be controlled using
+``Solver::Options::use_explicit_schur_complement``. Depending on the
+problem at hand, the performance difference between these two methods
+can be quite substantial.
+
+  1. **Implicit** This is default. Implicit evaluation is suitable for
+     large problems where the cost of computing and storing the Schur
+     Complement :math:`S` is prohibitive. Because PCG only needs
+     access to :math:`S` via its product with a vector, one way to
+     evaluate :math:`Sx` is to observe that
+
+     .. math::  x_1 &= E^\top x
+     .. math::  x_2 &= C^{-1} x_1
+     .. math::  x_3 &= Ex_2\\
+     .. math::  x_4 &= Bx\\
+     .. math::   Sx &= x_4 - x_3
+        :label: schurtrick1
+
+     Thus, we can run PCG on :math:`S` with the same computational
+     effort per iteration as PCG on :math:`H`, while reaping the
+     benefits of a more powerful preconditioner. In fact, we do not
+     even need to compute :math:`H`, :eq:`schurtrick1` can be
+     implemented using just the columns of :math:`J`.
+
+     Equation :eq:`schurtrick1` is closely related to *Domain
+     Decomposition methods* for solving large linear systems that
+     arise in structural engineering and partial differential
+     equations. In the language of Domain Decomposition, each point in
+     a bundle adjustment problem is a domain, and the cameras form the
+     interface between these domains. The iterative solution of the
+     Schur complement then falls within the sub-category of techniques
+     known as Iterative Sub-structuring [Saad]_ [Mathew]_.
+
+  2. **Explicit** The complexity of implicit matrix-vector product
+     evaluation scales with the number of non-zeros in the
+     Jacobian. For small to medium sized problems, the cost of
+     constructing the Schur Complement is small enough that it is
+     better to construct it explicitly in memory and use it to
+     evaluate the product :math:`Sx`.
+
+When the user chooses ``ITERATIVE_SCHUR`` as the linear solver, Ceres
+automatically switches from the exact step algorithm to an inexact
+step algorithm.
+
+  .. NOTE::
+
+     In exact arithmetic, the choice of implicit versus explicit Schur
+     complement would have no impact on solution quality. However, in
+     practice if the Jacobian is poorly conditioned, one may observe
+     (usually small) differences in solution quality. This is a
+     natural consequence of performing computations in finite arithmetic.
+
+
+.. _section-preconditioner:
+
+Preconditioner
+--------------
+
+The convergence rate of Conjugate Gradients for
+solving :eq:`normal` depends on the distribution of eigenvalues
+of :math:`H` [Saad]_. A useful upper bound is
+:math:`\sqrt{\kappa(H)}`, where, :math:`\kappa(H)` is the condition
+number of the matrix :math:`H`. For most bundle adjustment problems,
+:math:`\kappa(H)` is high and a direct application of Conjugate
+Gradients to :eq:`normal` results in extremely poor performance.
+
+The solution to this problem is to replace :eq:`normal` with a
+*preconditioned* system.  Given a linear system, :math:`Ax =b` and a
+preconditioner :math:`M` the preconditioned system is given by
+:math:`M^{-1}Ax = M^{-1}b`. The resulting algorithm is known as
+Preconditioned Conjugate Gradients algorithm (PCG) and its worst case
+complexity now depends on the condition number of the *preconditioned*
+matrix :math:`\kappa(M^{-1}A)`.
+
+The computational cost of using a preconditioner :math:`M` is the cost
+of computing :math:`M` and evaluating the product :math:`M^{-1}y` for
+arbitrary vectors :math:`y`. Thus, there are two competing factors to
+consider: How much of :math:`H`'s structure is captured by :math:`M`
+so that the condition number :math:`\kappa(HM^{-1})` is low, and the
+computational cost of constructing and using :math:`M`.  The ideal
+preconditioner would be one for which :math:`\kappa(M^{-1}A)
+=1`. :math:`M=A` achieves this, but it is not a practical choice, as
+applying this preconditioner would require solving a linear system
+equivalent to the unpreconditioned problem.  It is usually the case
+that the more information :math:`M` has about :math:`H`, the more
+expensive it is use. For example, Incomplete Cholesky factorization
+based preconditioners have much better convergence behavior than the
+Jacobi preconditioner, but are also much more expensive.
+
+The simplest of all preconditioners is the diagonal or Jacobi
+preconditioner, i.e., :math:`M=\operatorname{diag}(A)`, which for
+block structured matrices like :math:`H` can be generalized to the
+block Jacobi preconditioner. Ceres implements the block Jacobi
+preconditioner and refers to it as ``JACOBI``. When used with
+:ref:`section-cgnr` it refers to the block diagonal of :math:`H` and
+when used with :ref:`section-iterative_schur` it refers to the block
+diagonal of :math:`B` [Mandel]_.
+
+Another obvious choice for :ref:`section-iterative_schur` is the block
+diagonal of the Schur complement matrix :math:`S`, i.e, the block
+Jacobi preconditioner for :math:`S`. Ceres implements it and refers to
+is as the ``SCHUR_JACOBI`` preconditioner.
+
+For bundle adjustment problems arising in reconstruction from
+community photo collections, more effective preconditioners can be
+constructed by analyzing and exploiting the camera-point visibility
+structure of the scene [KushalAgarwal]_. Ceres implements the two
+visibility based preconditioners described by Kushal & Agarwal as
+``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL``. These are fairly new
+preconditioners and Ceres' implementation of them is in its early
+stages and is not as mature as the other preconditioners described
+above.
+
+.. _section-ordering:
+
+Ordering
+--------
+
+The order in which variables are eliminated in a linear solver can
+have a significant of impact on the efficiency and accuracy of the
+method. For example when doing sparse Cholesky factorization, there
+are matrices for which a good ordering will give a Cholesky factor
+with :math:`O(n)` storage, where as a bad ordering will result in an
+completely dense factor.
+
+Ceres allows the user to provide varying amounts of hints to the
+solver about the variable elimination ordering to use. This can range
+from no hints, where the solver is free to decide the best ordering
+based on the user's choices like the linear solver being used, to an
+exact order in which the variables should be eliminated, and a variety
+of possibilities in between.
+
+Instances of the :class:`ParameterBlockOrdering` class are used to
+communicate this information to Ceres.
+
+Formally an ordering is an ordered partitioning of the parameter
+blocks. Each parameter block belongs to exactly one group, and each
+group has a unique integer associated with it, that determines its
+order in the set of groups. We call these groups *Elimination Groups*
+
+Given such an ordering, Ceres ensures that the parameter blocks in the
+lowest numbered elimination group are eliminated first, and then the
+parameter blocks in the next lowest numbered elimination group and so
+on. Within each elimination group, Ceres is free to order the
+parameter blocks as it chooses. For example, consider the linear system
+
+.. math::
+  x + y &= 3\\
+  2x + 3y &= 7
+
+There are two ways in which it can be solved. First eliminating
+:math:`x` from the two equations, solving for :math:`y` and then back
+substituting for :math:`x`, or first eliminating :math:`y`, solving
+for :math:`x` and back substituting for :math:`y`. The user can
+construct three orderings here.
+
+1. :math:`\{0: x\}, \{1: y\}` : Eliminate :math:`x` first.
+2. :math:`\{0: y\}, \{1: x\}` : Eliminate :math:`y` first.
+3. :math:`\{0: x, y\}`        : Solver gets to decide the elimination order.
+
+Thus, to have Ceres determine the ordering automatically using
+heuristics, put all the variables in the same elimination group. The
+identity of the group does not matter. This is the same as not
+specifying an ordering at all. To control the ordering for every
+variable, create an elimination group per variable, ordering them in
+the desired order.
+
+If the user is using one of the Schur solvers (``DENSE_SCHUR``,
+``SPARSE_SCHUR``, ``ITERATIVE_SCHUR``) and chooses to specify an
+ordering, it must have one important property. The lowest numbered
+elimination group must form an independent set in the graph
+corresponding to the Hessian, or in other words, no two parameter
+blocks in in the first elimination group should co-occur in the same
+residual block. For the best performance, this elimination group
+should be as large as possible. For standard bundle adjustment
+problems, this corresponds to the first elimination group containing
+all the 3d points, and the second containing the all the cameras
+parameter blocks.
+
+If the user leaves the choice to Ceres, then the solver uses an
+approximate maximum independent set algorithm to identify the first
+elimination group [LiSaad]_.
+
+.. _section-solver-options:
+
+:class:`Solver::Options`
+========================
+
+.. class:: Solver::Options
+
+   :class:`Solver::Options` controls the overall behavior of the
+   solver. We list the various settings and their default values below.
+
+.. function:: bool Solver::Options::IsValid(string* error) const
+
+   Validate the values in the options struct and returns true on
+   success. If there is a problem, the method returns false with
+   ``error`` containing a textual description of the cause.
+
+.. member:: MinimizerType Solver::Options::minimizer_type
+
+   Default: ``TRUST_REGION``
+
+   Choose between ``LINE_SEARCH`` and ``TRUST_REGION`` algorithms. See
+   :ref:`section-trust-region-methods` and
+   :ref:`section-line-search-methods` for more details.
+
+.. member:: LineSearchDirectionType Solver::Options::line_search_direction_type
+
+   Default: ``LBFGS``
+
+   Choices are ``STEEPEST_DESCENT``, ``NONLINEAR_CONJUGATE_GRADIENT``,
+   ``BFGS`` and ``LBFGS``.
+
+.. member:: LineSearchType Solver::Options::line_search_type
+
+   Default: ``WOLFE``
+
+   Choices are ``ARMIJO`` and ``WOLFE`` (strong Wolfe conditions).
+   Note that in order for the assumptions underlying the ``BFGS`` and
+   ``LBFGS`` line search direction algorithms to be guaranteed to be
+   satisifed, the ``WOLFE`` line search should be used.
+
+.. member:: NonlinearConjugateGradientType Solver::Options::nonlinear_conjugate_gradient_type
+
+   Default: ``FLETCHER_REEVES``
+
+   Choices are ``FLETCHER_REEVES``, ``POLAK_RIBIERE`` and
+   ``HESTENES_STIEFEL``.
+
+.. member:: int Solver::Options::max_lbfgs_rank
+
+   Default: 20
+
+   The L-BFGS hessian approximation is a low rank approximation to the
+   inverse of the Hessian matrix. The rank of the approximation
+   determines (linearly) the space and time complexity of using the
+   approximation. Higher the rank, the better is the quality of the
+   approximation. The increase in quality is however is bounded for a
+   number of reasons.
+
+     1. The method only uses secant information and not actual
+        derivatives.
+
+     2. The Hessian approximation is constrained to be positive
+        definite.
+
+   So increasing this rank to a large number will cost time and space
+   complexity without the corresponding increase in solution
+   quality. There are no hard and fast rules for choosing the maximum
+   rank. The best choice usually requires some problem specific
+   experimentation.
+
+.. member:: bool Solver::Options::use_approximate_eigenvalue_bfgs_scaling
+
+   Default: ``false``
+
+   As part of the ``BFGS`` update step / ``LBFGS`` right-multiply
+   step, the initial inverse Hessian approximation is taken to be the
+   Identity.  However, [Oren]_ showed that using instead :math:`I *
+   \gamma`, where :math:`\gamma` is a scalar chosen to approximate an
+   eigenvalue of the true inverse Hessian can result in improved
+   convergence in a wide variety of cases.  Setting
+   ``use_approximate_eigenvalue_bfgs_scaling`` to true enables this
+   scaling in ``BFGS`` (before first iteration) and ``LBFGS`` (at each
+   iteration).
+
+   Precisely, approximate eigenvalue scaling equates to
+
+   .. math:: \gamma = \frac{y_k' s_k}{y_k' y_k}
+
+   With:
+
+  .. math:: y_k = \nabla f_{k+1} - \nabla f_k
+  .. math:: s_k = x_{k+1} - x_k
+
+  Where :math:`f()` is the line search objective and :math:`x` the
+  vector of parameter values [NocedalWright]_.
+
+  It is important to note that approximate eigenvalue scaling does
+  **not** *always* improve convergence, and that it can in fact
+  *significantly* degrade performance for certain classes of problem,
+  which is why it is disabled by default.  In particular it can
+  degrade performance when the sensitivity of the problem to different
+  parameters varies significantly, as in this case a single scalar
+  factor fails to capture this variation and detrimentally downscales
+  parts of the Jacobian approximation which correspond to
+  low-sensitivity parameters. It can also reduce the robustness of the
+  solution to errors in the Jacobians.
+
+.. member:: LineSearchIterpolationType Solver::Options::line_search_interpolation_type
+
+   Default: ``CUBIC``
+
+   Degree of the polynomial used to approximate the objective
+   function. Valid values are ``BISECTION``, ``QUADRATIC`` and
+   ``CUBIC``.
+
+.. member:: double Solver::Options::min_line_search_step_size
+
+   The line search terminates if:
+
+   .. math:: \|\Delta x_k\|_\infty < \text{min_line_search_step_size}
+
+   where :math:`\|\cdot\|_\infty` refers to the max norm, and
+   :math:`\Delta x_k` is the step change in the parameter values at
+   the :math:`k`-th iteration.
+
+.. member:: double Solver::Options::line_search_sufficient_function_decrease
+
+   Default: ``1e-4``
+
+   Solving the line search problem exactly is computationally
+   prohibitive. Fortunately, line search based optimization algorithms
+   can still guarantee convergence if instead of an exact solution,
+   the line search algorithm returns a solution which decreases the
+   value of the objective function sufficiently. More precisely, we
+   are looking for a step size s.t.
+
+   .. math:: f(\text{step_size}) \le f(0) + \text{sufficient_decrease} * [f'(0) * \text{step_size}]
+
+   This condition is known as the Armijo condition.
+
+.. member:: double Solver::Options::max_line_search_step_contraction
+
+   Default: ``1e-3``
+
+   In each iteration of the line search,
+
+   .. math:: \text{new_step_size} >= \text{max_line_search_step_contraction} * \text{step_size}
+
+   Note that by definition, for contraction:
+
+   .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: double Solver::Options::min_line_search_step_contraction
+
+   Default: ``0.6``
+
+   In each iteration of the line search,
+
+   .. math:: \text{new_step_size} <= \text{min_line_search_step_contraction} * \text{step_size}
+
+   Note that by definition, for contraction:
+
+   .. math:: 0 < \text{max_step_contraction} < \text{min_step_contraction} < 1
+
+.. member:: int Solver::Options::max_num_line_search_step_size_iterations
+
+   Default: ``20``
+
+   Maximum number of trial step size iterations during each line
+   search, if a step size satisfying the search conditions cannot be
+   found within this number of trials, the line search will stop.
+
+   As this is an 'artificial' constraint (one imposed by the user, not
+   the underlying math), if ``WOLFE`` line search is being used, *and*
+   points satisfying the Armijo sufficient (function) decrease
+   condition have been found during the current search (in :math:`<=`
+   ``max_num_line_search_step_size_iterations``).  Then, the step size
+   with the lowest function value which satisfies the Armijo condition
+   will be returned as the new valid step, even though it does *not*
+   satisfy the strong Wolfe conditions.  This behaviour protects
+   against early termination of the optimizer at a sub-optimal point.
+
+.. member:: int Solver::Options::max_num_line_search_direction_restarts
+
+   Default: ``5``
+
+   Maximum number of restarts of the line search direction algorithm
+   before terminating the optimization. Restarts of the line search
+   direction algorithm occur when the current algorithm fails to
+   produce a new descent direction. This typically indicates a
+   numerical failure, or a breakdown in the validity of the
+   approximations used.
+
+.. member:: double Solver::Options::line_search_sufficient_curvature_decrease
+
+   Default: ``0.9``
+
+   The strong Wolfe conditions consist of the Armijo sufficient
+   decrease condition, and an additional requirement that the
+   step size be chosen s.t. the *magnitude* ('strong' Wolfe
+   conditions) of the gradient along the search direction
+   decreases sufficiently. Precisely, this second condition
+   is that we seek a step size s.t.
+
+   .. math:: \|f'(\text{step_size})\| <= \text{sufficient_curvature_decrease} * \|f'(0)\|
+
+   Where :math:`f()` is the line search objective and :math:`f'()` is the derivative
+   of :math:`f` with respect to the step size: :math:`\frac{d f}{d~\text{step size}}`.
+
+.. member:: double Solver::Options::max_line_search_step_expansion
+
+   Default: ``10.0``
+
+   During the bracketing phase of a Wolfe line search, the step size
+   is increased until either a point satisfying the Wolfe conditions
+   is found, or an upper bound for a bracket containing a point
+   satisfying the conditions is found.  Precisely, at each iteration
+   of the expansion:
+
+   .. math:: \text{new_step_size} <= \text{max_step_expansion} * \text{step_size}
+
+   By definition for expansion
+
+   .. math:: \text{max_step_expansion} > 1.0
+
+.. member:: TrustRegionStrategyType Solver::Options::trust_region_strategy_type
+
+   Default: ``LEVENBERG_MARQUARDT``
+
+   The trust region step computation algorithm used by
+   Ceres. Currently ``LEVENBERG_MARQUARDT`` and ``DOGLEG`` are the two
+   valid choices. See :ref:`section-levenberg-marquardt` and
+   :ref:`section-dogleg` for more details.
+
+.. member:: DoglegType Solver::Options::dogleg_type
+
+   Default: ``TRADITIONAL_DOGLEG``
+
+   Ceres supports two different dogleg strategies.
+   ``TRADITIONAL_DOGLEG`` method by Powell and the ``SUBSPACE_DOGLEG``
+   method described by [ByrdSchnabel]_ .  See :ref:`section-dogleg`
+   for more details.
+
+.. member:: bool Solver::Options::use_nonmonotonic_steps
+
+   Default: ``false``
+
+   Relax the requirement that the trust-region algorithm take strictly
+   decreasing steps. See :ref:`section-non-monotonic-steps` for more
+   details.
+
+.. member:: int Solver::Options::max_consecutive_nonmonotonic_steps
+
+   Default: ``5``
+
+   The window size used by the step selection algorithm to accept
+   non-monotonic steps.
+
+.. member:: int Solver::Options::max_num_iterations
+
+   Default: ``50``
+
+   Maximum number of iterations for which the solver should run.
+
+.. member:: double Solver::Options::max_solver_time_in_seconds
+
+   Default: ``1e6``
+   Maximum amount of time for which the solver should run.
+
+.. member:: int Solver::Options::num_threads
+
+   Default: ``1``
+
+   Number of threads used by Ceres to evaluate the Jacobian.
+
+.. member::  double Solver::Options::initial_trust_region_radius
+
+   Default: ``1e4``
+
+   The size of the initial trust region. When the
+   ``LEVENBERG_MARQUARDT`` strategy is used, the reciprocal of this
+   number is the initial regularization parameter.
+
+.. member:: double Solver::Options::max_trust_region_radius
+
+   Default: ``1e16``
+
+   The trust region radius is not allowed to grow beyond this value.
+
+.. member:: double Solver::Options::min_trust_region_radius
+
+   Default: ``1e-32``
+
+   The solver terminates, when the trust region becomes smaller than
+   this value.
+
+.. member:: double Solver::Options::min_relative_decrease
+
+   Default: ``1e-3``
+
+   Lower threshold for relative decrease before a trust-region step is
+   accepted.
+
+.. member:: double Solver::Options::min_lm_diagonal
+
+   Default: ``1e6``
+
+   The ``LEVENBERG_MARQUARDT`` strategy, uses a diagonal matrix to
+   regularize the trust region step. This is the lower bound on
+   the values of this diagonal matrix.
+
+.. member:: double Solver::Options::max_lm_diagonal
+
+   Default:  ``1e32``
+
+   The ``LEVENBERG_MARQUARDT`` strategy, uses a diagonal matrix to
+   regularize the trust region step. This is the upper bound on
+   the values of this diagonal matrix.
+
+.. member:: int Solver::Options::max_num_consecutive_invalid_steps
+
+   Default: ``5``
+
+   The step returned by a trust region strategy can sometimes be
+   numerically invalid, usually because of conditioning
+   issues. Instead of crashing or stopping the optimization, the
+   optimizer can go ahead and try solving with a smaller trust
+   region/better conditioned problem. This parameter sets the number
+   of consecutive retries before the minimizer gives up.
+
+.. member:: double Solver::Options::function_tolerance
+
+   Default: ``1e-6``
+
+   Solver terminates if
+
+   .. math:: \frac{|\Delta \text{cost}|}{\text{cost}} <= \text{function_tolerance}
+
+   where, :math:`\Delta \text{cost}` is the change in objective
+   function value (up or down) in the current iteration of
+   Levenberg-Marquardt.
+
+.. member:: double Solver::Options::gradient_tolerance
+
+   Default: ``1e-10``
+
+   Solver terminates if
+
+   .. math:: \|x - \Pi \boxplus(x, -g(x))\|_\infty <= \text{gradient_tolerance}
+
+   where :math:`\|\cdot\|_\infty` refers to the max norm, :math:`\Pi`
+   is projection onto the bounds constraints and :math:`\boxplus` is
+   Plus operation for the overall local parameterization associated
+   with the parameter vector.
+
+.. member:: double Solver::Options::parameter_tolerance
+
+   Default: ``1e-8``
+
+   Solver terminates if
+
+   .. math:: \|\Delta x\| <= (\|x\| + \text{parameter_tolerance}) * \text{parameter_tolerance}
+
+   where :math:`\Delta x` is the step computed by the linear solver in
+   the current iteration.
+
+.. member:: LinearSolverType Solver::Options::linear_solver_type
+
+   Default: ``SPARSE_NORMAL_CHOLESKY`` / ``DENSE_QR``
+
+   Type of linear solver used to compute the solution to the linear
+   least squares problem in each iteration of the Levenberg-Marquardt
+   algorithm. If Ceres is built with support for ``SuiteSparse`` or
+   ``CXSparse`` or ``Eigen``'s sparse Cholesky factorization, the
+   default is ``SPARSE_NORMAL_CHOLESKY``, it is ``DENSE_QR``
+   otherwise.
+
+.. member:: PreconditionerType Solver::Options::preconditioner_type
+
+   Default: ``JACOBI``
+
+   The preconditioner used by the iterative linear solver. The default
+   is the block Jacobi preconditioner. Valid values are (in increasing
+   order of complexity) ``IDENTITY``, ``JACOBI``, ``SCHUR_JACOBI``,
+   ``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL``. See
+   :ref:`section-preconditioner` for more details.
+
+.. member:: VisibilityClusteringType Solver::Options::visibility_clustering_type
+
+   Default: ``CANONICAL_VIEWS``
+
+   Type of clustering algorithm to use when constructing a visibility
+   based preconditioner. The original visibility based preconditioning
+   paper and implementation only used the canonical views algorithm.
+
+   This algorithm gives high quality results but for large dense
+   graphs can be particularly expensive. As its worst case complexity
+   is cubic in size of the graph.
+
+   Another option is to use ``SINGLE_LINKAGE`` which is a simple
+   thresholded single linkage clustering algorithm that only pays
+   attention to tightly coupled blocks in the Schur complement. This
+   is a fast algorithm that works well.
+
+   The optimal choice of the clustering algorithm depends on the
+   sparsity structure of the problem, but generally speaking we
+   recommend that you try ``CANONICAL_VIEWS`` first and if it is too
+   expensive try ``SINGLE_LINKAGE``.
+
+.. member:: DenseLinearAlgebraLibrary Solver::Options::dense_linear_algebra_library_type
+
+   Default:``EIGEN``
+
+   Ceres supports using multiple dense linear algebra libraries for
+   dense matrix factorizations. Currently ``EIGEN`` and ``LAPACK`` are
+   the valid choices. ``EIGEN`` is always available, ``LAPACK`` refers
+   to the system ``BLAS + LAPACK`` library which may or may not be
+   available.
+
+   This setting affects the ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY``
+   and ``DENSE_SCHUR`` solvers. For small to moderate sized probem
+   ``EIGEN`` is a fine choice but for large problems, an optimized
+   ``LAPACK + BLAS`` implementation can make a substantial difference
+   in performance.
+
+.. member:: SparseLinearAlgebraLibrary Solver::Options::sparse_linear_algebra_library_type
+
+   Default: The highest available according to: ``SUITE_SPARSE`` >
+   ``CX_SPARSE`` > ``EIGEN_SPARSE`` > ``NO_SPARSE``
+
+   Ceres supports the use of three sparse linear algebra libraries,
+   ``SuiteSparse``, which is enabled by setting this parameter to
+   ``SUITE_SPARSE``, ``CXSparse``, which can be selected by setting
+   this parameter to ``CX_SPARSE`` and ``Eigen`` which is enabled by
+   setting this parameter to ``EIGEN_SPARSE``.  Lastly, ``NO_SPARSE``
+   means that no sparse linear solver should be used; note that this is
+   irrespective of whether Ceres was compiled with support for one.
+
+   ``SuiteSparse`` is a sophisticated and complex sparse linear
+   algebra library and should be used in general.
+
+   If your needs/platforms prevent you from using ``SuiteSparse``,
+   consider using ``CXSparse``, which is a much smaller, easier to
+   build library. As can be expected, its performance on large
+   problems is not comparable to that of ``SuiteSparse``.
+
+   Last but not the least you can use the sparse linear algebra
+   routines in ``Eigen``. Currently the performance of this library is
+   the poorest of the three. But this should change in the near
+   future.
+
+   Another thing to consider here is that the sparse Cholesky
+   factorization libraries in Eigen are licensed under ``LGPL`` and
+   building Ceres with support for ``EIGEN_SPARSE`` will result in an
+   LGPL licensed library (since the corresponding code from Eigen is
+   compiled into the library).
+
+   The upside is that you do not need to build and link to an external
+   library to use ``EIGEN_SPARSE``.
+
+.. member:: int Solver::Options::num_linear_solver_threads
+
+   Default: ``1``
+
+   Number of threads used by the linear solver.
+
+.. member:: shared_ptr<ParameterBlockOrdering> Solver::Options::linear_solver_ordering
+
+   Default: ``NULL``
+
+   An instance of the ordering object informs the solver about the
+   desired order in which parameter blocks should be eliminated by the
+   linear solvers. See section~\ref{sec:ordering`` for more details.
+
+   If ``NULL``, the solver is free to choose an ordering that it
+   thinks is best.
+
+   See :ref:`section-ordering` for more details.
+
+.. member:: bool Solver::Options::use_explicit_schur_complement
+
+   Default: ``false``
+
+   Use an explicitly computed Schur complement matrix with
+   ``ITERATIVE_SCHUR``.
+
+   By default this option is disabled and ``ITERATIVE_SCHUR``
+   evaluates evaluates matrix-vector products between the Schur
+   complement and a vector implicitly by exploiting the algebraic
+   expression for the Schur complement.
+
+   The cost of this evaluation scales with the number of non-zeros in
+   the Jacobian.
+
+   For small to medium sized problems there is a sweet spot where
+   computing the Schur complement is cheap enough that it is much more
+   efficient to explicitly compute it and use it for evaluating the
+   matrix-vector products.
+
+   Enabling this option tells ``ITERATIVE_SCHUR`` to use an explicitly
+   computed Schur complement. This can improve the performance of the
+   ``ITERATIVE_SCHUR`` solver significantly.
+
+   .. NOTE:
+
+     This option can only be used with the ``SCHUR_JACOBI``
+     preconditioner.
+
+.. member:: bool Solver::Options::use_post_ordering
+
+   Default: ``false``
+
+   Sparse Cholesky factorization algorithms use a fill-reducing
+   ordering to permute the columns of the Jacobian matrix. There are
+   two ways of doing this.
+
+   1. Compute the Jacobian matrix in some order and then have the
+      factorization algorithm permute the columns of the Jacobian.
+
+   2. Compute the Jacobian with its columns already permuted.
+
+   The first option incurs a significant memory penalty. The
+   factorization algorithm has to make a copy of the permuted Jacobian
+   matrix, thus Ceres pre-permutes the columns of the Jacobian matrix
+   and generally speaking, there is no performance penalty for doing
+   so.
+
+   In some rare cases, it is worth using a more complicated reordering
+   algorithm which has slightly better runtime performance at the
+   expense of an extra copy of the Jacobian matrix. Setting
+   ``use_postordering`` to ``true`` enables this tradeoff.
+
+.. member:: bool Solver::Options::dynamic_sparsity
+
+   Some non-linear least squares problems are symbolically dense but
+   numerically sparse. i.e. at any given state only a small number of
+   Jacobian entries are non-zero, but the position and number of
+   non-zeros is different depending on the state. For these problems
+   it can be useful to factorize the sparse jacobian at each solver
+   iteration instead of including all of the zero entries in a single
+   general factorization.
+
+   If your problem does not have this property (or you do not know),
+   then it is probably best to keep this false, otherwise it will
+   likely lead to worse performance.
+
+   This setting only affects the `SPARSE_NORMAL_CHOLESKY` solver.
+
+.. member:: int Solver::Options::min_linear_solver_iterations
+
+   Default: ``0``
+
+   Minimum number of iterations used by the linear solver. This only
+   makes sense when the linear solver is an iterative solver, e.g.,
+   ``ITERATIVE_SCHUR`` or ``CGNR``.
+
+.. member:: int Solver::Options::max_linear_solver_iterations
+
+   Default: ``500``
+
+   Minimum number of iterations used by the linear solver. This only
+   makes sense when the linear solver is an iterative solver, e.g.,
+   ``ITERATIVE_SCHUR`` or ``CGNR``.
+
+.. member:: double Solver::Options::eta
+
+   Default: ``1e-1``
+
+   Forcing sequence parameter. The truncated Newton solver uses this
+   number to control the relative accuracy with which the Newton step
+   is computed. This constant is passed to
+   ``ConjugateGradientsSolver`` which uses it to terminate the
+   iterations when
+
+   .. math:: \frac{Q_i - Q_{i-1}}{Q_i} < \frac{\eta}{i}
+
+.. member:: bool Solver::Options::jacobi_scaling
+
+   Default: ``true``
+
+   ``true`` means that the Jacobian is scaled by the norm of its
+   columns before being passed to the linear solver. This improves the
+   numerical conditioning of the normal equations.
+
+.. member:: bool Solver::Options::use_inner_iterations
+
+   Default: ``false``
+
+   Use a non-linear version of a simplified variable projection
+   algorithm. Essentially this amounts to doing a further optimization
+   on each Newton/Trust region step using a coordinate descent
+   algorithm.  For more details, see :ref:`section-inner-iterations`.
+
+.. member:: double Solver::Options::inner_iteration_tolerance
+
+   Default: ``1e-3``
+
+   Generally speaking, inner iterations make significant progress in
+   the early stages of the solve and then their contribution drops
+   down sharply, at which point the time spent doing inner iterations
+   is not worth it.
+
+   Once the relative decrease in the objective function due to inner
+   iterations drops below ``inner_iteration_tolerance``, the use of
+   inner iterations in subsequent trust region minimizer iterations is
+   disabled.
+
+.. member:: shared_ptr<ParameterBlockOrdering> Solver::Options::inner_iteration_ordering
+
+   Default: ``NULL``
+
+   If :member:`Solver::Options::use_inner_iterations` true, then the
+   user has two choices.
+
+   1. Let the solver heuristically decide which parameter blocks to
+      optimize in each inner iteration. To do this, set
+      :member:`Solver::Options::inner_iteration_ordering` to ``NULL``.
+
+   2. Specify a collection of of ordered independent sets. The lower
+      numbered groups are optimized before the higher number groups
+      during the inner optimization phase. Each group must be an
+      independent set. Not all parameter blocks need to be included in
+      the ordering.
+
+   See :ref:`section-ordering` for more details.
+
+.. member:: LoggingType Solver::Options::logging_type
+
+   Default: ``PER_MINIMIZER_ITERATION``
+
+.. member:: bool Solver::Options::minimizer_progress_to_stdout
+
+   Default: ``false``
+
+   By default the :class:`Minimizer` progress is logged to ``STDERR``
+   depending on the ``vlog`` level. If this flag is set to true, and
+   :member:`Solver::Options::logging_type` is not ``SILENT``, the logging
+   output is sent to ``STDOUT``.
+
+   For ``TRUST_REGION_MINIMIZER`` the progress display looks like
+
+   .. code-block:: bash
+
+      iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+         0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04       0    7.59e-02    3.37e-01
+         1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04       1    1.65e-01    5.03e-01
+         2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04       1    1.45e-01    6.48e-01
+
+   Here
+
+   #. ``cost`` is the value of the objective function.
+   #. ``cost_change`` is the change in the value of the objective
+      function if the step computed in this iteration is accepted.
+   #. ``|gradient|`` is the max norm of the gradient.
+   #. ``|step|`` is the change in the parameter vector.
+   #. ``tr_ratio`` is the ratio of the actual change in the objective
+      function value to the change in the value of the trust
+      region model.
+   #. ``tr_radius`` is the size of the trust region radius.
+   #. ``ls_iter`` is the number of linear solver iterations used to
+      compute the trust region step. For direct/factorization based
+      solvers it is always 1, for iterative solvers like
+      ``ITERATIVE_SCHUR`` it is the number of iterations of the
+      Conjugate Gradients algorithm.
+   #. ``iter_time`` is the time take by the current iteration.
+   #. ``total_time`` is the total time taken by the minimizer.
+
+   For ``LINE_SEARCH_MINIMIZER`` the progress display looks like
+
+   .. code-block:: bash
+
+      0: f: 2.317806e+05 d: 0.00e+00 g: 3.19e-01 h: 0.00e+00 s: 0.00e+00 e:  0 it: 2.98e-02 tt: 8.50e-02
+      1: f: 2.312019e+05 d: 5.79e+02 g: 3.18e-01 h: 2.41e+01 s: 1.00e+00 e:  1 it: 4.54e-02 tt: 1.31e-01
+      2: f: 2.300462e+05 d: 1.16e+03 g: 3.17e-01 h: 4.90e+01 s: 2.54e-03 e:  1 it: 4.96e-02 tt: 1.81e-01
+
+   Here
+
+   #. ``f`` is the value of the objective function.
+   #. ``d`` is the change in the value of the objective function if
+      the step computed in this iteration is accepted.
+   #. ``g`` is the max norm of the gradient.
+   #. ``h`` is the change in the parameter vector.
+   #. ``s`` is the optimal step length computed by the line search.
+   #. ``it`` is the time take by the current iteration.
+   #. ``tt`` is the total time taken by the minimizer.
+
+.. member:: vector<int> Solver::Options::trust_region_minimizer_iterations_to_dump
+
+   Default: ``empty``
+
+   List of iterations at which the trust region minimizer should dump
+   the trust region problem. Useful for testing and benchmarking. If
+   ``empty``, no problems are dumped.
+
+.. member:: string Solver::Options::trust_region_problem_dump_directory
+
+   Default: ``/tmp``
+
+    Directory to which the problems should be written to. Should be
+    non-empty if
+    :member:`Solver::Options::trust_region_minimizer_iterations_to_dump` is
+    non-empty and
+    :member:`Solver::Options::trust_region_problem_dump_format_type` is not
+    ``CONSOLE``.
+
+.. member:: DumpFormatType Solver::Options::trust_region_problem_dump_format
+
+   Default: ``TEXTFILE``
+
+   The format in which trust region problems should be logged when
+   :member:`Solver::Options::trust_region_minimizer_iterations_to_dump`
+   is non-empty.  There are three options:
+
+   * ``CONSOLE`` prints the linear least squares problem in a human
+      readable format to ``stderr``. The Jacobian is printed as a
+      dense matrix. The vectors :math:`D`, :math:`x` and :math:`f` are
+      printed as dense vectors. This should only be used for small
+      problems.
+
+   * ``TEXTFILE`` Write out the linear least squares problem to the
+     directory pointed to by
+     :member:`Solver::Options::trust_region_problem_dump_directory` as
+     text files which can be read into ``MATLAB/Octave``. The Jacobian
+     is dumped as a text file containing :math:`(i,j,s)` triplets, the
+     vectors :math:`D`, `x` and `f` are dumped as text files
+     containing a list of their values.
+
+     A ``MATLAB/Octave`` script called
+     ``ceres_solver_iteration_???.m`` is also output, which can be
+     used to parse and load the problem into memory.
+
+.. member:: bool Solver::Options::check_gradients
+
+   Default: ``false``
+
+   Check all Jacobians computed by each residual block with finite
+   differences. This is expensive since it involves computing the
+   derivative by normal means (e.g. user specified, autodiff, etc),
+   then also computing it using finite differences. The results are
+   compared, and if they differ substantially, the optimization fails
+   and the details are stored in the solver summary.
+
+.. member:: double Solver::Options::gradient_check_relative_precision
+
+   Default: ``1e08``
+
+   Precision to check for in the gradient checker. If the relative
+   difference between an element in a Jacobian exceeds this number,
+   then the Jacobian for that cost term is dumped.
+
+.. member:: double Solver::Options::gradient_check_numeric_derivative_relative_step_size
+
+   Default: ``1e-6``
+
+   .. NOTE::
+
+      This option only applies to the numeric differentiation used for
+      checking the user provided derivatives when when
+      `Solver::Options::check_gradients` is true. If you are using
+      :class:`NumericDiffCostFunction` and are interested in changing
+      the step size for numeric differentiation in your cost function,
+      please have a look at :class:`NumericDiffOptions`.
+
+   Relative shift used for taking numeric derivatives when
+   `Solver::Options::check_gradients` is `true`.
+
+   For finite differencing, each dimension is evaluated at slightly
+   shifted values, e.g., for forward differences, the numerical
+   derivative is
+
+   .. math::
+
+     \delta &= gradient\_check\_numeric\_derivative\_relative\_step\_size\\
+     \Delta f &= \frac{f((1 + \delta)  x) - f(x)}{\delta x}
+
+   The finite differencing is done along each dimension. The reason to
+   use a relative (rather than absolute) step size is that this way,
+   numeric differentiation works for functions where the arguments are
+   typically large (e.g. :math:`10^9`) and when the values are small
+   (e.g. :math:`10^{-5}`). It is possible to construct *torture cases*
+   which break this finite difference heuristic, but they do not come
+   up often in practice.
+
+.. member:: vector<IterationCallback> Solver::Options::callbacks
+
+   Callbacks that are executed at the end of each iteration of the
+   :class:`Minimizer`. They are executed in the order that they are
+   specified in this vector. By default, parameter blocks are updated
+   only at the end of the optimization, i.e., when the
+   :class:`Minimizer` terminates. This behavior is controlled by
+   :member:`Solver::Options::update_state_every_variable`. If the user
+   wishes to have access to the update parameter blocks when his/her
+   callbacks are executed, then set
+   :member:`Solver::Options::update_state_every_iteration` to true.
+
+   The solver does NOT take ownership of these pointers.
+
+.. member:: bool Solver::Options::update_state_every_iteration
+
+   Default: ``false``
+
+   Normally the parameter blocks are only updated when the solver
+   terminates. Setting this to true update them in every
+   iteration. This setting is useful when building an interactive
+   application using Ceres and using an :class:`IterationCallback`.
+
+:class:`ParameterBlockOrdering`
+===============================
+
+.. class:: ParameterBlockOrdering
+
+   ``ParameterBlockOrdering`` is a class for storing and manipulating
+   an ordered collection of groups/sets with the following semantics:
+
+   Group IDs are non-negative integer values. Elements are any type
+   that can serve as a key in a map or an element of a set.
+
+   An element can only belong to one group at a time. A group may
+   contain an arbitrary number of elements.
+
+   Groups are ordered by their group id.
+
+.. function:: bool ParameterBlockOrdering::AddElementToGroup(const double* element, const int group)
+
+   Add an element to a group. If a group with this id does not exist,
+   one is created. This method can be called any number of times for
+   the same element. Group ids should be non-negative numbers.  Return
+   value indicates if adding the element was a success.
+
+.. function:: void ParameterBlockOrdering::Clear()
+
+   Clear the ordering.
+
+.. function:: bool ParameterBlockOrdering::Remove(const double* element)
+
+   Remove the element, no matter what group it is in. If the element
+   is not a member of any group, calling this method will result in a
+   crash.  Return value indicates if the element was actually removed.
+
+.. function:: void ParameterBlockOrdering::Reverse()
+
+   Reverse the order of the groups in place.
+
+.. function:: int ParameterBlockOrdering::GroupId(const double* element) const
+
+   Return the group id for the element. If the element is not a member
+   of any group, return -1.
+
+.. function:: bool ParameterBlockOrdering::IsMember(const double* element) const
+
+   True if there is a group containing the parameter block.
+
+.. function:: int ParameterBlockOrdering::GroupSize(const int group) const
+
+   This function always succeeds, i.e., implicitly there exists a
+   group for every integer.
+
+.. function:: int ParameterBlockOrdering::NumElements() const
+
+   Number of elements in the ordering.
+
+.. function:: int ParameterBlockOrdering::NumGroups() const
+
+   Number of groups with one or more elements.
+
+
+:class:`IterationCallback`
+==========================
+
+.. class:: IterationSummary
+
+   :class:`IterationSummary` describes the state of the minimizer at
+   the end of each iteration.
+
+.. member:: int32 IterationSummary::iteration
+
+   Current iteration number.
+
+.. member:: bool IterationSummary::step_is_valid
+
+   Step was numerically valid, i.e., all values are finite and the
+   step reduces the value of the linearized model.
+
+    **Note**: :member:`IterationSummary::step_is_valid` is `false`
+    when :member:`IterationSummary::iteration` = 0.
+
+.. member::  bool IterationSummary::step_is_nonmonotonic
+
+    Step did not reduce the value of the objective function
+    sufficiently, but it was accepted because of the relaxed
+    acceptance criterion used by the non-monotonic trust region
+    algorithm.
+
+    **Note**: :member:`IterationSummary::step_is_nonmonotonic` is
+    `false` when when :member:`IterationSummary::iteration` = 0.
+
+.. member:: bool IterationSummary::step_is_successful
+
+   Whether or not the minimizer accepted this step or not.
+
+   If the ordinary trust region algorithm is used, this means that the
+   relative reduction in the objective function value was greater than
+   :member:`Solver::Options::min_relative_decrease`. However, if the
+   non-monotonic trust region algorithm is used
+   (:member:`Solver::Options::use_nonmonotonic_steps` = `true`), then
+   even if the relative decrease is not sufficient, the algorithm may
+   accept the step and the step is declared successful.
+
+   **Note**: :member:`IterationSummary::step_is_successful` is `false`
+   when when :member:`IterationSummary::iteration` = 0.
+
+.. member:: double IterationSummary::cost
+
+   Value of the objective function.
+
+.. member:: double IterationSummary::cost_change
+
+   Change in the value of the objective function in this
+   iteration. This can be positive or negative.
+
+.. member:: double IterationSummary::gradient_max_norm
+
+   Infinity norm of the gradient vector.
+
+.. member:: double IterationSummary::gradient_norm
+
+   2-norm of the gradient vector.
+
+.. member:: double IterationSummary::step_norm
+
+   2-norm of the size of the step computed in this iteration.
+
+.. member:: double IterationSummary::relative_decrease
+
+   For trust region algorithms, the ratio of the actual change in cost
+   and the change in the cost of the linearized approximation.
+
+   This field is not used when a linear search minimizer is used.
+
+.. member:: double IterationSummary::trust_region_radius
+
+   Size of the trust region at the end of the current iteration. For
+   the Levenberg-Marquardt algorithm, the regularization parameter is
+   1.0 / member::`IterationSummary::trust_region_radius`.
+
+.. member:: double IterationSummary::eta
+
+   For the inexact step Levenberg-Marquardt algorithm, this is the
+   relative accuracy with which the step is solved. This number is
+   only applicable to the iterative solvers capable of solving linear
+   systems inexactly. Factorization-based exact solvers always have an
+   eta of 0.0.
+
+.. member:: double IterationSummary::step_size
+
+   Step sized computed by the line search algorithm.
+
+   This field is not used when a trust region minimizer is used.
+
+.. member:: int IterationSummary::line_search_function_evaluations
+
+   Number of function evaluations used by the line search algorithm.
+
+   This field is not used when a trust region minimizer is used.
+
+.. member:: int IterationSummary::linear_solver_iterations
+
+   Number of iterations taken by the linear solver to solve for the
+   trust region step.
+
+   Currently this field is not used when a line search minimizer is
+   used.
+
+.. member:: double IterationSummary::iteration_time_in_seconds
+
+   Time (in seconds) spent inside the minimizer loop in the current
+   iteration.
+
+.. member:: double IterationSummary::step_solver_time_in_seconds
+
+   Time (in seconds) spent inside the trust region step solver.
+
+.. member:: double IterationSummary::cumulative_time_in_seconds
+
+   Time (in seconds) since the user called Solve().
+
+
+.. class:: IterationCallback
+
+   Interface for specifying callbacks that are executed at the end of
+   each iteration of the minimizer.
+
+   .. code-block:: c++
+
+      class IterationCallback {
+       public:
+        virtual ~IterationCallback() {}
+        virtual CallbackReturnType operator()(const IterationSummary& summary) = 0;
+      };
+
+
+  The solver uses the return value of ``operator()`` to decide whether
+  to continue solving or to terminate. The user can return three
+  values.
+
+  #. ``SOLVER_ABORT`` indicates that the callback detected an abnormal
+     situation. The solver returns without updating the parameter
+     blocks (unless ``Solver::Options::update_state_every_iteration`` is
+     set true). Solver returns with ``Solver::Summary::termination_type``
+     set to ``USER_FAILURE``.
+
+  #. ``SOLVER_TERMINATE_SUCCESSFULLY`` indicates that there is no need
+     to optimize anymore (some user specified termination criterion
+     has been met). Solver returns with
+     ``Solver::Summary::termination_type``` set to ``USER_SUCCESS``.
+
+  #. ``SOLVER_CONTINUE`` indicates that the solver should continue
+     optimizing.
+
+  For example, the following :class:`IterationCallback` is used
+  internally by Ceres to log the progress of the optimization.
+
+  .. code-block:: c++
+
+    class LoggingCallback : public IterationCallback {
+     public:
+      explicit LoggingCallback(bool log_to_stdout)
+          : log_to_stdout_(log_to_stdout) {}
+
+      ~LoggingCallback() {}
+
+      CallbackReturnType operator()(const IterationSummary& summary) {
+        const char* kReportRowFormat =
+            "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+            "rho:% 3.2e mu:% 3.2e eta:% 3.2e li:% 3d";
+        string output = StringPrintf(kReportRowFormat,
+                                     summary.iteration,
+                                     summary.cost,
+                                     summary.cost_change,
+                                     summary.gradient_max_norm,
+                                     summary.step_norm,
+                                     summary.relative_decrease,
+                                     summary.trust_region_radius,
+                                     summary.eta,
+                                     summary.linear_solver_iterations);
+        if (log_to_stdout_) {
+          cout << output << endl;
+        } else {
+          VLOG(1) << output;
+        }
+        return SOLVER_CONTINUE;
+      }
+
+     private:
+      const bool log_to_stdout_;
+    };
+
+
+
+:class:`CRSMatrix`
+==================
+
+.. class:: CRSMatrix
+
+   A compressed row sparse matrix used primarily for communicating the
+   Jacobian matrix to the user.
+
+.. member:: int CRSMatrix::num_rows
+
+   Number of rows.
+
+.. member:: int CRSMatrix::num_cols
+
+   Number of columns.
+
+.. member:: vector<int> CRSMatrix::rows
+
+   :member:`CRSMatrix::rows` is a :member:`CRSMatrix::num_rows` + 1
+   sized array that points into the :member:`CRSMatrix::cols` and
+   :member:`CRSMatrix::values` array.
+
+.. member:: vector<int> CRSMatrix::cols
+
+   :member:`CRSMatrix::cols` contain as many entries as there are
+   non-zeros in the matrix.
+
+   For each row ``i``, ``cols[rows[i]]`` ... ``cols[rows[i + 1] - 1]``
+   are the indices of the non-zero columns of row ``i``.
+
+.. member:: vector<int> CRSMatrix::values
+
+   :member:`CRSMatrix::values` contain as many entries as there are
+   non-zeros in the matrix.
+
+   For each row ``i``,
+   ``values[rows[i]]`` ... ``values[rows[i + 1] - 1]`` are the values
+   of the non-zero columns of row ``i``.
+
+e.g., consider the 3x4 sparse matrix
+
+.. code-block:: c++
+
+   0 10  0  4
+   0  2 -3  2
+   1  2  0  0
+
+The three arrays will be:
+
+.. code-block:: c++
+
+            -row0-  ---row1---  -row2-
+   rows   = [ 0,      2,          5,     7]
+   cols   = [ 1,  3,  1,  2,  3,  0,  1]
+   values = [10,  4,  2, -3,  2,  1,  2]
+
+
+:class:`Solver::Summary`
+========================
+
+.. class:: Solver::Summary
+
+   Summary of the various stages of the solver after termination.
+
+.. function:: string Solver::Summary::BriefReport() const
+
+   A brief one line description of the state of the solver after
+   termination.
+
+.. function:: string Solver::Summary::FullReport() const
+
+   A full multiline description of the state of the solver after
+   termination.
+
+.. function:: bool Solver::Summary::IsSolutionUsable() const
+
+   Whether the solution returned by the optimization algorithm can be
+   relied on to be numerically sane. This will be the case if
+   `Solver::Summary:termination_type` is set to `CONVERGENCE`,
+   `USER_SUCCESS` or `NO_CONVERGENCE`, i.e., either the solver
+   converged by meeting one of the convergence tolerances or because
+   the user indicated that it had converged or it ran to the maximum
+   number of iterations or time.
+
+.. member:: MinimizerType Solver::Summary::minimizer_type
+
+   Type of minimization algorithm used.
+
+.. member:: TerminationType Solver::Summary::termination_type
+
+   The cause of the minimizer terminating.
+
+.. member:: string Solver::Summary::message
+
+   Reason why the solver terminated.
+
+.. member:: double Solver::Summary::initial_cost
+
+   Cost of the problem (value of the objective function) before the
+   optimization.
+
+.. member:: double Solver::Summary::final_cost
+
+   Cost of the problem (value of the objective function) after the
+   optimization.
+
+.. member:: double Solver::Summary::fixed_cost
+
+   The part of the total cost that comes from residual blocks that
+   were held fixed by the preprocessor because all the parameter
+   blocks that they depend on were fixed.
+
+.. member:: vector<IterationSummary> Solver::Summary::iterations
+
+   :class:`IterationSummary` for each minimizer iteration in order.
+
+.. member:: int Solver::Summary::num_successful_steps
+
+   Number of minimizer iterations in which the step was
+   accepted. Unless :member:`Solver::Options::use_non_monotonic_steps`
+   is `true` this is also the number of steps in which the objective
+   function value/cost went down.
+
+.. member:: int Solver::Summary::num_unsuccessful_steps
+
+   Number of minimizer iterations in which the step was rejected
+   either because it did not reduce the cost enough or the step was
+   not numerically valid.
+
+.. member:: int Solver::Summary::num_inner_iteration_steps
+
+   Number of times inner iterations were performed.
+
+ .. member:: int Solver::Summary::num_line_search_steps
+
+    Total number of iterations inside the line search algorithm across
+    all invocations. We call these iterations "steps" to distinguish
+    them from the outer iterations of the line search and trust region
+    minimizer algorithms which call the line search algorithm as a
+    subroutine.
+
+.. member:: double Solver::Summary::preprocessor_time_in_seconds
+
+   Time (in seconds) spent in the preprocessor.
+
+.. member:: double Solver::Summary::minimizer_time_in_seconds
+
+   Time (in seconds) spent in the Minimizer.
+
+.. member:: double Solver::Summary::postprocessor_time_in_seconds
+
+   Time (in seconds) spent in the post processor.
+
+.. member:: double Solver::Summary::total_time_in_seconds
+
+   Time (in seconds) spent in the solver.
+
+.. member:: double Solver::Summary::linear_solver_time_in_seconds
+
+   Time (in seconds) spent in the linear solver computing the trust
+   region step.
+
+.. member:: double Solver::Summary::residual_evaluation_time_in_seconds
+
+   Time (in seconds) spent evaluating the residual vector.
+
+.. member:: double Solver::Summary::jacobian_evaluation_time_in_seconds
+
+   Time (in seconds) spent evaluating the Jacobian matrix.
+
+.. member:: double Solver::Summary::inner_iteration_time_in_seconds
+
+   Time (in seconds) spent doing inner iterations.
+
+.. member:: int Solver::Summary::num_parameter_blocks
+
+   Number of parameter blocks in the problem.
+
+.. member:: int Solver::Summary::num_parameters
+
+   Number of parameters in the problem.
+
+.. member:: int Solver::Summary::num_effective_parameters
+
+   Dimension of the tangent space of the problem (or the number of
+   columns in the Jacobian for the problem). This is different from
+   :member:`Solver::Summary::num_parameters` if a parameter block is
+   associated with a :class:`LocalParameterization`.
+
+.. member:: int Solver::Summary::num_residual_blocks
+
+   Number of residual blocks in the problem.
+
+.. member:: int Solver::Summary::num_residuals
+
+   Number of residuals in the problem.
+
+.. member:: int Solver::Summary::num_parameter_blocks_reduced
+
+   Number of parameter blocks in the problem after the inactive and
+   constant parameter blocks have been removed. A parameter block is
+   inactive if no residual block refers to it.
+
+.. member:: int Solver::Summary::num_parameters_reduced
+
+   Number of parameters in the reduced problem.
+
+.. member:: int Solver::Summary::num_effective_parameters_reduced
+
+   Dimension of the tangent space of the reduced problem (or the
+   number of columns in the Jacobian for the reduced problem). This is
+   different from :member:`Solver::Summary::num_parameters_reduced` if
+   a parameter block in the reduced problem is associated with a
+   :class:`LocalParameterization`.
+
+.. member:: int Solver::Summary::num_residual_blocks_reduced
+
+   Number of residual blocks in the reduced problem.
+
+.. member:: int Solver::Summary::num_residuals_reduced
+
+   Number of residuals in the reduced problem.
+
+.. member:: int Solver::Summary::num_threads_given
+
+   Number of threads specified by the user for Jacobian and residual
+   evaluation.
+
+.. member:: int Solver::Summary::num_threads_used
+
+   Number of threads actually used by the solver for Jacobian and
+   residual evaluation. This number is not equal to
+   :member:`Solver::Summary::num_threads_given` if `OpenMP` is not
+   available.
+
+.. member:: int Solver::Summary::num_linear_solver_threads_given
+
+   Number of threads specified by the user for solving the trust
+   region problem.
+
+.. member:: int Solver::Summary::num_linear_solver_threads_used
+
+   Number of threads actually used by the solver for solving the trust
+   region problem. This number is not equal to
+   :member:`Solver::Summary::num_linear_solver_threads_given` if
+   `OpenMP` is not available.
+
+.. member:: LinearSolverType Solver::Summary::linear_solver_type_given
+
+   Type of the linear solver requested by the user.
+
+.. member:: LinearSolverType Solver::Summary::linear_solver_type_used
+
+   Type of the linear solver actually used. This may be different from
+   :member:`Solver::Summary::linear_solver_type_given` if Ceres
+   determines that the problem structure is not compatible with the
+   linear solver requested or if the linear solver requested by the
+   user is not available, e.g. The user requested
+   `SPARSE_NORMAL_CHOLESKY` but no sparse linear algebra library was
+   available.
+
+.. member:: vector<int> Solver::Summary::linear_solver_ordering_given
+
+   Size of the elimination groups given by the user as hints to the
+   linear solver.
+
+.. member:: vector<int> Solver::Summary::linear_solver_ordering_used
+
+   Size of the parameter groups used by the solver when ordering the
+   columns of the Jacobian.  This maybe different from
+   :member:`Solver::Summary::linear_solver_ordering_given` if the user
+   left :member:`Solver::Summary::linear_solver_ordering_given` blank
+   and asked for an automatic ordering, or if the problem contains
+   some constant or inactive parameter blocks.
+
+.. member:: std::string Solver::Summary::schur_structure_given
+
+    For Schur type linear solvers, this string describes the template
+    specialization which was detected in the problem and should be
+    used.
+
+.. member:: std::string Solver::Summary::schur_structure_used
+
+   For Schur type linear solvers, this string describes the template
+   specialization that was actually instantiated and used. The reason
+   this will be different from
+   :member:`Solver::Summary::schur_structure_given` is because the
+   corresponding template specialization does not exist.
+
+   Template specializations can be added to ceres by editing
+   ``internal/ceres/generate_template_specializations.py``
+
+.. member:: bool Solver::Summary::inner_iterations_given
+
+   `True` if the user asked for inner iterations to be used as part of
+   the optimization.
+
+.. member:: bool Solver::Summary::inner_iterations_used
+
+   `True` if the user asked for inner iterations to be used as part of
+   the optimization and the problem structure was such that they were
+   actually performed. For example, in a problem with just one parameter
+   block, inner iterations are not performed.
+
+.. member:: vector<int> inner_iteration_ordering_given
+
+   Size of the parameter groups given by the user for performing inner
+   iterations.
+
+.. member:: vector<int> inner_iteration_ordering_used
+
+   Size of the parameter groups given used by the solver for
+   performing inner iterations. This maybe different from
+   :member:`Solver::Summary::inner_iteration_ordering_given` if the
+   user left :member:`Solver::Summary::inner_iteration_ordering_given`
+   blank and asked for an automatic ordering, or if the problem
+   contains some constant or inactive parameter blocks.
+
+.. member:: PreconditionerType Solver::Summary::preconditioner_type_given
+
+   Type of the preconditioner requested by the user.
+
+.. member:: PreconditionerType Solver::Summary::preconditioner_type_used
+
+   Type of the preconditioner actually used. This may be different
+   from :member:`Solver::Summary::linear_solver_type_given` if Ceres
+   determines that the problem structure is not compatible with the
+   linear solver requested or if the linear solver requested by the
+   user is not available.
+
+.. member:: VisibilityClusteringType Solver::Summary::visibility_clustering_type
+
+   Type of clustering algorithm used for visibility based
+   preconditioning. Only meaningful when the
+   :member:`Solver::Summary::preconditioner_type` is
+   ``CLUSTER_JACOBI`` or ``CLUSTER_TRIDIAGONAL``.
+
+.. member:: TrustRegionStrategyType Solver::Summary::trust_region_strategy_type
+
+   Type of trust region strategy.
+
+.. member:: DoglegType Solver::Summary::dogleg_type
+
+   Type of dogleg strategy used for solving the trust region problem.
+
+.. member:: DenseLinearAlgebraLibraryType Solver::Summary::dense_linear_algebra_library_type
+
+   Type of the dense linear algebra library used.
+
+.. member:: SparseLinearAlgebraLibraryType Solver::Summary::sparse_linear_algebra_library_type
+
+   Type of the sparse linear algebra library used.
+
+.. member:: LineSearchDirectionType Solver::Summary::line_search_direction_type
+
+   Type of line search direction used.
+
+.. member:: LineSearchType Solver::Summary::line_search_type
+
+   Type of the line search algorithm used.
+
+.. member:: LineSearchInterpolationType Solver::Summary::line_search_interpolation_type
+
+   When performing line search, the degree of the polynomial used to
+   approximate the objective function.
+
+.. member:: NonlinearConjugateGradientType Solver::Summary::nonlinear_conjugate_gradient_type
+
+   If the line search direction is `NONLINEAR_CONJUGATE_GRADIENT`,
+   then this indicates the particular variant of non-linear conjugate
+   gradient used.
+
+.. member:: int Solver::Summary::max_lbfgs_rank
+
+   If the type of the line search direction is `LBFGS`, then this
+   indicates the rank of the Hessian approximation.
diff --git a/docs/source/nnls_tutorial.rst b/docs/source/nnls_tutorial.rst
new file mode 100644
index 0000000..9c4e585
--- /dev/null
+++ b/docs/source/nnls_tutorial.rst
@@ -0,0 +1,1037 @@
+.. highlight:: c++
+
+.. default-domain:: cpp
+
+.. _chapter-nnls_tutorial:
+
+========================
+Non-linear Least Squares
+========================
+
+Introduction
+============
+
+Ceres can solve bounds constrained robustified non-linear least
+squares problems of the form
+
+.. math:: :label: ceresproblem
+
+   \min_{\mathbf{x}} &\quad \frac{1}{2}\sum_{i} \rho_i\left(\left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2\right) \\
+   \text{s.t.} &\quad l_j \le x_j \le u_j
+
+Problems of this form comes up in a broad range of areas across
+science and engineering - from `fitting curves`_ in statistics, to
+constructing `3D models from photographs`_ in computer vision.
+
+.. _fitting curves: http://en.wikipedia.org/wiki/Nonlinear_regression
+.. _3D models from photographs: http://en.wikipedia.org/wiki/Bundle_adjustment
+
+In this chapter we will learn how to solve :eq:`ceresproblem` using
+Ceres Solver. Full working code for all the examples described in this
+chapter and more can be found in the `examples
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/>`_
+directory.
+
+The expression
+:math:`\rho_i\left(\left\|f_i\left(x_{i_1},...,x_{i_k}\right)\right\|^2\right)`
+is known as a ``ResidualBlock``, where :math:`f_i(\cdot)` is a
+:class:`CostFunction` that depends on the parameter blocks
+:math:`\left[x_{i_1},... , x_{i_k}\right]`. In most optimization
+problems small groups of scalars occur together. For example the three
+components of a translation vector and the four components of the
+quaternion that define the pose of a camera. We refer to such a group
+of small scalars as a ``ParameterBlock``. Of course a
+``ParameterBlock`` can just be a single parameter. :math:`l_j` and
+:math:`u_j` are bounds on the parameter block :math:`x_j`.
+
+:math:`\rho_i` is a :class:`LossFunction`. A :class:`LossFunction` is
+a scalar function that is used to reduce the influence of outliers on
+the solution of non-linear least squares problems.
+
+As a special case, when :math:`\rho_i(x) = x`, i.e., the identity
+function, and :math:`l_j = -\infty` and :math:`u_j = \infty` we get
+the more familiar `non-linear least squares problem
+<http://en.wikipedia.org/wiki/Non-linear_least_squares>`_.
+
+.. math:: \frac{1}{2}\sum_{i} \left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2.
+   :label: ceresproblem2
+
+.. _section-hello-world:
+
+Hello World!
+============
+
+To get started, consider the problem of finding the minimum of the
+function
+
+.. math:: \frac{1}{2}(10 -x)^2.
+
+This is a trivial problem, whose minimum is located at :math:`x = 10`,
+but it is a good place to start to illustrate the basics of solving a
+problem with Ceres [#f1]_.
+
+The first step is to write a functor that will evaluate this the
+function :math:`f(x) = 10 - x`:
+
+.. code-block:: c++
+
+   struct CostFunctor {
+      template <typename T>
+      bool operator()(const T* const x, T* residual) const {
+        residual[0] = T(10.0) - x[0];
+        return true;
+      }
+   };
+
+The important thing to note here is that ``operator()`` is a templated
+method, which assumes that all its inputs and outputs are of some type
+``T``. The use of templating here allows Ceres to call
+``CostFunctor::operator<T>()``, with ``T=double`` when just the value
+of the residual is needed, and with a special type ``T=Jet`` when the
+Jacobians are needed. In :ref:`section-derivatives` we will discuss the
+various ways of supplying derivatives to Ceres in more detail.
+
+Once we have a way of computing the residual function, it is now time
+to construct a non-linear least squares problem using it and have
+Ceres solve it.
+
+.. code-block:: c++
+
+   int main(int argc, char** argv) {
+     google::InitGoogleLogging(argv[0]);
+
+     // The variable to solve for with its initial value.
+     double initial_x = 5.0;
+     double x = initial_x;
+
+     // Build the problem.
+     Problem problem;
+
+     // Set up the only cost function (also known as residual). This uses
+     // auto-differentiation to obtain the derivative (jacobian).
+     CostFunction* cost_function =
+         new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+     problem.AddResidualBlock(cost_function, NULL, &x);
+
+     // Run the solver!
+     Solver::Options options;
+     options.linear_solver_type = ceres::DENSE_QR;
+     options.minimizer_progress_to_stdout = true;
+     Solver::Summary summary;
+     Solve(options, &problem, &summary);
+
+     std::cout << summary.BriefReport() << "\n";
+     std::cout << "x : " << initial_x
+               << " -> " << x << "\n";
+     return 0;
+   }
+
+:class:`AutoDiffCostFunction` takes a ``CostFunctor`` as input,
+automatically differentiates it and gives it a :class:`CostFunction`
+interface.
+
+Compiling and running `examples/helloworld.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+gives us
+
+.. code-block:: bash
+
+   iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+      0  4.512500e+01    0.00e+00    9.50e+00   0.00e+00   0.00e+00  1.00e+04       0    5.33e-04    3.46e-03
+      1  4.511598e-07    4.51e+01    9.50e-04   9.50e+00   1.00e+00  3.00e+04       1    5.00e-04    4.05e-03
+      2  5.012552e-16    4.51e-07    3.17e-08   9.50e-04   1.00e+00  9.00e+04       1    1.60e-05    4.09e-03
+   Ceres Solver Report: Iterations: 2, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
+   x : 0.5 -> 10
+
+Starting from a :math:`x=5`, the solver in two iterations goes to 10
+[#f2]_. The careful reader will note that this is a linear problem and
+one linear solve should be enough to get the optimal value.  The
+default configuration of the solver is aimed at non-linear problems,
+and for reasons of simplicity we did not change it in this example. It
+is indeed possible to obtain the solution to this problem using Ceres
+in one iteration. Also note that the solver did get very close to the
+optimal function value of 0 in the very first iteration. We will
+discuss these issues in greater detail when we talk about convergence
+and parameter settings for Ceres.
+
+.. rubric:: Footnotes
+
+.. [#f1] `examples/helloworld.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+.. [#f2] Actually the solver ran for three iterations, and it was
+   by looking at the value returned by the linear solver in the third
+   iteration, it observed that the update to the parameter block was too
+   small and declared convergence. Ceres only prints out the display at
+   the end of an iteration, and terminates as soon as it detects
+   convergence, which is why you only see two iterations here and not
+   three.
+
+.. _section-derivatives:
+
+
+Derivatives
+===========
+
+Ceres Solver like most optimization packages, depends on being able to
+evaluate the value and the derivatives of each term in the objective
+function at arbitrary parameter values. Doing so correctly and
+efficiently is essential to getting good results.  Ceres Solver
+provides a number of ways of doing so. You have already seen one of
+them in action --
+Automatic Differentiation in `examples/helloworld.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld.cc>`_
+
+We now consider the other two possibilities. Analytic and numeric
+derivatives.
+
+
+Numeric Derivatives
+-------------------
+
+In some cases, its not possible to define a templated cost functor,
+for example when the evaluation of the residual involves a call to a
+library function that you do not have control over.  In such a
+situation, numerical differentiation can be used. The user defines a
+functor which computes the residual value and construct a
+:class:`NumericDiffCostFunction` using it. e.g., for :math:`f(x) = 10 - x`
+the corresponding functor would be
+
+.. code-block:: c++
+
+  struct NumericDiffCostFunctor {
+    bool operator()(const double* const x, double* residual) const {
+      residual[0] = 10.0 - x[0];
+      return true;
+    }
+  };
+
+Which is added to the :class:`Problem` as:
+
+.. code-block:: c++
+
+  CostFunction* cost_function =
+    new NumericDiffCostFunction<NumericDiffCostFunctor, ceres::CENTRAL, 1, 1>(
+        new NumericDiffCostFunctor);
+  problem.AddResidualBlock(cost_function, NULL, &x);
+
+Notice the parallel from when we were using automatic differentiation
+
+.. code-block:: c++
+
+  CostFunction* cost_function =
+      new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+  problem.AddResidualBlock(cost_function, NULL, &x);
+
+The construction looks almost identical to the one used for automatic
+differentiation, except for an extra template parameter that indicates
+the kind of finite differencing scheme to be used for computing the
+numerical derivatives [#f3]_. For more details see the documentation
+for :class:`NumericDiffCostFunction`.
+
+**Generally speaking we recommend automatic differentiation instead of
+numeric differentiation. The use of C++ templates makes automatic
+differentiation efficient, whereas numeric differentiation is
+expensive, prone to numeric errors, and leads to slower convergence.**
+
+
+Analytic Derivatives
+--------------------
+
+In some cases, using automatic differentiation is not possible. For
+example, it may be the case that it is more efficient to compute the
+derivatives in closed form instead of relying on the chain rule used
+by the automatic differentiation code.
+
+In such cases, it is possible to supply your own residual and jacobian
+computation code. To do this, define a subclass of
+:class:`CostFunction` or :class:`SizedCostFunction` if you know the
+sizes of the parameters and residuals at compile time. Here for
+example is ``SimpleCostFunction`` that implements :math:`f(x) = 10 -
+x`.
+
+.. code-block:: c++
+
+  class QuadraticCostFunction : public ceres::SizedCostFunction<1, 1> {
+   public:
+    virtual ~QuadraticCostFunction() {}
+    virtual bool Evaluate(double const* const* parameters,
+                          double* residuals,
+                          double** jacobians) const {
+      const double x = parameters[0][0];
+      residuals[0] = 10 - x;
+
+      // Compute the Jacobian if asked for.
+      if (jacobians != NULL && jacobians[0] != NULL) {
+        jacobians[0][0] = -1;
+      }
+      return true;
+    }
+  };
+
+
+``SimpleCostFunction::Evaluate`` is provided with an input array of
+``parameters``, an output array ``residuals`` for residuals and an
+output array ``jacobians`` for Jacobians. The ``jacobians`` array is
+optional, ``Evaluate`` is expected to check when it is non-null, and
+if it is the case then fill it with the values of the derivative of
+the residual function. In this case since the residual function is
+linear, the Jacobian is constant [#f4]_ .
+
+As can be seen from the above code fragments, implementing
+:class:`CostFunction` objects is a bit tedious. We recommend that
+unless you have a good reason to manage the jacobian computation
+yourself, you use :class:`AutoDiffCostFunction` or
+:class:`NumericDiffCostFunction` to construct your residual blocks.
+
+More About Derivatives
+----------------------
+
+Computing derivatives is by far the most complicated part of using
+Ceres, and depending on the circumstance the user may need more
+sophisticated ways of computing derivatives. This section just
+scratches the surface of how derivatives can be supplied to
+Ceres. Once you are comfortable with using
+:class:`NumericDiffCostFunction` and :class:`AutoDiffCostFunction` we
+recommend taking a look at :class:`DynamicAutoDiffCostFunction`,
+:class:`CostFunctionToFunctor`, :class:`NumericDiffFunctor` and
+:class:`ConditionedCostFunction` for more advanced ways of
+constructing and computing cost functions.
+
+.. rubric:: Footnotes
+
+.. [#f3] `examples/helloworld_numeric_diff.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld_numeric_diff.cc>`_.
+.. [#f4] `examples/helloworld_analytic_diff.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/helloworld_analytic_diff.cc>`_.
+
+
+.. _section-powell:
+
+Powell's Function
+=================
+
+Consider now a slightly more complicated example -- the minimization
+of Powell's function. Let :math:`x = \left[x_1, x_2, x_3, x_4 \right]`
+and
+
+.. math::
+
+  \begin{align}
+     f_1(x) &= x_1 + 10x_2 \\
+     f_2(x) &= \sqrt{5}  (x_3 - x_4)\\
+     f_3(x) &= (x_2 - 2x_3)^2\\
+     f_4(x) &= \sqrt{10}  (x_1 - x_4)^2\\
+       F(x) &= \left[f_1(x),\ f_2(x),\ f_3(x),\ f_4(x) \right]
+  \end{align}
+
+
+:math:`F(x)` is a function of four parameters, has four residuals
+and we wish to find :math:`x` such that :math:`\frac{1}{2}\|F(x)\|^2`
+is minimized.
+
+Again, the first step is to define functors that evaluate of the terms
+in the objective functor. Here is the code for evaluating
+:math:`f_4(x_1, x_4)`:
+
+.. code-block:: c++
+
+ struct F4 {
+   template <typename T>
+   bool operator()(const T* const x1, const T* const x4, T* residual) const {
+     residual[0] = T(sqrt(10.0)) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+     return true;
+   }
+ };
+
+
+Similarly, we can define classes ``F1``, ``F2`` and ``F3`` to evaluate
+:math:`f_1(x_1, x_2)`, :math:`f_2(x_3, x_4)` and :math:`f_3(x_2, x_3)`
+respectively. Using these, the problem can be constructed as follows:
+
+
+.. code-block:: c++
+
+  double x1 =  3.0; double x2 = -1.0; double x3 =  0.0; double x4 = 1.0;
+
+  Problem problem;
+
+  // Add residual terms to the problem using the using the autodiff
+  // wrapper to get the derivatives automatically.
+  problem.AddResidualBlock(
+    new AutoDiffCostFunction<F1, 1, 1, 1>(new F1), NULL, &x1, &x2);
+  problem.AddResidualBlock(
+    new AutoDiffCostFunction<F2, 1, 1, 1>(new F2), NULL, &x3, &x4);
+  problem.AddResidualBlock(
+    new AutoDiffCostFunction<F3, 1, 1, 1>(new F3), NULL, &x2, &x3)
+  problem.AddResidualBlock(
+    new AutoDiffCostFunction<F4, 1, 1, 1>(new F4), NULL, &x1, &x4);
+
+
+Note that each ``ResidualBlock`` only depends on the two parameters
+that the corresponding residual object depends on and not on all four
+parameters. Compiling and running `examples/powell.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/powell.cc>`_
+gives us:
+
+.. code-block:: bash
+
+    Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  1.075000e+02    0.00e+00    1.55e+02   0.00e+00   0.00e+00  1.00e+04       0    4.95e-04    2.30e-03
+       1  5.036190e+00    1.02e+02    2.00e+01   2.16e+00   9.53e-01  3.00e+04       1    4.39e-05    2.40e-03
+       2  3.148168e-01    4.72e+00    2.50e+00   6.23e-01   9.37e-01  9.00e+04       1    9.06e-06    2.43e-03
+       3  1.967760e-02    2.95e-01    3.13e-01   3.08e-01   9.37e-01  2.70e+05       1    8.11e-06    2.45e-03
+       4  1.229900e-03    1.84e-02    3.91e-02   1.54e-01   9.37e-01  8.10e+05       1    6.91e-06    2.48e-03
+       5  7.687123e-05    1.15e-03    4.89e-03   7.69e-02   9.37e-01  2.43e+06       1    7.87e-06    2.50e-03
+       6  4.804625e-06    7.21e-05    6.11e-04   3.85e-02   9.37e-01  7.29e+06       1    5.96e-06    2.52e-03
+       7  3.003028e-07    4.50e-06    7.64e-05   1.92e-02   9.37e-01  2.19e+07       1    5.96e-06    2.55e-03
+       8  1.877006e-08    2.82e-07    9.54e-06   9.62e-03   9.37e-01  6.56e+07       1    5.96e-06    2.57e-03
+       9  1.173223e-09    1.76e-08    1.19e-06   4.81e-03   9.37e-01  1.97e+08       1    7.87e-06    2.60e-03
+      10  7.333425e-11    1.10e-09    1.49e-07   2.40e-03   9.37e-01  5.90e+08       1    6.20e-06    2.63e-03
+      11  4.584044e-12    6.88e-11    1.86e-08   1.20e-03   9.37e-01  1.77e+09       1    6.91e-06    2.65e-03
+      12  2.865573e-13    4.30e-12    2.33e-09   6.02e-04   9.37e-01  5.31e+09       1    5.96e-06    2.67e-03
+      13  1.791438e-14    2.69e-13    2.91e-10   3.01e-04   9.37e-01  1.59e+10       1    7.15e-06    2.69e-03
+
+    Ceres Solver v1.12.0 Solve Report
+    ----------------------------------
+                                         Original                  Reduced
+    Parameter blocks                            4                        4
+    Parameters                                  4                        4
+    Residual blocks                             4                        4
+    Residual                                    4                        4
+
+    Minimizer                        TRUST_REGION
+
+    Dense linear algebra library            EIGEN
+    Trust region strategy     LEVENBERG_MARQUARDT
+
+                                            Given                     Used
+    Linear solver                        DENSE_QR                 DENSE_QR
+    Threads                                     1                        1
+    Linear solver threads                       1                        1
+
+    Cost:
+    Initial                          1.075000e+02
+    Final                            1.791438e-14
+    Change                           1.075000e+02
+
+    Minimizer iterations                       14
+    Successful steps                           14
+    Unsuccessful steps                          0
+
+    Time (in seconds):
+    Preprocessor                            0.002
+
+      Residual evaluation                   0.000
+      Jacobian evaluation                   0.000
+      Linear solver                         0.000
+    Minimizer                               0.001
+
+    Postprocessor                           0.000
+    Total                                   0.005
+
+    Termination:                      CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
+
+    Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05
+
+It is easy to see that the optimal solution to this problem is at
+:math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
+:math:`0`. In 10 iterations, Ceres finds a solution with an objective
+function value of :math:`4\times 10^{-12}`.
+
+.. rubric:: Footnotes
+
+.. [#f5] `examples/powell.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/powell.cc>`_.
+
+
+.. _section-fitting:
+
+Curve Fitting
+=============
+
+The examples we have seen until now are simple optimization problems
+with no data. The original purpose of least squares and non-linear
+least squares analysis was fitting curves to data. It is only
+appropriate that we now consider an example of such a problem
+[#f6]_. It contains data generated by sampling the curve :math:`y =
+e^{0.3x + 0.1}` and adding Gaussian noise with standard deviation
+:math:`\sigma = 0.2`. Let us fit some data to the curve
+
+.. math::  y = e^{mx + c}.
+
+We begin by defining a templated object to evaluate the
+residual. There will be a residual for each observation.
+
+.. code-block:: c++
+
+ struct ExponentialResidual {
+   ExponentialResidual(double x, double y)
+       : x_(x), y_(y) {}
+
+   template <typename T>
+   bool operator()(const T* const m, const T* const c, T* residual) const {
+     residual[0] = T(y_) - exp(m[0] * T(x_) + c[0]);
+     return true;
+   }
+
+  private:
+   // Observations for a sample.
+   const double x_;
+   const double y_;
+ };
+
+Assuming the observations are in a :math:`2n` sized array called
+``data`` the problem construction is a simple matter of creating a
+:class:`CostFunction` for every observation.
+
+
+.. code-block:: c++
+
+ double m = 0.0;
+ double c = 0.0;
+
+ Problem problem;
+ for (int i = 0; i < kNumObservations; ++i) {
+   CostFunction* cost_function =
+        new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+            new ExponentialResidual(data[2 * i], data[2 * i + 1]));
+   problem.AddResidualBlock(cost_function, NULL, &m, &c);
+ }
+
+Compiling and running `examples/curve_fitting.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/curve_fitting.cc>`_
+gives us:
+
+.. code-block:: bash
+
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  1.211734e+02    0.00e+00    3.61e+02   0.00e+00   0.00e+00  1.00e+04       0    5.34e-04    2.56e-03
+       1  1.211734e+02   -2.21e+03    0.00e+00   7.52e-01  -1.87e+01  5.00e+03       1    4.29e-05    3.25e-03
+       2  1.211734e+02   -2.21e+03    0.00e+00   7.51e-01  -1.86e+01  1.25e+03       1    1.10e-05    3.28e-03
+       3  1.211734e+02   -2.19e+03    0.00e+00   7.48e-01  -1.85e+01  1.56e+02       1    1.41e-05    3.31e-03
+       4  1.211734e+02   -2.02e+03    0.00e+00   7.22e-01  -1.70e+01  9.77e+00       1    1.00e-05    3.34e-03
+       5  1.211734e+02   -7.34e+02    0.00e+00   5.78e-01  -6.32e+00  3.05e-01       1    1.00e-05    3.36e-03
+       6  3.306595e+01    8.81e+01    4.10e+02   3.18e-01   1.37e+00  9.16e-01       1    2.79e-05    3.41e-03
+       7  6.426770e+00    2.66e+01    1.81e+02   1.29e-01   1.10e+00  2.75e+00       1    2.10e-05    3.45e-03
+       8  3.344546e+00    3.08e+00    5.51e+01   3.05e-02   1.03e+00  8.24e+00       1    2.10e-05    3.48e-03
+       9  1.987485e+00    1.36e+00    2.33e+01   8.87e-02   9.94e-01  2.47e+01       1    2.10e-05    3.52e-03
+      10  1.211585e+00    7.76e-01    8.22e+00   1.05e-01   9.89e-01  7.42e+01       1    2.10e-05    3.56e-03
+      11  1.063265e+00    1.48e-01    1.44e+00   6.06e-02   9.97e-01  2.22e+02       1    2.60e-05    3.61e-03
+      12  1.056795e+00    6.47e-03    1.18e-01   1.47e-02   1.00e+00  6.67e+02       1    2.10e-05    3.64e-03
+      13  1.056751e+00    4.39e-05    3.79e-03   1.28e-03   1.00e+00  2.00e+03       1    2.10e-05    3.68e-03
+    Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE
+    Initial m: 0 c: 0
+    Final   m: 0.291861 c: 0.131439
+
+Starting from parameter values :math:`m = 0, c=0` with an initial
+objective function value of :math:`121.173` Ceres finds a solution
+:math:`m= 0.291861, c = 0.131439` with an objective function value of
+:math:`1.05675`. These values are a bit different than the
+parameters of the original model :math:`m=0.3, c= 0.1`, but this is
+expected. When reconstructing a curve from noisy data, we expect to
+see such deviations. Indeed, if you were to evaluate the objective
+function for :math:`m=0.3, c=0.1`, the fit is worse with an objective
+function value of :math:`1.082425`.  The figure below illustrates the fit.
+
+.. figure:: least_squares_fit.png
+   :figwidth: 500px
+   :height: 400px
+   :align: center
+
+   Least squares curve fitting.
+
+
+.. rubric:: Footnotes
+
+.. [#f6] `examples/curve_fitting.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/curve_fitting.cc>`_
+
+
+Robust Curve Fitting
+=====================
+
+Now suppose the data we are given has some outliers, i.e., we have
+some points that do not obey the noise model. If we were to use the
+code above to fit such data, we would get a fit that looks as
+below. Notice how the fitted curve deviates from the ground truth.
+
+.. figure:: non_robust_least_squares_fit.png
+   :figwidth: 500px
+   :height: 400px
+   :align: center
+
+To deal with outliers, a standard technique is to use a
+:class:`LossFunction`. Loss functions reduce the influence of
+residual blocks with high residuals, usually the ones corresponding to
+outliers. To associate a loss function with a residual block, we change
+
+.. code-block:: c++
+
+   problem.AddResidualBlock(cost_function, NULL , &m, &c);
+
+to
+
+.. code-block:: c++
+
+   problem.AddResidualBlock(cost_function, new CauchyLoss(0.5) , &m, &c);
+
+:class:`CauchyLoss` is one of the loss functions that ships with Ceres
+Solver. The argument :math:`0.5` specifies the scale of the loss
+function. As a result, we get the fit below [#f7]_. Notice how the
+fitted curve moves back closer to the ground truth curve.
+
+.. figure:: robust_least_squares_fit.png
+   :figwidth: 500px
+   :height: 400px
+   :align: center
+
+   Using :class:`LossFunction` to reduce the effect of outliers on a
+   least squares fit.
+
+
+.. rubric:: Footnotes
+
+.. [#f7] `examples/robust_curve_fitting.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/robust_curve_fitting.cc>`_
+
+
+Bundle Adjustment
+=================
+
+One of the main reasons for writing Ceres was our need to solve large
+scale bundle adjustment problems [HartleyZisserman]_, [Triggs]_.
+
+Given a set of measured image feature locations and correspondences,
+the goal of bundle adjustment is to find 3D point positions and camera
+parameters that minimize the reprojection error. This optimization
+problem is usually formulated as a non-linear least squares problem,
+where the error is the squared :math:`L_2` norm of the difference between
+the observed feature location and the projection of the corresponding
+3D point on the image plane of the camera. Ceres has extensive support
+for solving bundle adjustment problems.
+
+Let us solve a problem from the `BAL
+<http://grail.cs.washington.edu/projects/bal/>`_ dataset [#f8]_.
+
+The first step as usual is to define a templated functor that computes
+the reprojection error/residual. The structure of the functor is
+similar to the ``ExponentialResidual``, in that there is an
+instance of this object responsible for each image observation.
+
+Each residual in a BAL problem depends on a three dimensional point
+and a nine parameter camera. The nine parameters defining the camera
+are: three for rotation as a Rodriques' axis-angle vector, three
+for translation, one for focal length and two for radial distortion.
+The details of this camera model can be found the `Bundler homepage
+<http://phototour.cs.washington.edu/bundler/>`_ and the `BAL homepage
+<http://grail.cs.washington.edu/projects/bal/>`_.
+
+.. code-block:: c++
+
+ struct SnavelyReprojectionError {
+   SnavelyReprojectionError(double observed_x, double observed_y)
+       : observed_x(observed_x), observed_y(observed_y) {}
+
+   template <typename T>
+   bool operator()(const T* const camera,
+                   const T* const point,
+                   T* residuals) const {
+     // camera[0,1,2] are the angle-axis rotation.
+     T p[3];
+     ceres::AngleAxisRotatePoint(camera, point, p);
+     // camera[3,4,5] are the translation.
+     p[0] += camera[3]; p[1] += camera[4]; p[2] += camera[5];
+
+     // Compute the center of distortion. The sign change comes from
+     // the camera model that Noah Snavely's Bundler assumes, whereby
+     // the camera coordinate system has a negative z axis.
+     T xp = - p[0] / p[2];
+     T yp = - p[1] / p[2];
+
+     // Apply second and fourth order radial distortion.
+     const T& l1 = camera[7];
+     const T& l2 = camera[8];
+     T r2 = xp*xp + yp*yp;
+     T distortion = T(1.0) + r2  * (l1 + l2  * r2);
+
+     // Compute final projected point position.
+     const T& focal = camera[6];
+     T predicted_x = focal * distortion * xp;
+     T predicted_y = focal * distortion * yp;
+
+     // The error is the difference between the predicted and observed position.
+     residuals[0] = predicted_x - T(observed_x);
+     residuals[1] = predicted_y - T(observed_y);
+     return true;
+   }
+
+    // Factory to hide the construction of the CostFunction object from
+    // the client code.
+    static ceres::CostFunction* Create(const double observed_x,
+                                       const double observed_y) {
+      return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+                  new SnavelyReprojectionError(observed_x, observed_y)));
+    }
+
+   double observed_x;
+   double observed_y;
+ };
+
+
+Note that unlike the examples before, this is a non-trivial function
+and computing its analytic Jacobian is a bit of a pain. Automatic
+differentiation makes life much simpler. The function
+:func:`AngleAxisRotatePoint` and other functions for manipulating
+rotations can be found in ``include/ceres/rotation.h``.
+
+Given this functor, the bundle adjustment problem can be constructed
+as follows:
+
+.. code-block:: c++
+
+ ceres::Problem problem;
+ for (int i = 0; i < bal_problem.num_observations(); ++i) {
+   ceres::CostFunction* cost_function =
+       SnavelyReprojectionError::Create(
+            bal_problem.observations()[2 * i + 0],
+            bal_problem.observations()[2 * i + 1]);
+   problem.AddResidualBlock(cost_function,
+                            NULL /* squared loss */,
+                            bal_problem.mutable_camera_for_observation(i),
+                            bal_problem.mutable_point_for_observation(i));
+ }
+
+
+Notice that the problem construction for bundle adjustment is very
+similar to the curve fitting example -- one term is added to the
+objective function per observation.
+
+Since this is a large sparse problem (well large for ``DENSE_QR``
+anyways), one way to solve this problem is to set
+:member:`Solver::Options::linear_solver_type` to
+``SPARSE_NORMAL_CHOLESKY`` and call :member:`Solve`. And while this is
+a reasonable thing to do, bundle adjustment problems have a special
+sparsity structure that can be exploited to solve them much more
+efficiently. Ceres provides three specialized solvers (collectively
+known as Schur-based solvers) for this task. The example code uses the
+simplest of them ``DENSE_SCHUR``.
+
+.. code-block:: c++
+
+ ceres::Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.minimizer_progress_to_stdout = true;
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, &problem, &summary);
+ std::cout << summary.FullReport() << "\n";
+
+For a more sophisticated bundle adjustment example which demonstrates
+the use of Ceres' more advanced features including its various linear
+solvers, robust loss functions and local parameterizations see
+`examples/bundle_adjuster.cc
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/bundle_adjuster.cc>`_
+
+
+.. rubric:: Footnotes
+
+.. [#f8] `examples/simple_bundle_adjuster.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/simple_bundle_adjuster.cc>`_
+
+Other Examples
+==============
+
+Besides the examples in this chapter, the  `example
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/>`_
+directory contains a number of other examples:
+
+#. `bundle_adjuster.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/bundle_adjuster.cc>`_
+   shows how to use the various features of Ceres to solve bundle
+   adjustment problems.
+
+#. `circle_fit.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/circle_fit.cc>`_
+   shows how to fit data to a circle.
+
+#. `ellipse_approximation.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/ellipse_approximation.cc>`_
+   fits points randomly distributed on an ellipse with an approximate
+   line segment contour. This is done by jointly optimizing the
+   control points of the line segment contour along with the preimage
+   positions for the data points. The purpose of this example is to
+   show an example use case for ``Solver::Options::dynamic_sparsity``,
+   and how it can benefit problems which are numerically dense but
+   dynamically sparse.
+
+#. `denoising.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/denoising.cc>`_
+   implements image denoising using the `Fields of Experts
+   <http://www.gris.informatik.tu-darmstadt.de/~sroth/research/foe/index.html>`_
+   model.
+
+#. `nist.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/nist.cc>`_
+   implements and attempts to solves the `NIST
+   <http://www.itl.nist.gov/div898/strd/nls/nls_main.shtm>`_
+   non-linear regression problems.
+
+#. `more_garbow_hillstrom.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/more_garbow_hillstrom.cc>`_
+   A subset of the test problems from the paper
+
+   Testing Unconstrained Optimization Software
+   Jorge J. More, Burton S. Garbow and Kenneth E. Hillstrom
+   ACM Transactions on Mathematical Software, 7(1), pp. 17-41, 1981
+
+   which were augmented with bounds and used for testing bounds
+   constrained optimization algorithms by
+
+   A Trust Region Approach to Linearly Constrained Optimization
+   David M. Gay
+   Numerical Analysis (Griffiths, D.F., ed.), pp. 72-105
+   Lecture Notes in Mathematics 1066, Springer Verlag, 1984.
+
+
+#. `libmv_bundle_adjuster.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/libmv_bundle_adjuster.cc>`_
+   is the bundle adjustment algorithm used by `Blender <www.blender.org>`_/libmv.
+
+#. `libmv_homography.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/libmv_homography.cc>`_
+   This file demonstrates solving for a homography between two sets of
+   points and using a custom exit criterion by having a callback check
+   for image-space error.
+
+#. `robot_pose_mle.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/robot_pose_mle.cc>`_
+   This example demonstrates how to use the ``DynamicAutoDiffCostFunction``
+   variant of CostFunction. The ``DynamicAutoDiffCostFunction`` is meant to
+   be used in cases where the number of parameter blocks or the sizes are not
+   known at compile time.
+
+   This example simulates a robot traversing down a 1-dimension hallway with
+   noise odometry readings and noisy range readings of the end of the hallway.
+   By fusing the noisy odometry and sensor readings this example demonstrates
+   how to compute the maximum likelihood estimate (MLE) of the robot's pose at
+   each timestep.
+
+#. `slam/pose_graph_2d/pose_graph_2d.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/slam/pose_graph_2d/pose_graph_2d.cc>`_
+   The Simultaneous Localization and Mapping (SLAM) problem consists of building
+   a map of an unknown environment while simultaneously localizing against this
+   map. The main difficulty of this problem stems from not having any additional
+   external aiding information such as GPS. SLAM has been considered one of the
+   fundamental challenges of robotics. There are many resources on SLAM
+   [#f9]_. A pose graph optimization problem is one example of a SLAM
+   problem. The following explains how to formulate the pose graph based SLAM
+   problem in 2-Dimensions with relative pose constraints.
+
+   Consider a robot moving in a 2-Dimensional plane. The robot has access to a
+   set of sensors such as wheel odometry or a laser range scanner. From these
+   raw measurements, we want to estimate the trajectory of the robot as well as
+   build a map of the environment. In order to reduce the computational
+   complexity of the problem, the pose graph approach abstracts the raw
+   measurements away.  Specifically, it creates a graph of nodes which represent
+   the pose of the robot, and edges which represent the relative transformation
+   (delta position and orientation) between the two nodes. The edges are virtual
+   measurements derived from the raw sensor measurements, e.g. by integrating
+   the raw wheel odometry or aligning the laser range scans acquired from the
+   robot. A visualization of the resulting graph is shown below.
+
+   .. figure:: slam2d.png
+      :figwidth: 500px
+      :height: 400px
+      :align: center
+
+      Visual representation of a graph SLAM problem.
+
+   The figure depicts the pose of the robot as the triangles, the measurements
+   are indicated by the connecting lines, and the loop closure measurements are
+   shown as dotted lines. Loop closures are measurements between non-sequential
+   robot states and they reduce the accumulation of error over time. The
+   following will describe the mathematical formulation of the pose graph
+   problem.
+
+   The robot at timestamp :math:`t` has state :math:`x_t = [p^T, \psi]^T` where
+   :math:`p` is a 2D vector that represents the position in the plane and
+   :math:`\psi` is the orientation in radians. The measurement of the relative
+   transform between the robot state at two timestamps :math:`a` and :math:`b`
+   is given as: :math:`z_{ab} = [\hat{p}_{ab}^T, \hat{\psi}_{ab}]`. The residual
+   implemented in the Ceres cost function which computes the error between the
+   measurement and the predicted measurement is:
+
+   .. math:: r_{ab} =
+	     \left[
+	     \begin{array}{c}
+	       R_a^T\left(p_b - p_a\right) - \hat{p}_{ab} \\
+	       \mathrm{Normalize}\left(\psi_b - \psi_a - \hat{\psi}_{ab}\right)
+	     \end{array}
+	     \right]
+
+   where the function :math:`\mathrm{Normalize}()` normalizes the angle in the range
+   :math:`[-\pi,\pi)`, and :math:`R` is the rotation matrix given by
+
+   .. math:: R_a =
+	     \left[
+	     \begin{array}{cc}
+	       \cos \psi_a & -\sin \psi_a \\
+	       \sin \psi_a & \cos \psi_a \\
+	     \end{array}
+	     \right]
+
+   To finish the cost function, we need to weight the residual by the
+   uncertainty of the measurement. Hence, we pre-multiply the residual by the
+   inverse square root of the covariance matrix for the measurement,
+   i.e. :math:`\Sigma_{ab}^{-\frac{1}{2}} r_{ab}` where :math:`\Sigma_{ab}` is
+   the covariance.
+
+   Lastly, we use a local parameterization to normalize the orientation in the
+   range which is normalized between :math:`[-\pi,\pi)`.  Specially, we define
+   the :member:`AngleLocalParameterization::operator()` function to be:
+   :math:`\mathrm{Normalize}(\psi + \delta \psi)`.
+
+   This package includes an executable :member:`pose_graph_2d` that will read a
+   problem definition file. This executable can work with any 2D problem
+   definition that uses the g2o format. It would be relatively straightforward
+   to implement a new reader for a different format such as TORO or
+   others. :member:`pose_graph_2d` will print the Ceres solver full summary and
+   then output to disk the original and optimized poses (``poses_original.txt``
+   and ``poses_optimized.txt``, respectively) of the robot in the following
+   format:
+
+   .. code-block:: bash
+
+      pose_id x y yaw_radians
+      pose_id x y yaw_radians
+      pose_id x y yaw_radians
+
+   where ``pose_id`` is the corresponding integer ID from the file
+   definition. Note, the file will be sorted in ascending order for the
+   ``pose_id``.
+
+   The executable :member:`pose_graph_2d` expects the first argument to be
+   the path to the problem definition. To run the executable,
+
+   .. code-block:: bash
+
+      /path/to/bin/pose_graph_2d /path/to/dataset/dataset.g2o
+
+   A python script is provided to visualize the resulting output files.
+
+   .. code-block:: bash
+
+      /path/to/repo/examples/slam/pose_graph_2d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+
+   As an example, a standard synthetic benchmark dataset [#f10]_ created by
+   Edwin Olson which has 3500 nodes in a grid world with a total of 5598 edges
+   was solved.  Visualizing the results with the provided script produces:
+
+   .. figure:: manhattan_olson_3500_result.png
+      :figwidth: 600px
+      :height: 600px
+      :align: center
+
+   with the original poses in green and the optimized poses in blue. As shown,
+   the optimized poses more closely match the underlying grid world. Note, the
+   left side of the graph has a small yaw drift due to a lack of relative
+   constraints to provide enough information to reconstruct the trajectory.
+
+   .. rubric:: Footnotes
+
+   .. [#f9] Giorgio Grisetti, Rainer Kummerle, Cyrill Stachniss, Wolfram
+      Burgard. A Tutorial on Graph-Based SLAM. IEEE Intelligent Transportation
+      Systems Magazine, 52(3):199–222, 2010.
+
+   .. [#f10] E. Olson, J. Leonard, and S. Teller, “Fast iterative optimization of
+      pose graphs with poor initial estimates,” in Robotics and Automation
+      (ICRA), IEEE International Conference on, 2006, pp. 2262–2269.
+
+#. `slam/pose_graph_3d/pose_graph_3d.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/slam/pose_graph_3d/pose_graph_3d.cc>`_
+   The following explains how to formulate the pose graph based SLAM problem in
+   3-Dimensions with relative pose constraints. The example also illustrates how
+   to use Eigen's geometry module with Ceres's automatic differentiation
+   functionality.
+
+   The robot at timestamp :math:`t` has state :math:`x_t = [p^T, q^T]^T` where
+   :math:`p` is a 3D vector that represents the position and :math:`q` is the
+   orientation represented as an Eigen quaternion. The measurement of the
+   relative transform between the robot state at two timestamps :math:`a` and
+   :math:`b` is given as: :math:`z_{ab} = [\hat{p}_{ab}^T, \hat{q}_{ab}^T]^T`.
+   The residual implemented in the Ceres cost function which computes the error
+   between the measurement and the predicted measurement is:
+
+   .. math:: r_{ab} =
+             \left[
+             \begin{array}{c}
+                R(q_a)^{T} (p_b - p_a) - \hat{p}_{ab} \\
+                2.0 \mathrm{vec}\left((q_a^{-1} q_b) \hat{q}_{ab}^{-1}\right)
+             \end{array}
+             \right]
+
+   where the function :math:`\mathrm{vec}()` returns the vector part of the
+   quaternion, i.e. :math:`[q_x, q_y, q_z]`, and :math:`R(q)` is the rotation
+   matrix for the quaternion.
+
+   To finish the cost function, we need to weight the residual by the
+   uncertainty of the measurement. Hence, we pre-multiply the residual by the
+   inverse square root of the covariance matrix for the measurement,
+   i.e. :math:`\Sigma_{ab}^{-\frac{1}{2}} r_{ab}` where :math:`\Sigma_{ab}` is
+   the covariance.
+
+   Given that we are using a quaternion to represent the orientation, we need to
+   use a local parameterization (:class:`EigenQuaternionParameterization`) to
+   only apply updates orthogonal to the 4-vector defining the
+   quaternion. Eigen's quaternion uses a different internal memory layout for
+   the elements of the quaternion than what is commonly used. Specifically,
+   Eigen stores the elements in memory as :math:`[x, y, z, w]` where the real
+   part is last whereas it is typically stored first. Note, when creating an
+   Eigen quaternion through the constructor the elements are accepted in
+   :math:`w`, :math:`x`, :math:`y`, :math:`z` order. Since Ceres operates on
+   parameter blocks which are raw double pointers this difference is important
+   and requires a different parameterization.
+
+   This package includes an executable :member:`pose_graph_3d` that will read a
+   problem definition file. This executable can work with any 3D problem
+   definition that uses the g2o format with quaternions used for the orientation
+   representation. It would be relatively straightforward to implement a new
+   reader for a different format such as TORO or others. :member:`pose_graph_3d`
+   will print the Ceres solver full summary and then output to disk the original
+   and optimized poses (``poses_original.txt`` and ``poses_optimized.txt``,
+   respectively) of the robot in the following format:
+
+   .. code-block:: bash
+
+      pose_id x y z q_x q_y q_z q_w
+      pose_id x y z q_x q_y q_z q_w
+      pose_id x y z q_x q_y q_z q_w
+      ...
+
+   where ``pose_id`` is the corresponding integer ID from the file
+   definition. Note, the file will be sorted in ascending order for the
+   ``pose_id``.
+
+   The executable :member:`pose_graph_3d` expects the first argument to be the
+   path to the problem definition. The executable can be run via
+
+   .. code-block:: bash
+
+      /path/to/bin/pose_graph_3d /path/to/dataset/dataset.g2o
+
+   A script is provided to visualize the resulting output files. There is also
+   an option to enable equal axes using ``--axes_equal``
+
+   .. code-block:: bash
+
+      /path/to/repo/examples/slam/pose_graph_3d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+
+   As an example, a standard synthetic benchmark dataset [#f9]_ where the robot is
+   traveling on the surface of a sphere which has 2500 nodes with a total of
+   4949 edges was solved. Visualizing the results with the provided script
+   produces:
+
+   .. figure:: pose_graph_3d_ex.png
+      :figwidth: 600px
+      :height: 300px
+      :align: center
diff --git a/docs/source/non_robust_least_squares_fit.png b/docs/source/non_robust_least_squares_fit.png
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diff --git a/docs/source/numerical_derivatives.rst b/docs/source/numerical_derivatives.rst
new file mode 100644
index 0000000..c52c039
--- /dev/null
+++ b/docs/source/numerical_derivatives.rst
@@ -0,0 +1,403 @@
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-numerical_derivatives:
+
+===================
+Numeric derivatives
+===================
+
+The other extreme from using analytic derivatives is to use numeric
+derivatives. The key observation here is that the process of
+differentiating a function :math:`f(x)` w.r.t :math:`x` can be written
+as the limiting process:
+
+.. math::
+   Df(x) = \lim_{h \rightarrow 0} \frac{f(x + h) - f(x)}{h}
+
+
+Forward Differences
+===================
+
+Now of course one cannot perform the limiting operation numerically on
+a computer so we do the next best thing, which is to choose a small
+value of :math:`h` and approximate the derivative as
+
+.. math::
+   Df(x) \approx \frac{f(x + h) - f(x)}{h}
+
+
+The above formula is the simplest most basic form of numeric
+differentiation. It is known as the *Forward Difference* formula.
+
+So how would one go about constructing a numerically differentiated
+version of ``Rat43Analytic`` (`Rat43
+<http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml>`_) in
+Ceres Solver. This is done in two steps:
+
+  1. Define *Functor* that given the parameter values will evaluate the
+     residual for a given :math:`(x,y)`.
+  2. Construct a :class:`CostFunction` by using
+     :class:`NumericDiffCostFunction` to wrap an instance of
+     ``Rat43CostFunctor``.
+
+.. code-block:: c++
+
+  struct Rat43CostFunctor {
+    Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {}
+
+    bool operator()(const double* parameters, double* residuals) const {
+      const double b1 = parameters[0];
+      const double b2 = parameters[1];
+      const double b3 = parameters[2];
+      const double b4 = parameters[3];
+      residuals[0] = b1 * pow(1.0 + exp(b2 -  b3 * x_), -1.0 / b4) - y_;
+      return true;
+    }
+
+    const double x_;
+    const double y_;
+  }
+
+  CostFunction* cost_function =
+    new NumericDiffCostFunction<Rat43CostFunctor, FORWARD, 1, 4>(
+      new Rat43CostFunctor(x, y));
+
+This is about the minimum amount of work one can expect to do to
+define the cost function. The only thing that the user needs to do is
+to make sure that the evaluation of the residual is implemented
+correctly and efficiently.
+
+Before going further, it is instructive to get an estimate of the
+error in the forward difference formula. We do this by considering the
+`Taylor expansion <https://en.wikipedia.org/wiki/Taylor_series>`_ of
+:math:`f` near :math:`x`.
+
+.. math::
+   \begin{align}
+   f(x+h) &= f(x) + h Df(x) + \frac{h^2}{2!} D^2f(x) +
+   \frac{h^3}{3!}D^3f(x) + \cdots \\
+   Df(x) &= \frac{f(x + h) - f(x)}{h} - \left [\frac{h}{2!}D^2f(x) +
+   \frac{h^2}{3!}D^3f(x) + \cdots  \right]\\
+   Df(x) &= \frac{f(x + h) - f(x)}{h} + O(h)
+   \end{align}
+
+i.e., the error in the forward difference formula is
+:math:`O(h)` [#f4]_.
+
+
+Implementation Details
+----------------------
+
+:class:`NumericDiffCostFunction` implements a generic algorithm to
+numerically differentiate a given functor. While the actual
+implementation of :class:`NumericDiffCostFunction` is complicated, the
+net result is a :class:`CostFunction` that roughly looks something
+like the following:
+
+.. code-block:: c++
+
+  class Rat43NumericDiffForward : public SizedCostFunction<1,4> {
+     public:
+       Rat43NumericDiffForward(const Rat43Functor* functor) : functor_(functor) {}
+       virtual ~Rat43NumericDiffForward() {}
+       virtual bool Evaluate(double const* const* parameters,
+                             double* residuals,
+			     double** jacobians) const {
+ 	 functor_(parameters[0], residuals);
+	 if (!jacobians) return true;
+	 double* jacobian = jacobians[0];
+	 if (!jacobian) return true;
+
+	 const double f = residuals[0];
+	 double parameters_plus_h[4];
+	 for (int i = 0; i < 4; ++i) {
+	   std::copy(parameters, parameters + 4, parameters_plus_h);
+	   const double kRelativeStepSize = 1e-6;
+	   const double h = std::abs(parameters[i]) * kRelativeStepSize;
+	   parameters_plus_h[i] += h;
+           double f_plus;
+  	   functor_(parameters_plus_h, &f_plus);
+	   jacobian[i] = (f_plus - f) / h;
+         }
+	 return true;
+       }
+
+     private:
+       scoped_ptr<Rat43Functor> functor_;
+   };
+
+
+Note the choice of step size :math:`h` in the above code, instead of
+an absolute step size which is the same for all parameters, we use a
+relative step size of :math:`\text{kRelativeStepSize} = 10^{-6}`. This
+gives better derivative estimates than an absolute step size [#f2]_
+[#f3]_. This choice of step size only works for parameter values that
+are not close to zero. So the actual implementation of
+:class:`NumericDiffCostFunction`, uses a more complex step size
+selection logic, where close to zero, it switches to a fixed step
+size.
+
+
+Central Differences
+===================
+
+:math:`O(h)` error in the Forward Difference formula is okay but not
+great. A better method is to use the *Central Difference* formula:
+
+.. math::
+   Df(x) \approx \frac{f(x + h) - f(x - h)}{2h}
+
+Notice that if the value of :math:`f(x)` is known, the Forward
+Difference formula only requires one extra evaluation, but the Central
+Difference formula requires two evaluations, making it twice as
+expensive. So is the extra evaluation worth it?
+
+To answer this question, we again compute the error of approximation
+in the central difference formula:
+
+.. math::
+   \begin{align}
+  f(x + h) &= f(x) + h Df(x) + \frac{h^2}{2!}
+  D^2f(x) + \frac{h^3}{3!} D^3f(x) + \frac{h^4}{4!} D^4f(x) + \cdots\\
+    f(x - h) &= f(x) - h Df(x) + \frac{h^2}{2!}
+  D^2f(x) - \frac{h^3}{3!} D^3f(c_2) + \frac{h^4}{4!} D^4f(x) +
+  \cdots\\
+  Df(x) & =  \frac{f(x + h) - f(x - h)}{2h} + \frac{h^2}{3!}
+  D^3f(x) +  \frac{h^4}{5!}
+  D^5f(x) + \cdots \\
+  Df(x) & =  \frac{f(x + h) - f(x - h)}{2h} + O(h^2)
+   \end{align}
+
+The error of the Central Difference formula is :math:`O(h^2)`, i.e.,
+the error goes down quadratically whereas the error in the Forward
+Difference formula only goes down linearly.
+
+Using central differences instead of forward differences in Ceres
+Solver is a simple matter of changing a template argument to
+:class:`NumericDiffCostFunction` as follows:
+
+.. code-block:: c++
+
+  CostFunction* cost_function =
+    new NumericDiffCostFunction<Rat43CostFunctor, CENTRAL, 1, 4>(
+      new Rat43CostFunctor(x, y));
+
+But what do these differences in the error mean in practice? To see
+this, consider the problem of evaluating the derivative of the
+univariate function
+
+.. math::
+   f(x) = \frac{e^x}{\sin x - x^2},
+
+at :math:`x = 1.0`.
+
+It is easy to determine that :math:`Df(1.0) =
+140.73773557129658`. Using this value as reference, we can now compute
+the relative error in the forward and central difference formulae as a
+function of the absolute step size and plot them.
+
+.. figure:: forward_central_error.png
+   :figwidth: 100%
+   :align: center
+
+Reading the graph from right to left, a number of things stand out in
+the above graph:
+
+ 1. The graph for both formulae have two distinct regions. At first,
+    starting from a large value of :math:`h` the error goes down as
+    the effect of truncating the Taylor series dominates, but as the
+    value of :math:`h` continues to decrease, the error starts
+    increasing again as roundoff error starts to dominate the
+    computation. So we cannot just keep on reducing the value of
+    :math:`h` to get better estimates of :math:`Df`. The fact that we
+    are using finite precision arithmetic becomes a limiting factor.
+ 2. Forward Difference formula is not a great method for evaluating
+    derivatives. Central Difference formula converges much more
+    quickly to a more accurate estimate of the derivative with
+    decreasing step size. So unless the evaluation of :math:`f(x)` is
+    so expensive that you absolutely cannot afford the extra
+    evaluation required by central differences, **do not use the
+    Forward Difference formula**.
+ 3. Neither formula works well for a poorly chosen value of :math:`h`.
+
+
+Ridders' Method
+===============
+
+So, can we get better estimates of :math:`Df` without requiring such
+small values of :math:`h` that we start hitting floating point
+roundoff errors?
+
+One possible approach is to find a method whose error goes down faster
+than :math:`O(h^2)`. This can be done by applying `Richardson
+Extrapolation
+<https://en.wikipedia.org/wiki/Richardson_extrapolation>`_ to the
+problem of differentiation. This is also known as *Ridders' Method*
+[Ridders]_.
+
+Let us recall, the error in the central differences formula.
+
+.. math::
+   \begin{align}
+   Df(x) & =  \frac{f(x + h) - f(x - h)}{2h} + \frac{h^2}{3!}
+   D^3f(x) +  \frac{h^4}{5!}
+   D^5f(x) + \cdots\\
+           & =  \frac{f(x + h) - f(x - h)}{2h} + K_2 h^2 + K_4 h^4 + \cdots
+   \end{align}
+
+The key thing to note here is that the terms :math:`K_2, K_4, ...`
+are indepdendent of :math:`h` and only depend on :math:`x`.
+
+Let us now define:
+
+.. math::
+
+   A(1, m) = \frac{f(x + h/2^{m-1}) - f(x - h/2^{m-1})}{2h/2^{m-1}}.
+
+Then observe that
+
+.. math::
+
+   Df(x) = A(1,1) + K_2 h^2 + K_4 h^4 + \cdots
+
+and
+
+.. math::
+
+   Df(x) = A(1, 2) + K_2 (h/2)^2 + K_4 (h/2)^4 + \cdots
+
+Here we have halved the step size to obtain a second central
+differences estimate of :math:`Df(x)`. Combining these two estimates,
+we get:
+
+.. math::
+
+   Df(x) = \frac{4 A(1, 2) - A(1,1)}{4 - 1} + O(h^4)
+
+which is an approximation of :math:`Df(x)` with truncation error that
+goes down as :math:`O(h^4)`. But we do not have to stop here. We can
+iterate this process to obtain even more accurate estimates as
+follows:
+
+.. math::
+
+   A(n, m) =  \begin{cases}
+    \frac{\displaystyle f(x + h/2^{m-1}) - f(x -
+    h/2^{m-1})}{\displaystyle 2h/2^{m-1}} & n = 1 \\
+   \frac{\displaystyle 4^{n-1} A(n - 1, m + 1) - A(n - 1, m)}{\displaystyle 4^{n-1} - 1} & n > 1
+   \end{cases}
+
+It is straightforward to show that the approximation error in
+:math:`A(n, 1)` is :math:`O(h^{2n})`. To see how the above formula can
+be implemented in practice to compute :math:`A(n,1)` it is helpful to
+structure the computation as the following tableau:
+
+.. math::
+   \begin{array}{ccccc}
+   A(1,1) & A(1, 2) & A(1, 3) & A(1, 4) & \cdots\\
+          & A(2, 1) & A(2, 2) & A(2, 3) & \cdots\\
+	  &         & A(3, 1) & A(3, 2) & \cdots\\
+	  &         &         & A(4, 1) & \cdots \\
+	  &         &         &         & \ddots
+   \end{array}
+
+So, to compute :math:`A(n, 1)` for increasing values of :math:`n` we
+move from the left to the right, computing one column at a
+time. Assuming that the primary cost here is the evaluation of the
+function :math:`f(x)`, the cost of computing a new column of the above
+tableau is two function evaluations. Since the cost of evaluating
+:math:`A(1, n)`, requires evaluating the central difference formula
+for step size of :math:`2^{1-n}h`
+
+Applying this method to :math:`f(x) = \frac{e^x}{\sin x - x^2}`
+starting with a fairly large step size :math:`h = 0.01`, we get:
+
+.. math::
+   \begin{array}{rrrrr}
+   141.678097131 &140.971663667 &140.796145400 &140.752333523 &140.741384778\\
+   &140.736185846 &140.737639311 &140.737729564 &140.737735196\\
+   & &140.737736209 &140.737735581 &140.737735571\\
+   & & &140.737735571 &140.737735571\\
+   & & & &140.737735571\\
+   \end{array}
+
+Compared to the *correct* value :math:`Df(1.0) = 140.73773557129658`,
+:math:`A(5, 1)` has a relative error of :math:`10^{-13}`. For
+comparison, the relative error for the central difference formula with
+the same stepsize (:math:`0.01/2^4 = 0.000625`) is :math:`10^{-5}`.
+
+The above tableau is the basis of Ridders' method for numeric
+differentiation. The full implementation is an adaptive scheme that
+tracks its own estimation error and stops automatically when the
+desired precision is reached. Of course it is more expensive than the
+forward and central difference formulae, but is also significantly
+more robust and accurate.
+
+Using Ridder's method instead of forward or central differences in
+Ceres is again a simple matter of changing a template argument to
+:class:`NumericDiffCostFunction` as follows:
+
+.. code-block:: c++
+
+  CostFunction* cost_function =
+    new NumericDiffCostFunction<Rat43CostFunctor, RIDDERS, 1, 4>(
+      new Rat43CostFunctor(x, y));
+
+The following graph shows the relative error of the three methods as a
+function of the absolute step size. For Ridders's method we assume
+that the step size for evaluating :math:`A(n,1)` is :math:`2^{1-n}h`.
+
+.. figure:: forward_central_ridders_error.png
+   :figwidth: 100%
+   :align: center
+
+Using the 10 function evaluations that are needed to compute
+:math:`A(5,1)` we are able to approximate :math:`Df(1.0)` about a 1000
+times better than the best central differences estimate. To put these
+numbers in perspective, machine epsilon for double precision
+arithmetic is :math:`\approx 2.22 \times 10^{-16}`.
+
+Going back to ``Rat43``, let us also look at the runtime cost of the
+various methods for computing numeric derivatives.
+
+==========================   =========
+CostFunction                 Time (ns)
+==========================   =========
+Rat43Analytic                      255
+Rat43AnalyticOptimized              92
+Rat43NumericDiffForward            262
+Rat43NumericDiffCentral            517
+Rat43NumericDiffRidders           3760
+==========================   =========
+
+As expected, Central Differences is about twice as expensive as
+Forward Differences and the remarkable accuracy improvements of
+Ridders' method cost an order of magnitude more runtime.
+
+Recommendations
+===============
+
+Numeric differentiation should be used when you cannot compute the
+derivatives either analytically or using automatic differention. This
+is usually the case when you are calling an external library or
+function whose analytic form you do not know or even if you do, you
+are not in a position to re-write it in a manner required to use
+:ref:`chapter-automatic_derivatives`.
+
+
+When using numeric differentiation, use at least Central Differences,
+and if execution time is not a concern or the objective function is
+such that determining a good static relative step size is hard,
+Ridders' method is recommended.
+
+.. rubric:: Footnotes
+
+.. [#f2] `Numerical Differentiation
+	 <https://en.wikipedia.org/wiki/Numerical_differentiation#Practical_considerations_using_floating_point_arithmetic>`_
+.. [#f3] [Press]_ Numerical Recipes, Section 5.7
+.. [#f4] In asymptotic error analysis, an error of :math:`O(h^k)`
+	 means that the absolute-value of the error is at most some
+	 constant times :math:`h^k` when :math:`h` is close enough to
+	 :math:`0`.
diff --git a/docs/source/pose_graph_3d_ex.png b/docs/source/pose_graph_3d_ex.png
new file mode 100644
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diff --git a/docs/source/solving_faqs.rst b/docs/source/solving_faqs.rst
new file mode 100644
index 0000000..64604c4
--- /dev/null
+++ b/docs/source/solving_faqs.rst
@@ -0,0 +1,171 @@
+.. _chapter-solving_faqs:
+
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+=======
+Solving
+=======
+
+#. How do I evaluate the Jacobian for a solved problem?
+
+   Using :func:`Problem::Evaluate`.
+
+#. How do I choose the right linear solver?
+
+   When using the ``TRUST_REGION`` minimizer, the choice of linear
+   solver is an important decision. It affects solution quality and
+   runtime. Here is a simple way to reason about it.
+
+   1. For small (a few hundred parameters) or dense problems use
+      ``DENSE_QR``.
+
+   2. For general sparse problems (i.e., the Jacobian matrix has a
+      substantial number of zeros) use
+      ``SPARSE_NORMAL_CHOLESKY``. This requires that you have
+      ``SuiteSparse`` or ``CXSparse`` installed.
+
+   3. For bundle adjustment problems with up to a hundred or so
+      cameras, use ``DENSE_SCHUR``.
+
+   4. For larger bundle adjustment problems with sparse Schur
+      Complement/Reduced camera matrices use ``SPARSE_SCHUR``. This
+      requires that you build Ceres with support for ``SuiteSparse``,
+      ``CXSparse`` or Eigen's sparse linear algebra libraries.
+
+      If you do not have access to these libraries for whatever
+      reason, ``ITERATIVE_SCHUR`` with ``SCHUR_JACOBI`` is an
+      excellent alternative.
+
+   5. For large bundle adjustment problems (a few thousand cameras or
+      more) use the ``ITERATIVE_SCHUR`` solver. There are a number of
+      preconditioner choices here. ``SCHUR_JACOBI`` offers an
+      excellent balance of speed and accuracy. This is also the
+      recommended option if you are solving medium sized problems for
+      which ``DENSE_SCHUR`` is too slow but ``SuiteSparse`` is not
+      available.
+
+      .. NOTE::
+
+        If you are solving small to medium sized problems, consider
+        setting ``Solver::Options::use_explicit_schur_complement`` to
+        ``true``, it can result in a substantial performance boost.
+
+      If you are not satisfied with ``SCHUR_JACOBI``'s performance try
+      ``CLUSTER_JACOBI`` and ``CLUSTER_TRIDIAGONAL`` in that
+      order. They require that you have ``SuiteSparse``
+      installed. Both of these preconditioners use a clustering
+      algorithm. Use ``SINGLE_LINKAGE`` before ``CANONICAL_VIEWS``.
+
+#. Use :func:`Solver::Summary::FullReport` to diagnose performance problems.
+
+   When diagnosing Ceres performance issues - runtime and convergence,
+   the first place to start is by looking at the output of
+   ``Solver::Summary::FullReport``. Here is an example
+
+   .. code-block:: bash
+
+     ./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
+
+     iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+        0  4.185660e+06    0.00e+00    2.16e+07   0.00e+00   0.00e+00  1.00e+04       0    7.50e-02    3.58e-01
+        1  1.980525e+05    3.99e+06    5.34e+06   2.40e+03   9.60e-01  3.00e+04       1    1.84e-01    5.42e-01
+        2  5.086543e+04    1.47e+05    2.11e+06   1.01e+03   8.22e-01  4.09e+04       1    1.53e-01    6.95e-01
+        3  1.859667e+04    3.23e+04    2.87e+05   2.64e+02   9.85e-01  1.23e+05       1    1.71e-01    8.66e-01
+        4  1.803857e+04    5.58e+02    2.69e+04   8.66e+01   9.93e-01  3.69e+05       1    1.61e-01    1.03e+00
+        5  1.803391e+04    4.66e+00    3.11e+02   1.02e+01   1.00e+00  1.11e+06       1    1.49e-01    1.18e+00
+
+     Ceres Solver v1.12.0 Solve Report
+     ----------------------------------
+                                          Original                  Reduced
+     Parameter blocks                        22122                    22122
+     Parameters                              66462                    66462
+     Residual blocks                         83718                    83718
+     Residual                               167436                   167436
+
+     Minimizer                        TRUST_REGION
+
+     Sparse linear algebra library    SUITE_SPARSE
+     Trust region strategy     LEVENBERG_MARQUARDT
+
+                                             Given                     Used
+     Linear solver                    SPARSE_SCHUR             SPARSE_SCHUR
+     Threads                                     1                        1
+     Linear solver threads                       1                        1
+     Linear solver ordering              AUTOMATIC                22106, 16
+
+     Cost:
+     Initial                          4.185660e+06
+     Final                            1.803391e+04
+     Change                           4.167626e+06
+
+     Minimizer iterations                        5
+     Successful steps                            5
+     Unsuccessful steps                          0
+
+     Time (in seconds):
+     Preprocessor                            0.283
+
+       Residual evaluation                   0.061
+       Jacobian evaluation                   0.361
+       Linear solver                         0.382
+     Minimizer                               0.895
+
+     Postprocessor                           0.002
+     Total                                   1.220
+
+     Termination:                   NO_CONVERGENCE (Maximum number of iterations reached.)
+
+  Let us focus on run-time performance. The relevant lines to look at
+  are
+
+
+   .. code-block:: bash
+
+     Time (in seconds):
+     Preprocessor                            0.283
+
+       Residual evaluation                   0.061
+       Jacobian evaluation                   0.361
+       Linear solver                         0.382
+     Minimizer                               0.895
+
+     Postprocessor                           0.002
+     Total                                   1.220
+
+
+  Which tell us that of the total 1.2 seconds, about .3 seconds was
+  spent in the linear solver and the rest was mostly spent in
+  preprocessing and jacobian evaluation.
+
+  The preprocessing seems particularly expensive. Looking back at the
+  report, we observe
+
+   .. code-block:: bash
+
+     Linear solver ordering              AUTOMATIC                22106, 16
+
+  Which indicates that we are using automatic ordering for the
+  ``SPARSE_SCHUR`` solver. This can be expensive at times. A straight
+  forward way to deal with this is to give the ordering manually. For
+  ``bundle_adjuster`` this can be done by passing the flag
+  ``-ordering=user``. Doing so and looking at the timing block of the
+  full report gives us
+
+   .. code-block:: bash
+
+     Time (in seconds):
+     Preprocessor                            0.051
+
+       Residual evaluation                   0.053
+       Jacobian evaluation                   0.344
+       Linear solver                         0.372
+     Minimizer                               0.854
+
+     Postprocessor                           0.002
+     Total                                   0.935
+
+
+
+  The preprocessor time has gone down by more than 5.5x!.
diff --git a/docs/source/spivak_notation.rst b/docs/source/spivak_notation.rst
new file mode 100644
index 0000000..3ac56ba
--- /dev/null
+++ b/docs/source/spivak_notation.rst
@@ -0,0 +1,53 @@
+.. default-domain:: cpp
+
+.. cpp:namespace:: ceres
+
+.. _chapter-spivak_notation:
+
+===============
+Spivak Notation
+===============
+
+To preserve our collective sanities, we will use Spivak's notation for
+derivatives. It is a functional notation that makes reading and
+reasoning about expressions involving derivatives simple.
+
+For a univariate function :math:`f`, :math:`f(a)` denotes its value at
+:math:`a`. :math:`Df` denotes its first derivative, and
+:math:`Df(a)` is the derivative evaluated at :math:`a`, i.e
+
+.. math::
+   Df(a) = \left . \frac{d}{dx} f(x) \right |_{x = a}
+
+:math:`D^kf` denotes the :math:`k^{\text{th}}` derivative of :math:`f`.
+
+For a bi-variate function :math:`g(x,y)`. :math:`D_1g` and
+:math:`D_2g` denote the partial derivatives of :math:`g` w.r.t the
+first and second variable respectively. In the classical notation this
+is equivalent to saying:
+
+.. math::
+
+   D_1 g = \frac{\partial}{\partial x}g(x,y) \text{ and }  D_2 g  = \frac{\partial}{\partial y}g(x,y).
+
+
+:math:`Dg` denotes the Jacobian of `g`, i.e.,
+
+.. math::
+
+  Dg = \begin{bmatrix} D_1g & D_2g \end{bmatrix}
+
+More generally for a multivariate function :math:`g:\mathbb{R}^n
+\longrightarrow \mathbb{R}^m`, :math:`Dg` denotes the :math:`m\times
+n` Jacobian matrix. :math:`D_i g` is the partial derivative of
+:math:`g` w.r.t the :math:`i^{\text{th}}` coordinate and the
+:math:`i^{\text{th}}` column of :math:`Dg`.
+
+Finally, :math:`D^2_1g` and :math:`D_1D_2g` have the obvious meaning
+as higher order partial derivatives.
+
+For more see Michael Spivak's book `Calculus on Manifolds
+<https://www.amazon.com/Calculus-Manifolds-Approach-Classical-Theorems/dp/0805390219>`_
+or a brief discussion of the `merits of this notation
+<http://www.vendian.org/mncharity/dir3/dxdoc/>`_ by
+Mitchell N. Charity.
diff --git a/docs/source/tutorial.rst b/docs/source/tutorial.rst
new file mode 100644
index 0000000..a3fd212
--- /dev/null
+++ b/docs/source/tutorial.rst
@@ -0,0 +1,11 @@
+.. _chapter-tutorial:
+
+========
+Tutorial
+========
+
+.. toctree::
+   :maxdepth: 3
+
+   nnls_tutorial
+   gradient_tutorial
diff --git a/docs/source/users.rst b/docs/source/users.rst
new file mode 100644
index 0000000..42f66b9
--- /dev/null
+++ b/docs/source/users.rst
@@ -0,0 +1,75 @@
+.. _chapter-users:
+
+=====
+Users
+=====
+
+* At `Google <http://www.google.com>`_, Ceres is used to:
+
+  * Estimate the pose of `Street View`_ cars, aircrafts, and satellites.
+  * Build 3D models for `PhotoTours`_.
+  * Estimate satellite image sensor characteristics.
+  * Stitch `panoramas`_ on Android and iOS.
+  * Apply `Lens Blur`_ on Android.
+  * Solve `bundle adjustment`_ and `SLAM`_ problems in `Project
+    Tango`_.
+
+* `Willow Garage`_ uses Ceres to solve `SLAM`_ problems.
+* `Southwest Research Institute <http://www.swri.org/>`_ uses Ceres for
+  `calibrating robot-camera systems`_.
+* `Blender <http://www.blender.org>`_ uses Ceres for `planar
+  tracking`_ and `bundle adjustment`_.
+* `OpenMVG <http://imagine.enpc.fr/~moulonp/openMVG/>`_ an open source
+  multi-view geometry library uses Ceres for `bundle adjustment`_.
+* `Microsoft Research <http://research.microsoft.com/en-us/>`_ uses
+  Ceres for nonlinear optimization of objectives involving subdivision
+  surfaces under `skinned control meshes`_.
+* `Matterport <http://www.matterport.com>`_, uses Ceres for global
+  alignment of 3D point clouds and for pose graph optimization.
+* `Obvious Engineering <http://obviousengine.com/>`_ uses Ceres for
+  bundle adjustment for their 3D photography app `Seene
+  <http://seene.co/>`_.
+* The `Autonomous Systems Lab <http://www.asl.ethz.ch/>`_ at ETH
+  Zurich uses Ceres for
+
+  * Camera and Camera/IMU Calibration.
+  * Large scale optimization of visual, inertial, gps and
+    wheel-odometry data for long term autonomy.
+
+* `OpenPTrack <http://openptrack.org/>`_ uses Ceres for camera
+  calibration.
+* The `Intelligent Autonomous System Lab <http://robotics.dei.unipd.it/>`_
+  at University of Padova, Italy, uses Ceres for
+
+  * Camera/depth sensors network calibration.
+  * Depth sensor distortion map estimation.
+
+* `Theia <http://cs.ucsb.edu/~cmsweeney/theia>`_ is an open source
+  Structure from Motion library that uses Ceres for `bundle adjustment`_
+  and camera pose estimation.
+
+* The `Applied Research Laboratory <https://www.arl.psu.edu/>`_ at
+  Pennsylvania State University uses in their synthetic aperture Sonar
+  beamforming engine, called ASASIN , for estimating platform
+  kinematics.
+
+* `Colmap <https://github.com/colmap/colmap>`_ is a an open source
+  structure from motion library that makes heavy use of Ceres for
+  bundle adjustment with support for many camera models and for other
+  non-linear least-squares problems (relative, absolute pose
+  refinement, etc.).
+
+
+
+.. _bundle adjustment: http://en.wikipedia.org/wiki/Structure_from_motion
+.. _Street View: http://youtu.be/z00ORu4bU-A
+.. _PhotoTours: http://google-latlong.blogspot.com/2012/04/visit-global-landmarks-with-photo-tours.html
+.. _panoramas: http://www.google.com/maps/about/contribute/photosphere/
+.. _Project Tango: https://www.google.com/atap/projecttango/
+.. _planar tracking: http://mango.blender.org/development/planar-tracking-preview/
+.. _Willow Garage: https://www.willowgarage.com/blog/2013/08/09/enabling-robots-see-better-through-improved-camera-calibration
+.. _Lens Blur: http://googleresearch.blogspot.com/2014/04/lens-blur-in-new-google-camera-app.html
+.. _SLAM: http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
+.. _calibrating robot-camera systems:
+   http://rosindustrial.org/news/2014/9/24/industrial-calibration-library-update-and-presentation
+.. _skinned control meshes: http://research.microsoft.com/en-us/projects/handmodelingfrommonoculardepth/
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst
new file mode 100644
index 0000000..de968a9
--- /dev/null
+++ b/docs/source/version_history.rst
@@ -0,0 +1,1306 @@
+.. _chapter-version-history:
+
+===============
+Version History
+===============
+
+1.13.0
+======
+
+New Features
+------------
+#. ``LineSearchMinimizer`` and ``GradientProblemSolver`` are up to 2x
+   faster due to fewer function evaluations. (Sameer Agarwal)
+#. ``SPARSE_NORMAL_CHOLESKY`` is significantly faster because Ceres
+   now computes the normal equations exploiting the static block
+   sparsity structure. (Cheng Wang & Sameer Agarwal)
+#. Add compound with scalar operators for Jets. (Alex Stewart)
+#. Enable support for AVX instructions for Jets. (Alex Stewart)
+
+Backward Incompatible API Changes
+---------------------------------
+The enum ``CovarianceAlgorithmType`` which controls the linear algebra
+algorithm used to compute the covariance used to combine the choice of
+the algorithm and the choice of the sparse linear algebra library into
+the enum name. So we had ``SUITE_SPARSE_QR`` and
+``EIGEN_SPARSE_QR``. ``Covariance::Options`` now has a separate member
+allowing the user to choose the sparse linear algebra library, just
+like the solver and ``CovarianceAlgorithmType`` now takes values
+``DENSE_SVD`` and ``SPARSE_QR``. This is a forward looking change that
+will allow us to develop more flexible covariance estimation
+algorithms with multiple linear algebra backends.
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Fix ``InvertPSDMatrix`` as it was triggering an Eigen assert in
+   Debug mode. (Philipp Hubner)
+#. Fix cmake error from CeresConfig.cmake when Ceres not found (Taylor
+   Braun-Jones)
+#. Completely refactored ``SparseNormalCholeskySolver``. (Sameer
+   Agarwal)
+#. Fixed time reporting in ``Summary::FullReport`` when
+   ``LineSearchMinimizer`` is used. (Sameer Agarwal)
+#. Remove unused file: collections_port.cc. (Sameer Agarwal)
+#. ``SPARSE_SCHUR`` + ``CX_SPARSE`` = Faster (Sameer Agarwal)
+#. Refactored a number of linear solver tests to be more thorough and
+   informative. (Sameer Agarwal)
+#. Pass user-specified search hints as HINTS not PATHS. (Alex Stewart)
+#. Prefer Eigen installs over exported build directories. (Alex
+   Stewart)
+#. Add OpenMP flags when compiling for C if enabled. (Alex Stewart)
+#. Add a missing ``CERES_EXPORT`` to GradientChecker (Sameer Agarwal)
+#. Use target_compile_features() to specify C++11 requirement if
+   available. (Alex Stewart)
+#. Update docs: .netrc --> .gitcookies (Keir Mierle)
+#. Fix implicit precission loss warning on 64-bit archs (Ricardo
+   Sanchez-Saez)
+#. Optionally use exported Eigen CMake configuration if
+   available. (Alex Stewart)
+#. Use ``Ceres_[SOURCE/BINARY]_DIR`` not ``CMAKE_XXX_DIR`` to support
+   nesting. (Alex Stewart)
+#. Update ``Problem::EvaluateOptions`` documentation. (Sameer Agarwal)
+#. Add public headers to CMake target for IDEs. (Devin Lane)
+#. Add an article on interfacing with automatic
+   differentiation. (Sameer Agarwal)
+#. Add default Fedora/Debian locations for CXSparse to search
+   paths. (Alex Stewart)
+#. Add a test for ``LineSearchMinimizer`` (Sameer Agarwal)
+#. Flatten the table of contents. (Sameer Agarwal)
+#. Fix when ``LineSearchMinimizer`` adds the ``IterationSummary``` to
+   ``Solver::Summary`` (Sameer Agarwal)
+#. Fix search path for miniglog headers when Ceres is exported. (Alex
+   Stewart)
+#. Fix ambiguous reference to ``WARNING`` when using miniglog. (Alex
+   Stewart)
+#. Fix Jet/Eigen compatibility for Eigen > 3.3 (Julien Pilet)
+#. Add max severity option when ``MINIGLOG`` is enabled (Taylor
+   Braun-Jones)
+#. Improvements to Schur template specializations (Sameer Agarwal)
+#. Added an article on derivatives (Sameer Agarwal)
+#. Require Eigen >= 3.3 to define ScalarBinaryOpTraits in Jet. (Alex
+   Stewart)
+#. A hacky fix for the Eigen::FullPivLU changes. (Sameer Agarwal)
+#. Specify ``ScalarBinaryOpTraits`` for Jet types. (Chris Sweeney)
+#. Remove spurious conversion from doubles to Jets. (Sameer Agarwal)
+#. Fix an error in the tutorial code for ``NumericDiffCostFunction``
+   (Sameer Agarwal)
+#. ``CERES_EXPORT`` fix to compile Ceres as DLL (Je Hyeong Hong)
+#. Fix detection of deprecated Bessel function names on MSVC. (Alex
+   Stewart)
+#. Ensure that partial evaluation of residuals triggers an error
+   (Sameer Agarwal)
+#. Fix detection of CMake-built glog on Windows. (Alex Stewart)
+#. Add additional search paths for glog & Eigen on Windows. (Alex
+   Stewart)
+#. Various minor grammar and bug fixes to the documentation (Sameer
+   Agarwal, Alex Stewart, William Rucklidge)
+
+
+1.12.0
+======
+
+New Features
+------------
+#. Aligned ``Jet`` matrices for improved automatic differentiation
+   performance. (Andrew Hunter)
+#. Auto-differentiable implementations of Bessel functions, ``floor``,
+   and ``ceil`` (Alessandro Gentilini & Michael Vitus)
+#. New 2D and 3D SLAM examples. (Michael Vitus)
+#. Added ``EigenQuaternionParameterization``. (Michael Vitus)
+#. Added ``Problem::IsParameterBlockConstant`` (Thomas Schneider)
+#. A complete refactoring of ``TrustRegionMinimizer``. (Sameer Agarwal)
+#. Gradient checking cleanup and local parameterization bugfix (David
+   Gossow)
+
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``Solver::Options::numeric_derivative_relative_step_size`` has been
+   renamed to
+   ``Solver::Options::gradient_check_numeric_derivative_relative_step_size``. (Sameer
+   Agarwal)
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Clear XXX_FOUND in Find<XXX>.cmake prior to searching. (Alex
+   Stewart)
+#. Fix versioning in the documentation (Sameer Agarwal)
+#. Fix missing gflags imported target definition in
+   CeresConfig.cmake. (Alex Stewart)
+#. Make gflags a public dependency of Ceres if it and glog are
+   found. (Alex Stewart)
+#. Add support for glog exported CMake target. (Alex Stewart)
+#. Use ``google::GLOG_WARNING`` instead of ``WARNING`` in tests to
+   support MSVC. (Alex Stewart)
+#. Update gtest and gmock to
+   ``a2b8a8e07628e5fd60644b6dd99c1b5e7d7f1f47`` (Sameer Agarwal)
+#. Add MSVC-specific ``#define`` to expose math constants in
+   ``<cmath>``. (Alex Stewart)
+#. Fix typo. indepdendent -> independent (Hung Lun)
+#. Fix potential invalid reset of CMAKE_FIND_LIBRARY_PREFIXES on MSVC
+   (Alex Stewart)
+#. Fix use of alignas(0) which is not ignored on GCC (Alex Stewart)
+#. Use default alignment if alignof(std::max_align_t) < 16 with C++11
+   (Alex Stewart)
+#. Introduce a common base class for DynamicAutoDiffCostFunction and
+   DynamicNumericDiffCostFunction. (Sameer Agarwal)
+#. Fix an exact equality test causing breakage in
+   gradient_checker_test. (Sameer Agarwal)
+#. Add GradientProblemSolver::Options::parameter_tolerance. (Sameer
+   Agarwal)
+#. Add missing T() wrappers for constants. (Rob Carroll)
+#. Remove two checks from rotation.h (Sameer Agarwal)
+#. Relax the tolerance in QuaternionParameterizationTestHelper. (Je
+   Hyeong Hong)
+#. Occured -> Occurred. (Sameer Agarwal)
+#. Fix a test error in autodiff_test.cc. (Je Hyeong Hong)
+#. Fix documentation source for templated function in ``rotation.h``.
+#. Add ``package.xml`` to enable Catkin builds. (Damon Kohler)
+#. Relaxing Jacobian matching in Gradient Checker test. (David Gossow)
+#. Allow SubsetParameterization to hold all parameters constant
+   (Sameer Agarwal)
+#. Fix an Intel compiler error in covariance_impl.cc (Je Hyeong Hong)
+#. Removing duplicate include directive. (David Gossow)
+#. Remove two DCHECKs from CubicHermiteSpline. (Sameer Agarwal)
+#. Fix some compiler warnings. (Richard Trieu)
+#. Update ExpectArraysClose to use ExpectClose instead of
+   EXPECT_NEAR. (Phillip Hubner)
+#. FindWithDefault returns by value rather than reference. (@aradval)
+#. Fix compiler errors on some systems. (David Gossow)
+#. Note that Problem::Evaluate cannot be called from an
+   IterationCallback. (Sameer Agarwal)
+#. Use ProductParameterization in bundle_adjuster.cc (Sameer Agarwal)
+#. Enable support for OpenMP in Clang if detected. (Alex Stewart)
+#. Remove duplicate entry for the NIST example in the docs. (Michael
+   Vitus)
+#. Add additional logging for analyzing orderings (Sameer Agarwal)
+#. Add readme for the sampled_function example. (Michael Vitus)
+#. Use _j[0,1,n]() Bessel functions on MSVC to avoid deprecation
+   errors. (Alex Stewart & Kichang Kim)
+#. Fix: Copy minimizer option ``is_silent`` to
+   ``LineSearchDirection::Options`` (Nicolai Wojke)
+#. Fix typos in ``users.rst`` (Sameer Agarwal)
+#. Make some Jet comparisons exact. (Sameer Agarwal)
+#. Add colmap to users.rst (Sameer Agarwal)
+#. Fix step norm evaluation in LineSearchMinimizer (Sameer Agarwal)
+#. Remove use of -Werror when compiling Ceres. (Alex Stewart)
+#. Report Ceres compile options as components in find_package(). (Alex
+   Stewart)
+#. Fix a spelling error in nnls_modeling.rst (Timer)
+#. Only use collapse() directive with OpenMP 3.0 or higher. (Keir
+   Mierle)
+#. Fix install path for CeresConfig.cmake to be architecture-aware.
+#. Fix double conversion to degrees in rotation_test (Keir Mierle)
+#. Make Jet string output more readable (Keir Mierle)
+#. Fix rotation_test IsClose() and related tests (Keir Mierle)
+#. Loosen an exact equality in local_parameterization_test (Sameer
+   Agarwal)
+#. make_docs: Pass the file encoding to open() (Niels Ole Salscheider)
+#. Fix error message returned when using SUITE_SPARSE_QR in covariance
+   estimation on a ceres built without SuiteSparse support. (Simon
+   Rutishauser)
+#. Fix CXX11 option to be available on MinGW & CygWin, but not
+   MSVC. (Alex Stewart)
+#. Fix missing early return() in xxx_not_found() dependency
+   macros. (Alex Stewart)
+#. Initialize ``inner_iterations_were_useful_`` correctly. (Sameer
+   Agarwal)
+#. Add an implementation for GradientProblemSolver::Options::IsValid
+   (Sameer Agarwal)
+#. Fix use of va_copy() if compiling with explicit C++ version <
+   C++11. (Alex Stewart)
+#. Install CMake files to lib/cmake/Ceres (Niels Ole Salscheider)
+#. Allow users to override the documentation install directory. (Niels
+   Ole Salscheider)
+#. Add covariance matrix for a vector of parameters (Wannes Van Loock)
+#. Saner tolerances & stricter LRE test. (Sameer Agarwal)
+#. Fix a malformed sentence in the tutorial. (Sameer Agarwal)
+#. Add logging for sparse Cholesky factorization using Eigen. (Sameer
+   Agarwal)
+#. Use std::adjacent_find instead of std::unique. (Sameer Agarwal)
+#. Improve logging in CompressedRowJacobianWriter on crash. (Sameer
+   Agarwal)
+#. Fix free parameter block handling in covariance computation (Wannes
+   Van Loock)
+#. Report the number of line search steps in FullReport. (Sameer
+   Agarwal)
+#. Make CMake read Ceres version directly from
+   include/ceres/version.h. (Alex Stewart)
+#. Lots of code style/lint changes. (William Rucklidge)
+#. Fix covariance computation for constant blocks (Wannes Van Loock)
+#. Add IOS_DEPLOYMENT_TARGET variable to iOS.cmake (Eduard Feicho)
+#. Make miniglog threadsafe on non-windows system by using
+   localtime_r() instead of localtime() for time formatting (Simon
+   Rutishauser)
+
+1.11.0
+======
+
+New Features
+------------
+#. Adaptive numeric differentiation using Ridders' method. (Tal
+   Ben-Nun)
+#. Add ``CubicInterpolator`` and ``BiCubicInterpolator`` to allow
+   smooth interpolation of sampled functions and integration with
+   automatic differentiation.
+#. Add method to return covariance in tangent space. (Michael Vitus &
+   Steve Hsu)
+#. Add Homogeneous vector parameterization. (Michael Vitus)
+#. Add a ``ProductParameterization``, a local parameterization that
+   can be constructed as a cartesian product of other local
+   parameterization.
+#. Add DynamicCostFunctionToFunctor. (David Gossow)
+#. Optionally export Ceres build directory into local CMake package
+   registry.
+#. Faster ``SPARSE_NORMAL_CHOLESKY`` in the presence of dynamic
+   sparsity.
+
+Bug Fixes & Minor Changes
+-------------------------
+#. Remove use of link-time optimisation (LTO) for all compilers due to
+   portability issues with gtest / type_info::operator== & Eigen with
+   Clang on OS X vs GCC 4.9+ on Linux requiring contradictory 'fixes'.
+#. Use link-time optimisation (LTO) only when compiling Ceres itself,
+   not tests or examples, to bypass gtest / type_info::operator==
+   issue.
+#. Use old minimum iOS version flags on Xcode < 7.0.
+#. Add gtest-specific flags when building/using as a shared library.
+#. Clean up iOS.cmake to use xcrun/xcodebuild & libtool.
+#. Import the latest version of ``googletest``.
+#. Refactored ``system_test`` into ``bundle_adjustment_test`` and
+   ``system_test``, where each test case is its own test.
+#. Fix invalid memory access bug in
+   ``CompressedRowSparseMatrix::AppendRows`` when it was called with a
+   matrix of size zero.
+#. Build position independent code when compiling Ceres statically
+   (Alexander Alekhin).
+#. Fix a bug in DetectStructure (Johannes Schonberger).
+#. Reduce memory footprint of SubsetParameterization (Johannes
+   Schonberger).
+#. Fix for reorder program unit test when built without suitesparse
+   (Sergey Sharybin).
+#. Fix a bug in the Schur eliminator (Werner Trobin).
+#. Fix a bug in the reordering code (Bernhard Zeisl).
+#. Add missing CERES_EXPORT to ComposedLoss (Simon Rutishauser).
+#. Add the option to use numeric differentiation to ``nist`` and
+   ``more_garbow_hillstrom``.
+#. Fix EIGENSPARSE option help s/t it displays in CMake ncurses GUI.
+#. Fix SparseNormalCholeskySolver with dynamic sparsity (Richie
+   Stebbing).
+#. Remove legacy dependency detection macros.
+#. Fix failed if() condition expansion if gflags is not found.
+#. Update all CMake to lowercase function name style.
+#. Update minimum iOS version to 7.0 for shared_ptr/unordered_map.
+#. Fix bug in gflags' <= 2.1.2 exported CMake configuration.
+#. Remove the spec file needed for generating RPMs.
+#. Fix a typo in small_blas.h (Werber Trobin).
+#. Cleanup FindGflags & use installed gflags CMake config if present.
+#. Add default glog install location on Windows to search paths
+   (bvanevery).
+#. Add default Eigen install location on Windows to search paths
+   (bvanevery).
+#. Fix explanation of config.h generation in bare config.h.
+#. Fix unused parameter compiler warnings in numeric_diff.h.
+#. Increase tolerance for a test in polynomial_test (Taylor Braun
+   Jones).
+#. Fix addition of Gerrit commit hook when Ceres is a git submodule
+   (Chris Cooper).
+#. Fix missing EIGEN_VERSION expansion typo.
+#. Fix links to SuiteSparse & CXSparse (Henrique Mendonça).
+#. Ensure Eigen is at least 3.1.0 for Eigen/SparseCore.
+#. Add option to use C++11 (not TR1) shared_ptr & unordered_map
+   (Norman Goldstein).
+#. Fix an incorrect usage message in bundle_adjuster.cc
+#. Gracefully disable docs if Sphinx is not found.
+#. Explicitly use (new) default OS X rpath policy if present.
+#. Add support of EIGEN_SPARSE type in
+   IsSparseLinearAlgebraLibraryTypeAvailable function (Pierre Moulon).
+#. Allow the LossFunction contained in a LossFunctionWrapper to be
+   NULL. This is consistent with how NULL LossFunctions are treated
+   everywhere else. (Simon Rutishauser).
+#. Improve numeric differentation near zero.
+#. Refactored DynamicNumericDiffCostFunction to use NumericDiff (Tal
+   Ben-Nun).
+#. Remove use of :caption tag in Sphinx.
+#. Add a small test to make sure GradientProblemSolver works correctly
+   (Petter Strandmark).
+#. Add simple unit tests for GradientProblem (Petter Strandmark).
+#. Make the robust curve fitting example robust.
+#. Homogenize convergence operators in docs and code (Johannes
+   Schonberger).
+#. Add parameter_tolerance convergence to line search minimizer
+   (Johannes Schonberger).
+#. Fix bug where pow(JetA,JetB) returned wrong result for JetA==0
+   (Russell Smith).
+#. Remove duplicate step norm computation (Johannes Schonberger).
+#. Enhance usability when encountering Eigen version mismatches
+   (Andrew Hundt).
+#. Add PLY file logger before and after BA in order to ease visual
+   comparison (Pierre Moulon).
+#. Fix CMake config file docs to include 2.8.x & 3.x styles.
+#. Python3 fixes (Markus Moll).
+#. Remove confusing code from DenseJacobianWriter (Michael Vitus).
+#. Add documentation on CMake package installation process.
+#. Revert a call to SolveUpperTriangularUsingCholesky.
+#. Make CERES_EIGEN_VERSION macro independent of CMake.
+#. Add versions of dependencies used to FullReport().
+#. Ensure local config.h is used if Ceres is already installed.
+#. Small messaging and comment updates in CMake
+#. Handle possible presence of library prefixes in MSVC (Sylvain
+   Duchêne).
+#. Use -O2 not -O3 on MinGW to workaround issue with Eigen
+   (s1m3mu3@gmail.com).
+#. Increase tolerance in small_blas test for Cygwin
+   (s1m3mu3@gmail.com).
+#. Fix iOS cmake file for cmake 3.0 (Jack Feng)
+#. Fix missing gflags shlwapi dependency on MinGW (s1m3mu3@gmail.com).
+#. Add thread dependency & fix namespace detection on Windows for
+   gflags (arrigo.benedetti@gmail.com).
+#. Rename macros in the public API to have a ``CERES_`` prefix.
+#. Fix ``OrderedGroup::Reverse()`` when it is empty (Chris Sweeney).
+#. Update the code to point to ceres-solver.org.
+#. Update documentation to point to the GitHub issue tracker.
+#. Disable ``LAPACK`` for iOS builds. (Greg Coombe)
+#. Force use of single-thread in ``Problem::Evaluate()`` without
+   OpenMP.
+#. Less strict check for multithreading. (Chris Sweeney)
+#. Update tolerances in small_blas_test.cc (Philipp Hubner)
+#. Documentation corrections (Steve Hsu)
+#. Fixed ``sampled_function.cc`` (Pablo Speciale)
+#. Fix example code in the documentation. (Rodney Hoskinson)
+#. Improve the error handling in Conjugate Gradients.
+#. Improve preconditioner documentation.
+#. Remove dead code from fpclassify.h.
+#. Make Android.mk threads sensitive.
+#. Changed the ``CURRENT_CONFIG_INSTALL_DIR`` to be a variable local
+   to Ceres. (Chris Sweeney)
+#. Fix typo in the comments in ``Jet.h``. (Julius Ziegler)
+#. Add the ASL at ETH Zurich, Theia & OpenPTrack to the list of users.
+#. Fixed a typo in the documentation. (Richard Stebbing)
+#. Fixed a boundary handling bug in the BiCubic interpolation
+   code. (Bernhard Zeisl)
+#. Fixed a ``MSVC`` compilation bug in the cubic interpolation code
+   (Johannes Schönberger)
+#. Add covariance related files to the Android build.
+#. Update Ubuntu 14.04 installation instructions. (Filippo Basso)
+#. Improved logging for linear solver failures.
+#. Improved crash messages in ``Problem``.
+#. Hide Homebrew related variables in CMake GUI.
+#. Add SuiteSparse link dependency for
+   compressed_col_sparse_matrix_utils_test.
+#. Autodetect Homebrew install prefix on OSX.
+#. Lint changes from William Rucklidge and Jim Roseborough.
+#. Remove ``using namespace std:`` from ``port.h``
+#. Add note about glog not currently compiling against gflags 2.1.
+#. Add explicit no sparse linear algebra library available option.
+#. Improve some wording in the FAQ. (Vasily Vylkov)
+#. Delete Incomplete LQ Factorization.
+#. Add a pointer to MacPorts. (Markus Moll)
+
+
+1.10.0
+======
+
+New Features
+------------
+#. Ceres Solver can now be used to solve general unconstrained
+   optimization problems. See the documentation for
+   ``GradientProblem`` and ``GradientProblemSolver``.
+#. ``Eigen`` can now be as a sparse linear algebra backend. This can
+   be done by setting
+   ``Solver::Options::sparse_linear_algebra_library_type`` to
+   ``EIGEN_SPARSE``. Performance should be comparable to
+   ``CX_SPARSE``.
+
+   .. NOTE::
+
+      Because ``Eigen`` is a header only library, and some of the code
+      related to sparse Cholesky factorization is LGPL, building Ceres
+      with support for Eigen's sparse linear algebra is disabled by
+      default and should be enabled explicitly.
+
+   .. NOTE::
+
+      For good performance, use Eigen version 3.2.2 or later.
+
+#. Added ``EIGEN_SPARSE_QR`` algorithm for covariance estimation using
+   ``Eigen``'s sparse QR factorization. (Michael Vitus)
+#. Faster inner iterations when using multiple threads.
+#. Faster ``ITERATIVE_SCHUR`` + ``SCHUR_JACOBI`` for small to medium
+   sized problems (see documentation for
+   ``Solver::Options::use_explicit_schur_complement``).
+#. Faster automatic Schur ordering.
+#. Reduced memory usage when solving problems with dynamic sparsity.
+#. ``CostFunctionToFunctor`` now supports dynamic number of residuals.
+#. A complete re-write of the problem preprocessing phase.
+#. ``Solver::Summary::FullReport`` now reports the build configuration
+   for Ceres.
+#. When building on Android, the ``NDK`` version detection logic has
+   been improved.
+#. The ``CERES_VERSION`` macro has been improved and replaced with the
+   ``CERES_VERSION_STRING`` macro.
+#. Added ``Solver::Options::IsValid`` which allows users to validate
+   their solver configuration before calling ``Solve``.
+#. Added ``Problem::GetCostFunctionForResidualBlock`` and
+   ``Problem::GetLossFunctionForResidualBlock``.
+#. Added Tukey's loss function. (Michael Vitus)
+#. Added RotationMatrixToQuaternion
+#. Compute & report timing information for line searches.
+#. Autodetect gflags namespace.
+#. Expanded ``more_garbow_hillstrom.cc``.
+#. Added a pointer to Tal Ben-Nun's MSVC wrapper to the docs.
+#. Added the ``<2,3,6>`` Schur template specialization. (Alessandro
+   Dal Grande)
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``NumericDiffFunctor`` has been removed. It's API was broken, and
+   the implementation was an unnecessary layer of abstraction over
+   ``CostFunctionToFunctor``.
+#. ``POLAK_RIBIRERE`` conjugate gradients direction type has been
+   renamed to ``POLAK_RIBIERE``.
+#. ``Solver::Options::solver_log`` has been removed. If needed this
+   iteration callback can easily be implemented in user code.
+#. The ``SPARSE_CHOLESKY`` algorithm for covariance estimation has
+   been removed. It is not rank revealing and numerically poorly
+   behaved. Sparse QR factorization is a much better way to do this.
+#. The ``SPARSE_QR`` algorithm for covariance estimation has been
+   renamed to ``SUITE_SPARSE_QR`` to be consistent with
+   ``EIGEN_SPARSE_QR``.
+#. ``Solver::Summary::preconditioner_type`` has been replaced with
+   ``Solver::Summary::preconditioner_type_given`` and
+   ``Solver::Summary::preconditioner_type_used`` to be more consistent
+   with how information about the linear solver is communicated.
+#. ``CERES_VERSION`` and ``CERES_ABI_VERSION`` macros were not
+   terribly useful. They have been replaced with
+   ``CERES_VERSION_MAJOR``, ``CERES_VERSION_MINOR`` ,
+   ``CERES_VERSION_REVISION`` and ``CERES_VERSION_ABI`` macros. In
+   particular the functionality of ``CERES_VERSION`` is provided by
+   ``CERES_VERSION_STRING`` macro.
+
+Bug Fixes
+---------
+#. Do not try the gradient step if TR step line search fails.
+#. Fix missing include in libmv_bundle_adjuster on OSX.
+#. Conditionally log evaluation failure warnings.
+#. Runtime uses four digits after the decimal in Summary:FullReport.
+#. Better options checking for TrustRegionMinimizer.
+#. Fix RotationMatrixToAngleAxis when the angle of rotation is near
+   PI. (Tobias Strauss)
+#. Sometimes gradient norm based convergence would miss a step with a
+   substantial solution quality improvement. (Rodney Hoskinson)
+#. Ignore warnings from within Eigen/SparseQR (3.2.2).
+#. Fix empty Cache HELPSTRING parsing error on OS X 10.10 Yosemite.
+#. Fix a formatting error TrustRegionMinimizer logging.
+#. Add an explicit include for local_parameterization.h (cooordz)
+#. Fix a number of typos in the documentation (Martin Baeuml)
+#. Made the logging in TrustRegionMinimizer consistent with
+   LineSearchMinimizer.
+#. Fix some obsolete documentation in CostFunction::Evaluate.
+#. Fix CG solver options for ITERATIVE_SCHUR, which did not copy
+   min_num_iterations (Johannes Schönberger)
+#. Remove obsolete include of numeric_diff_functor.h. (Martin Baeuml)
+#. Fix max. linear solver iterations in ConjugateGradientsSolver
+   (Johannes Schönberger)
+#. Expand check for lack of a sparse linear algebra library. (Michael
+   Samples and Domink Reitzle)
+#. Fix Eigen Row/ColMajor bug in NumericDiffCostFunction. (Dominik
+   Reitzle)
+#. Fix crash in Covariance if # threads > 1 requested without OpenMP.
+#. Fixed Malformed regex. (Björn Piltz)
+#. Fixed MSVC error C2124: divide or mod by zero. (Björn Piltz)
+#. Add missing #include of <limits> for loss functions.
+#. Make canned loss functions more robust.
+#. Fix type of suppressed compiler warning for Eigen 3.2.0.
+#. Suppress unused variable warning from Eigen 3.2.0.
+#. Add "make install" to the install instructions.
+#. Correct formula in documentation of
+   Solver::Options::function_tolerance. (Alessandro Gentilini)
+#. Add release flags to iOS toolchain.
+#. Fix a broken hyperlink in the documentation. (Henrique Mendonca)
+#. Add fixes for multiple definitions of ERROR on Windows to docs.
+#. Compile miniglog into Ceres if enabled on all platforms.
+#. Add two missing files to Android.mk (Greg Coombe)
+#. Fix Cmake error when using miniglog. (Greg Coombe)
+#. Don't build miniglog unconditionally as a static library (Björn
+   Piltz)
+#. Added a missing include. (Björn Piltz)
+#. Conditionally disable SparseNormalCholesky.
+#. Fix a memory leak in program_test.cc.
+
+
+1.9.0
+=====
+
+New Features
+------------
+#. Bounds constraints: Support for upper and/or lower bounds on
+   parameters when using the trust region minimizer.
+#. Dynamic Sparsity: Problems in which the sparsity structure of the
+   Jacobian changes over the course of the optimization can now be
+   solved much more efficiently. (Richard Stebbing)
+#. Improved support for Microsoft Visual C++ including the ability to
+   build and ship DLLs. (Björn Piltz, Alex Stewart and Sergey
+   Sharybin)
+#. Support for building on iOS 6.0 or higher (Jack Feng).
+#. Autogeneration of config.h that captures all the defines used to
+   build and use Ceres Solver.
+#. Simpler and more informative solver termination type
+   reporting. (See below for more details)
+#. New `website <http://www.ceres-solver.org>`_ based entirely on
+   Sphinx.
+#. ``AutoDiffLocalParameterization`` allows the use of automatic
+   differentiation for defining ``LocalParameterization`` objects
+   (Alex Stewart)
+#. LBFGS is faster due to fewer memory copies.
+#. Parameter blocks are not restricted to be less than 32k in size,
+   they can be up to 2G in size.
+#. Faster ``SPARSE_NORMAL_CHOLESKY`` solver when using ``CX_SPARSE``
+   as the sparse linear algebra library.
+#. Added ``Problem::IsParameterBlockPresent`` and
+   ``Problem::GetParameterization``.
+#. Added the (2,4,9) and (2,4,8) template specializations.
+#. An example demonstrating the use of
+   DynamicAutoDiffCostFunction. (Joydeep Biswas)
+#. Homography estimation example from Blender demonstrating the use of
+   a custom ``IterationCallback``. (Sergey Sharybin)
+#. Support user passing a custom CMAKE_MODULE_PATH (for BLAS /
+   LAPACK).
+
+Backward Incompatible API Changes
+---------------------------------
+#. ``Solver::Options::linear_solver_ordering`` used to be a naked
+   pointer that Ceres took ownership of. This is error prone behaviour
+   which leads to problems when copying the ``Solver::Options`` struct
+   around. This has been replaced with a ``shared_ptr`` to handle
+   ownership correctly across copies.
+
+#. The enum used for reporting the termination/convergence status of
+   the solver has been renamed from ``SolverTerminationType`` to
+   ``TerminationType``.
+
+   The enum values have also changed. ``FUNCTION_TOLERANCE``,
+   ``GRADIENT_TOLERANCE`` and ``PARAMETER_TOLERANCE`` have all been
+   replaced by ``CONVERGENCE``.
+
+   ``NUMERICAL_FAILURE`` has been replaed by ``FAILURE``.
+
+   ``USER_ABORT`` has been renamed to ``USER_FAILURE``.
+
+   Further ``Solver::Summary::error`` has been renamed to
+   ``Solver::Summary::message``. It contains a more detailed
+   explanation for why the solver terminated.
+
+#. ``Solver::Options::gradient_tolerance`` used to be a relative
+   gradient tolerance. i.e., The solver converged when
+
+   .. math:: \|g(x)\|_\infty < \text{gradient_tolerance} *
+      \|g(x_0)\|_\infty
+
+   where :math:`g(x)` is the gradient of the objective function at
+   :math:`x` and :math:`x_0` is the parmeter vector at the start of
+   the optimization.
+
+   This has changed to an absolute tolerance, i.e. the solver
+   converges when
+
+   .. math:: \|g(x)\|_\infty < \text{gradient_tolerance}
+
+#. Ceres cannot be built without the line search minimizer
+   anymore. Thus the preprocessor define
+   ``CERES_NO_LINE_SEARCH_MINIMIZER`` has been removed.
+
+Bug Fixes
+---------
+#. Disabled warning C4251. (Björn Piltz)
+#. Do not propagate 3d party libs through
+   `IMPORTED_LINK_INTERFACE_LIBRARIES_[DEBUG/RELEASE]` mechanism when
+   building shared libraries. (Björn Piltz)
+#. Fixed errant verbose levels (Björn Piltz)
+#. Variety of code cleanups, optimizations and bug fixes to the line
+   search minimizer code (Alex Stewart)
+#. Fixed ``BlockSparseMatrix::Transpose`` when the matrix has row and
+   column blocks. (Richard Bowen)
+#. Better error checking when ``Problem::RemoveResidualBlock`` is
+   called. (Alex Stewart)
+#. Fixed a memory leak in ``SchurComplementSolver``.
+#. Added ``epsilon()`` method to ``NumTraits<ceres::Jet<T, N>
+   >``. (Filippo Basso)
+#. Fixed a bug in `CompressedRowSparseMatrix::AppendRows`` and
+   ``DeleteRows``.q
+#. Handle empty problems consistently.
+#. Restore the state of the ``Problem`` after a call to
+   ``Problem::Evaluate``. (Stefan Leutenegger)
+#. Better error checking and reporting for linear solvers.
+#. Use explicit formula to solve quadratic polynomials instead of the
+   eigenvalue solver.
+#. Fix constant parameter handling in inner iterations (Mikael
+   Persson).
+#. SuiteSparse errors do not cause a fatal crash anymore.
+#. Fix ``corrector_test.cc``.
+#. Relax the requirements on loss function derivatives.
+#. Minor bugfix to logging.h (Scott Ettinger)
+#. Updated ``gmock`` and ``gtest`` to the latest upstream version.
+#. Fix build breakage on old versions of SuiteSparse.
+#. Fixed build issues related to Clang / LLVM 3.4 (Johannes
+   Schönberger)
+#. METIS_FOUND is never set. Changed the commit to fit the setting of
+   the other #._FOUND definitions. (Andreas Franek)
+#. Variety of bug fixes and cleanups to the ``CMake`` build system
+   (Alex Stewart)
+#. Removed fictious shared library target from the NDK build.
+#. Solver::Options now uses ``shared_ptr`` to handle ownership of
+   ``Solver::Options::linear_solver_ordering`` and
+   ``Solver::Options::inner_iteration_ordering``. As a consequence the
+   ``NDK`` build now depends on ``libc++`` from the ``LLVM`` project.
+#. Variety of lint cleanups (William Rucklidge & Jim Roseborough)
+#. Various internal cleanups including dead code removal.
+
+
+1.8.0
+=====
+
+New Features
+------------
+#. Significant improved ``CMake`` files with better robustness,
+   dependency checking and GUI support. (Alex Stewart)
+#. Added ``DynamicNumericDiffCostFunction`` for numerically
+   differentiated cost functions whose sizing is determined at run
+   time.
+#. ``NumericDiffCostFunction`` now supports a dynamic number of
+   residuals just like ``AutoDiffCostFunction``.
+#. ``Problem`` exposes more of its structure in its API.
+#. Faster automatic differentiation (Tim Langlois)
+#. Added the commonly occuring ``2_d_d`` template specialization for
+   the Schur Eliminator.
+#. Faster ``ITERATIVE_SCHUR`` solver using template specializations.
+#. Faster ``SCHUR_JACOBI`` preconditioner construction.
+#. Faster ``AngleAxisRotatePoint``.
+#. Faster Jacobian evaluation when a loss function is used.
+#. Added support for multiple clustering algorithms in visibility
+   based preconditioning, including a new fast single linkage
+   clustering algorithm.
+
+Bug Fixes
+---------
+#. Fix ordering of ParseCommandLineFlags() & InitGoogleTest() for
+   Windows. (Alex Stewart)
+#. Remove DCHECK_GE checks from fixed_array.h.
+#. Fix build on MSVC 2013 (Petter Strandmark)
+#. Fixed ``AngleAxisToRotationMatrix`` near zero.
+#. Move ``CERES_HASH_NAMESPACE`` macros to ``collections_port.h``.
+#. Fix handling of unordered_map/unordered_set on OSX 10.9.0.
+#. Explicitly link to libm for ``curve_fitting_c.c``. (Alex Stewart)
+#. Minor type conversion fix to autodiff.h
+#. Remove RuntimeNumericDiffCostFunction.
+#. Fix operator= ambiguity on some versions of Clang. (Alex Stewart)
+#. Various Lint cleanups (William Rucklidge & Jim Roseborough)
+#. Modified installation folders for Windows. (Pablo Speciale)
+#. Added librt to link libraries for SuiteSparse_config on
+   Linux. (Alex Stewart)
+#. Check for presence of return-type-c-linkage option with
+   Clang. (Alex Stewart)
+#. Fix Problem::RemoveParameterBlock after calling solve. (Simon
+   Lynen)
+#. Fix a free/delete bug in covariance_impl.cc
+#. Fix two build errors. (Dustin Lang)
+#. Add RequireInitialization = 1 to NumTraits::Jet.
+#. Update gmock/gtest to 1.7.0
+#. Added IterationSummary::gradient_norm.
+#. Reduced verbosity of the inner iteration minimizer.
+#. Fixed a bug in TrustRegionMinimizer. (Michael Vitus)
+#. Removed android/build_android.sh.
+
+
+1.7.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+
+#. ``Solver::Options::sparse_linear_algebra_library`` has been renamed
+   to ``Solver::Options::sparse_linear_algebra_library_type``.
+
+New Features
+------------
+#. Sparse and dense covariance estimation.
+#. A new Wolfe line search. (Alex Stewart)
+#. ``BFGS`` line search direction. (Alex Stewart)
+#. C API
+#. Speeded up the use of loss functions > 17x.
+#. Faster ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR``
+   solvers.
+#. Support for multiple dense linear algebra backends. In particular
+   optimized ``BLAS`` and ``LAPACK`` implementations (e.g., Intel MKL,
+   ACML, OpenBLAS etc) can now be used to do the dense linear algebra
+   for ``DENSE_QR``, ``DENSE_NORMAL_CHOLESKY`` and ``DENSE_SCHUR``
+#. Use of Inner iterations can now be adaptively stopped. Iteration
+   and runtime statistics for inner iterations are not reported in
+   ``Solver::Summary`` and ``Solver::Summary::FullReport``.
+#. Improved inner iteration step acceptance criterion.
+#. Add BlockRandomAccessCRSMatrix.
+#. Speeded up automatic differentiation by 7\%.
+#. Bundle adjustment example from libmv/Blender (Sergey Sharybin)
+#. Shared library building is now controlled by CMake, rather than a
+   custom solution. Previously, Ceres had a custom option, but this is
+   now deprecated in favor of CMake's built in support for switching
+   between static and shared. Turn on BUILD_SHARED_LIBS to get shared
+   Ceres libraries.
+#. No more dependence on Protocol Buffers.
+#. Incomplete LQ factorization.
+#. Ability to write trust region problems to disk.
+#. Add sinh, cosh, tanh and tan functions to automatic differentiation
+   (Johannes Schönberger)
+#. Simplifications to the cmake build file.
+#. ``miniglog`` can now be used as a replacement for ``google-glog``
+   on non Android platforms. (This is NOT recommended).
+
+Bug Fixes
+---------
+#. Fix ``ITERATIVE_SCHUR`` solver to work correctly when the schur
+   complement is of size zero. (Soohyun Bae)
+#. Fix the ``spec`` file for generating ``RPM`` packages (Brian Pitts
+   and Taylor Braun-Jones).
+#. Fix how ceres calls CAMD (Manas Jagadev)
+#. Fix breakage on old versions of SuiteSparse. (Fisher Yu)
+#. Fix warning C4373 in Visual Studio (Petter Strandmark)
+#. Fix compilation error caused by missing suitesparse headers and
+   reorganize them to be more robust. (Sergey Sharybin)
+#. Check GCC Version before adding -fast compiler option on
+   OSX. (Steven Lovegrove)
+#. Add documentation for minimizer progress output.
+#. Lint and other cleanups (William Rucklidge and James Roseborough)
+#. Collections port fix for MSC 2008 (Sergey Sharybin)
+#. Various corrections and cleanups in the documentation.
+#. Change the path where CeresConfig.cmake is installed (Pablo
+   Speciale)
+#. Minor errors in documentation (Pablo Speciale)
+#. Updated depend.cmake to follow CMake IF convention. (Joydeep
+   Biswas)
+#. Stablize the schur ordering algorithm.
+#. Update license header in split.h.
+#. Enabling -O4 (link-time optimization) only if compiler/linker
+   support it. (Alex Stewart)
+#. Consistent glog path across files.
+#. ceres-solver.spec: Use cleaner, more conventional Release string
+   (Taylor Braun-Jones)
+#. Fix compile bug on RHEL6 due to missing header (Taylor Braun-Jones)
+#. CMake file is less verbose.
+#. Use the latest upstream version of google-test and gmock.
+#. Rationalize some of the variable names in ``Solver::Options``.
+#. Improve Summary::FullReport when line search is used.
+#. Expose line search parameters in ``Solver::Options``.
+#. Fix update of L-BFGS history buffers after they become full. (Alex
+   Stewart)
+#. Fix configuration error on systems without SuiteSparse installed
+   (Sergey Sharybin)
+#. Enforce the read call returns correct value in
+   ``curve_fitting_c.c`` (Arnaud Gelas)
+#. Fix DynamicAutoDiffCostFunction (Richard Stebbing)
+#. Fix Problem::RemoveParameterBlock documentation (Johannes
+   Schönberger)
+#. Fix a logging bug in parameter_block.h
+#. Refactor the preconditioner class structure.
+#. Fix an uninitialized variable warning when building with ``GCC``.
+#. Fix a reallocation bug in
+   ``CreateJacobianBlockSparsityTranspose``. (Yuliy Schwartzburg)
+#. Add a define for O_BINARY.
+#. Fix miniglog-based Android NDK build; now works with NDK r9. (Scott
+   Ettinger)
+
+
+1.6.0
+=====
+
+New Features
+------------
+#. Major Performance improvements.
+
+   a. Schur type solvers (``SPARSE_SCHUR``, ``DENSE_SCHUR``,
+      ``ITERATIVE_SCHUR``) are significantly faster due to custom BLAS
+      routines and fewer heap allocations.
+
+   b. ``SPARSE_SCHUR`` when used with ``CX_SPARSE`` now uses a block
+      AMD for much improved factorization performance.
+
+   c. The jacobian matrix is pre-ordered so that
+      ``SPARSE_NORMAL_CHOLESKY`` and ``SPARSE_SCHUR`` do not have to
+      make copies inside ``CHOLMOD``.
+
+   d. Faster autodiff by replacing division by multplication by inverse.
+
+   e. When compiled without threads, the schur eliminator does not pay
+      the penalty for locking and unlocking mutexes.
+
+#. Users can now use ``linear_solver_ordering`` to affect the
+   fill-reducing ordering used by ``SUITE_SPARSE`` for
+   ``SPARSE_NORMAL_CHOLESKY``.
+#. ``Problem`` can now report the set of parameter blocks it knows about.
+#. ``TrustRegionMinimizer`` uses the evaluator to compute the gradient
+   instead of a matrix vector multiply.
+#. On ``Mac OS``, whole program optimization is enabled.
+#. Users can now use automatic differentiation to define new
+   ``LocalParameterization`` objects. (Sergey Sharybin)
+#. Enable larger tuple sizes for Visual Studio 2012. (Petter Strandmark)
+
+
+Bug Fixes
+---------
+
+#. Update the documentation for ``CostFunction``.
+#. Fixed a typo in the documentation. (Pablo Speciale)
+#. Fix a typo in suitesparse.cc.
+#. Bugfix in ``NumericDiffCostFunction``. (Nicolas Brodu)
+#. Death to BlockSparseMatrixBase.
+#. Change Minimizer::Options::min_trust_region_radius to double.
+#. Update to compile with stricter gcc checks. (Joydeep Biswas)
+#. Do not modify cached CMAKE_CXX_FLAGS_RELEASE. (Sergey Sharybin)
+#. ``<iterator>`` needed for back_insert_iterator. (Petter Strandmark)
+#. Lint cleanup. (William Rucklidge)
+#. Documentation corrections. (Pablo Speciale)
+
+
+1.5.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+#. Added ``Problem::Evaluate``. Now you can evaluate a problem or any
+   part of it without calling the solver.
+
+   In light of this the following settings have been deprecated and
+   removed from the API.
+
+   - ``Solver::Options::return_initial_residuals``
+   - ``Solver::Options::return_initial_gradient``
+   - ``Solver::Options::return_initial_jacobian``
+   - ``Solver::Options::return_final_residuals``
+   - ``Solver::Options::return_final_gradient``
+   - ``Solver::Options::return_final_jacobian``
+
+   Instead we recommend using something like this.
+
+   .. code-block:: c++
+
+     Problem problem;
+     // Build problem
+
+     vector<double> initial_residuals;
+     problem.Evaluate(Problem::EvaluateOptions(),
+                      NULL, /* No cost */
+                      &initial_residuals,
+                      NULL, /* No gradient */
+                      NULL  /* No jacobian */ );
+
+     Solver::Options options;
+     Solver::Summary summary;
+     Solver::Solve(options, &problem, &summary);
+
+     vector<double> final_residuals;
+     problem.Evaluate(Problem::EvaluateOptions(),
+                      NULL, /* No cost */
+                      &final_residuals,
+                      NULL, /* No gradient */
+                      NULL  /* No jacobian */ );
+
+
+New Features
+------------
+#. Problem now supports removal of ParameterBlocks and
+   ResidualBlocks. There is a space/time tradeoff in doing this which
+   is controlled by
+   ``Problem::Options::enable_fast_parameter_block_removal``.
+
+#. Ceres now supports Line search based optimization algorithms in
+   addition to trust region algorithms. Currently there is support for
+   gradient descent, non-linear conjugate gradient and LBFGS search
+   directions.
+#. Added ``Problem::Evaluate``. Now you can evaluate a problem or any
+   part of it without calling the solver. In light of this the
+   following settings have been deprecated and removed from the API.
+
+   - ``Solver::Options::return_initial_residuals``
+   - ``Solver::Options::return_initial_gradient``
+   - ``Solver::Options::return_initial_jacobian``
+   - ``Solver::Options::return_final_residuals``
+   - ``Solver::Options::return_final_gradient``
+   - ``Solver::Options::return_final_jacobian``
+
+#. New, much improved HTML documentation using Sphinx.
+#. Changed ``NumericDiffCostFunction`` to take functors like
+   ``AutoDiffCostFunction``.
+#. Added support for mixing automatic, analytic and numeric
+   differentiation. This is done by adding ``CostFunctionToFunctor``
+   and ``NumericDiffFunctor`` objects to the API.
+#. Sped up the robust loss function correction logic when residual is
+   one dimensional.
+#. Sped up ``DenseQRSolver`` by changing the way dense jacobians are
+   stored. This is a 200-500% improvement in linear solver performance
+   depending on the size of the problem.
+#. ``DENSE_SCHUR`` now supports multi-threading.
+#. Greatly expanded ``Summary::FullReport``:
+
+   - Report the ordering used by the ``LinearSolver``.
+   - Report the ordering used by the inner iterations.
+   - Execution timing breakdown into evaluations and linear solves.
+   - Effective size of the problem solved by the solver, which now
+     accounts for the size of the tangent space when using a
+     ``LocalParameterization``.
+#. Ceres when run at the ``VLOG`` level 3 or higher will report
+   detailed timing information about its internals.
+#. Remove extraneous initial and final residual evaluations. This
+   speeds up the solver a bit.
+#. Automatic differenatiation with a dynamic number of parameter
+   blocks. (Based on an idea by Thad Hughes).
+#. Sped up problem construction and destruction.
+#. Added matrix adapters to ``rotation.h`` so that the rotation matrix
+   routines can work with row and column major matrices. (Markus Moll)
+#. ``SCHUR_JACOBI`` can now be used without ``SuiteSparse``.
+#. A ``.spec`` file for producing RPMs. (Taylor Braun-Jones)
+#. ``CMake`` can now build the sphinx documentation (Pablo Speciale)
+#. Add support for creating a CMake config file during build to make
+   embedding Ceres in other CMake-using projects easier. (Pablo
+   Speciale).
+#. Better error reporting in ``Problem`` for missing parameter blocks.
+#. A more flexible ``Android.mk`` and a more modular build. If binary
+   size and/or compile time is a concern, larger parts of the solver
+   can be disabled at compile time.
+
+Bug Fixes
+---------
+#. Compilation fixes for MSVC2010 (Sergey Sharybin)
+#. Fixed "deprecated conversion from string constant to char*"
+   warnings. (Pablo Speciale)
+#. Correctly propagate ifdefs when building without Schur eliminator
+   template specializations.
+#. Correct handling of ``LIB_SUFFIX`` on Linux. (Yuliy Schwartzburg).
+#. Code and signature cleanup in ``rotation.h``.
+#. Make examples independent of internal code.
+#. Disable unused member in ``gtest`` which results in build error on
+   OS X with latest Xcode. (Taylor Braun-Jones)
+#. Pass the correct flags to the linker when using
+   ``pthreads``. (Taylor Braun-Jones)
+#. Only use ``cmake28`` macro when building on RHEL6. (Taylor
+   Braun-Jones)
+#. Remove ``-Wno-return-type-c-linkage`` when compiling with
+   GCC. (Taylor Braun-Jones)
+#. Fix ``No previous prototype`` warnings. (Sergey Sharybin)
+#. MinGW build fixes. (Sergey Sharybin)
+#. Lots of minor code and lint fixes. (William Rucklidge)
+#. Fixed a bug in ``solver_impl.cc`` residual evaluation. (Markus
+   Moll)
+#. Fixed varidic evaluation bug in ``AutoDiff``.
+#. Fixed ``SolverImpl`` tests.
+#. Fixed a bug in ``DenseSparseMatrix::ToDenseMatrix()``.
+#. Fixed an initialization bug in ``ProgramEvaluator``.
+#. Fixes to Android.mk paths (Carlos Hernandez)
+#. Modify ``nist.cc`` to compute accuracy based on ground truth
+   solution rather than the ground truth function value.
+#. Fixed a memory leak in ``cxsparse.cc``. (Alexander Mordvintsev).
+#. Fixed the install directory for libraries by correctly handling
+   ``LIB_SUFFIX``. (Taylor Braun-Jones)
+
+1.4.0
+=====
+
+Backward Incompatible API Changes
+---------------------------------
+The new ordering API breaks existing code. Here the common case fixes.
+
+**Before**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR
+ options.ordering_type = ceres::SCHUR
+
+**After**
+
+
+.. code-block:: c++
+
+  options.linear_solver_type = ceres::DENSE_SCHUR
+
+
+**Before**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.ordering_type = ceres::USER;
+ for (int i = 0; i < num_points; ++i) {
+   options.ordering.push_back(my_points[i])
+ }
+ for (int i = 0; i < num_cameras; ++i) {
+   options.ordering.push_back(my_cameras[i])
+ }
+ options.num_eliminate_blocks = num_points;
+
+
+**After**
+
+.. code-block:: c++
+
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.ordering = new ceres::ParameterBlockOrdering;
+ for (int i = 0; i < num_points; ++i) {
+   options.linear_solver_ordering->AddElementToGroup(my_points[i], 0);
+ }
+ for (int i = 0; i < num_cameras; ++i) {
+   options.linear_solver_ordering->AddElementToGroup(my_cameras[i], 1);
+ }
+
+
+New Features
+------------
+#. A new richer, more expressive and consistent API for ordering
+   parameter blocks.
+#. A non-linear generalization of Ruhe & Wedin's Algorithm II. This
+   allows the user to use variable projection on separable and
+   non-separable non-linear least squares problems. With
+   multithreading, this results in significant improvements to the
+   convergence behavior of the solver at a small increase in run time.
+#. An image denoising example using fields of experts. (Petter
+   Strandmark)
+#. Defines for Ceres version and ABI version.
+#. Higher precision timer code where available. (Petter Strandmark)
+#. Example Makefile for users of Ceres.
+#. IterationSummary now informs the user when the step is a
+   non-monotonic step.
+#. Fewer memory allocations when using ``DenseQRSolver``.
+#. GradientChecker for testing CostFunctions (William Rucklidge)
+#. Add support for cost functions with 10 parameter blocks in
+   ``Problem``. (Fisher)
+#. Add support for 10 parameter blocks in ``AutoDiffCostFunction``.
+
+
+Bug Fixes
+---------
+
+#. static cast to force Eigen::Index to long conversion
+#. Change LOG(ERROR) to LOG(WARNING) in ``schur_complement_solver.cc``.
+#. Remove verbose logging from ``DenseQRSolve``.
+#. Fix the Android NDK build.
+#. Better handling of empty and constant Problems.
+#. Remove an internal header that was leaking into the public API.
+#. Memory leak in ``trust_region_minimizer.cc``
+#. Schur ordering was operating on the wrong object (Ricardo Martin)
+#. MSVC fixes (Petter Strandmark)
+#. Various fixes to ``nist.cc`` (Markus Moll)
+#. Fixed a jacobian scaling bug.
+#. Numerically robust computation of ``model_cost_change``.
+#. Signed comparison compiler warning fixes (Ricardo Martin)
+#. Various compiler warning fixes all over.
+#. Inclusion guard fixes (Petter Strandmark)
+#. Segfault in test code (Sergey Popov)
+#. Replaced ``EXPECT/ASSERT_DEATH`` with the more portable
+   ``EXPECT_DEATH_IF_SUPPORTED`` macros.
+#. Fixed the camera projection model in Ceres' implementation of
+   Snavely's camera model. (Ricardo Martin)
+
+
+1.3.0
+=====
+
+New Features
+------------
+#. Android Port (Scott Ettinger also contributed to the port)
+#. Windows port. (Changchang Wu and Pierre Moulon also contributed to the port)
+#. New subspace Dogleg Solver. (Markus Moll)
+#. Trust region algorithm now supports the option of non-monotonic steps.
+#. New loss functions ``ArcTanLossFunction``, ``TolerantLossFunction``
+   and ``ComposedLossFunction``. (James Roseborough).
+#. New ``DENSE_NORMAL_CHOLESKY`` linear solver, which uses Eigen's
+   LDLT factorization on the normal equations.
+#. Cached symbolic factorization when using ``CXSparse``.
+   (Petter Strandark)
+#. New example ``nist.cc`` and data from the NIST non-linear
+   regression test suite. (Thanks to Douglas Bates for suggesting this.)
+#. The traditional Dogleg solver now uses an elliptical trust
+   region (Markus Moll)
+#. Support for returning initial and final gradients & Jacobians.
+#. Gradient computation support in the evaluators, with an eye
+   towards developing first order/gradient based solvers.
+#. A better way to compute ``Solver::Summary::fixed_cost``. (Markus Moll)
+#. ``CMake`` support for building documentation, separate examples,
+   installing and uninstalling the library and Gerrit hooks (Arnaud
+   Gelas)
+#. ``SuiteSparse4`` support (Markus Moll)
+#. Support for building Ceres without ``TR1`` (This leads to
+   slightly slower ``DENSE_SCHUR`` and ``SPARSE_SCHUR`` solvers).
+#. ``BALProblem`` can now write a problem back to disk.
+#. ``bundle_adjuster`` now allows the user to normalize and perturb the
+   problem before solving.
+#. Solver progress logging to file.
+#. Added ``Program::ToString`` and ``ParameterBlock::ToString`` to
+   help with debugging.
+#. Ability to build Ceres as a shared library (MacOS and Linux only),
+   associated versioning and build release script changes.
+#. Portable floating point classification API.
+
+
+Bug Fixes
+---------
+#. Fix how invalid step evaluations are handled.
+#. Change the slop handling around zero for model cost changes to use
+   relative tolerances rather than absolute tolerances.
+#. Fix an inadvertant integer to bool conversion. (Petter Strandmark)
+#. Do not link to ``libgomp`` when building on
+   windows. (Petter Strandmark)
+#. Include ``gflags.h`` in ``test_utils.cc``. (Petter
+   Strandmark)
+#. Use standard random number generation routines. (Petter Strandmark)
+#. ``TrustRegionMinimizer`` does not implicitly negate the
+   steps that it takes. (Markus Moll)
+#. Diagonal scaling allows for equal upper and lower bounds. (Markus Moll)
+#. TrustRegionStrategy does not misuse LinearSolver:Summary anymore.
+#. Fix Eigen3 Row/Column Major storage issue. (Lena Gieseke)
+#. QuaternionToAngleAxis now guarantees an angle in $[-\pi, \pi]$. (Guoxuan Zhang)
+#. Added a workaround for a compiler bug in the Android NDK to the
+   Schur eliminator.
+#. The sparse linear algebra library is only logged in
+   Summary::FullReport if it is used.
+#. Rename the macro ``CERES_DONT_HAVE_PROTOCOL_BUFFERS``
+   to ``CERES_NO_PROTOCOL_BUFFERS`` for consistency.
+#. Fix how static structure detection for the Schur eliminator logs
+   its results.
+#. Correct example code in the documentation. (Petter Strandmark)
+#. Fix ``fpclassify.h`` to work with the Android NDK and STLport.
+#. Fix a memory leak in the ``levenber_marquardt_strategy_test.cc``
+#. Fix an early return bug in the Dogleg solver. (Markus Moll)
+#. Zero initialize Jets.
+#. Moved ``internal/ceres/mock_log.h`` to ``internal/ceres/gmock/mock-log.h``
+#. Unified file path handling in tests.
+#. ``data_fitting.cc`` includes ``gflags``
+#. Renamed Ceres' Mutex class and associated macros to avoid
+   namespace conflicts.
+#. Close the BAL problem file after reading it (Markus Moll)
+#. Fix IsInfinite on Jets.
+#. Drop alignment requirements for Jets.
+#. Fixed Jet to integer comparison. (Keith Leung)
+#. Fix use of uninitialized arrays. (Sebastian Koch & Markus Moll)
+#. Conditionally compile gflag dependencies.(Casey Goodlett)
+#. Add ``data_fitting.cc`` to the examples ``CMake`` file.
+
+
+1.2.3
+=====
+
+Bug Fixes
+---------
+#. ``suitesparse_test`` is enabled even when ``-DSUITESPARSE=OFF``.
+#. ``FixedArray`` internal struct did not respect ``Eigen``
+   alignment requirements (Koichi Akabe & Stephan Kassemeyer).
+#. Fixed ``quadratic.cc`` documentation and code mismatch
+   (Nick Lewycky).
+
+1.2.2
+=====
+
+Bug Fixes
+---------
+#. Fix constant parameter blocks, and other minor fixes (Markus Moll)
+#. Fix alignment issues when combining ``Jet`` and
+   ``FixedArray`` in automatic differeniation.
+#. Remove obsolete ``build_defs`` file.
+
+1.2.1
+=====
+
+New Features
+------------
+#. Powell's Dogleg solver
+#. Documentation now has a brief overview of Trust Region methods and
+   how the Levenberg-Marquardt and Dogleg methods work.
+
+Bug Fixes
+---------
+#. Destructor for ``TrustRegionStrategy`` was not virtual (Markus
+   Moll)
+#. Invalid ``DCHECK`` in ``suitesparse.cc`` (Markus Moll)
+#. Iteration callbacks were not properly invoked (Luis Alberto
+   Zarrabeiti)
+#. Logging level changes in ConjugateGradientsSolver
+#. VisibilityBasedPreconditioner setup does not account for skipped
+   camera pairs. This was debugging code.
+#. Enable SSE support on MacOS
+#. ``system_test`` was taking too long and too much memory (Koichi
+   Akabe)
+
+1.2.0
+=====
+
+New Features
+------------
+
+#. ``CXSparse`` support.
+#. Block oriented fill reducing orderings. This reduces the
+   factorization time for sparse ``CHOLMOD`` significantly.
+#. New Trust region loop with support for multiple trust region step
+   strategies. Currently only Levenberg-Marquardt is supported, but
+   this refactoring opens the door for Dog-leg, Stiehaug and others.
+#. ``CMake`` file restructuring.  Builds in ``Release`` mode by   default, and now has platform specific tuning flags.
+#. Re-organized documentation. No new content, but better
+   organization.
+
+
+Bug Fixes
+---------
+
+#. Fixed integer overflow bug in ``block_random_access_sparse_matrix.cc``.
+#. Renamed some macros to prevent name conflicts.
+#. Fixed incorrent input to ``StateUpdatingCallback``.
+#. Fixes to AutoDiff tests.
+#. Various internal cleanups.
+
+
+1.1.1
+=====
+
+Bug Fixes
+---------
+#. Fix a bug in the handling of constant blocks. (Louis Simard)
+#. Add an optional lower bound to the Levenberg-Marquardt regularizer
+   to prevent oscillating between well and ill posed linear problems.
+#. Some internal refactoring and test fixes.
+
+1.1.0
+=====
+
+New Features
+------------
+#. New iterative linear solver for general sparse problems - ``CGNR``
+   and a block Jacobi preconditioner for it.
+#. Changed the semantics of how ``SuiteSparse`` dependencies are
+   checked and used. Now ``SuiteSparse`` is built by default, only if
+   all of its dependencies are present.
+#. Automatic differentiation now supports dynamic number of residuals.
+#. Support for writing the linear least squares problems to disk in
+   text format so that they can loaded into ``MATLAB``.
+#. Linear solver results are now checked for nan and infinities.
+#. Added ``.gitignore`` file.
+#. A better more robust build system.
+
+
+Bug Fixes
+---------
+#. Fixed a strict weak ordering bug in the schur ordering.
+#. Grammar and typos in the documents and code comments.
+#. Fixed tests which depended on exact equality between floating point
+   values.
+
+1.0.0
+=====
+Initial open source release. Nathan Wiegand contributed to the Mac OSX
+port.
+
+
+Origins
+=======
+
+Ceres Solver grew out of the need for general least squares solving at
+Google. In early 2010, Sameer Agarwal and Fredrik Schaffalitzky
+started the development of Ceres Solver. Fredrik left Google shortly
+thereafter and Keir Mierle stepped in to take his place. After two
+years of on-and-off development, Ceres Solver was released as open
+source in May of 2012.
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
new file mode 100644
index 0000000..eef5e5e
--- /dev/null
+++ b/examples/CMakeLists.txt
@@ -0,0 +1,113 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com (Keir Mierle)
+
+# Only Ceres itself should be compiled with CERES_BUILDING_SHARED_LIBRARY
+# defined, any users of Ceres will have CERES_USING_SHARED_LIBRARY defined
+# for them in Ceres' config.h if appropriate.
+if (BUILD_SHARED_LIBS)
+  remove_definitions(-DCERES_BUILDING_SHARED_LIBRARY)
+endif()
+
+add_executable(helloworld helloworld.cc)
+target_link_libraries(helloworld ceres)
+
+add_executable(helloworld_numeric_diff helloworld_numeric_diff.cc)
+target_link_libraries(helloworld_numeric_diff ceres)
+
+add_executable(helloworld_analytic_diff helloworld_analytic_diff.cc)
+target_link_libraries(helloworld_analytic_diff ceres)
+
+add_executable(curve_fitting curve_fitting.cc)
+target_link_libraries(curve_fitting ceres)
+
+add_executable(rosenbrock rosenbrock.cc)
+target_link_libraries(rosenbrock ceres)
+
+add_executable(curve_fitting_c curve_fitting.c)
+target_link_libraries(curve_fitting_c ceres)
+# Force CMake to link curve_fitting_c using the C linker, this is important
+# when Ceres was compiled using C++11 to ensure that -std=c++11 is not passed
+# through.
+set_target_properties(curve_fitting_c PROPERTIES LINKER_LANGUAGE C)
+# As this is a C file #including <math.h> we have to explicitly add the math
+# library (libm). Although some compilers (dependent upon options) will accept
+# the indirect link to libm via Ceres, at least GCC 4.8 on pure Debian won't.
+if (NOT MSVC)
+  target_link_libraries(curve_fitting_c m)
+endif (NOT MSVC)
+
+add_executable(ellipse_approximation ellipse_approximation.cc)
+target_link_libraries(ellipse_approximation ceres)
+
+add_executable(robust_curve_fitting robust_curve_fitting.cc)
+target_link_libraries(robust_curve_fitting ceres)
+
+add_executable(simple_bundle_adjuster simple_bundle_adjuster.cc)
+target_link_libraries(simple_bundle_adjuster ceres)
+
+if (GFLAGS)
+  add_executable(powell powell.cc)
+  target_link_libraries(powell ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(nist nist.cc)
+  target_link_libraries(nist ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(more_garbow_hillstrom more_garbow_hillstrom.cc)
+  target_link_libraries(more_garbow_hillstrom ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(circle_fit circle_fit.cc)
+  target_link_libraries(circle_fit ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(bundle_adjuster
+                 bundle_adjuster.cc
+                 bal_problem.cc)
+  target_link_libraries(bundle_adjuster ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(libmv_bundle_adjuster
+                 libmv_bundle_adjuster.cc)
+  target_link_libraries(libmv_bundle_adjuster ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(libmv_homography
+                 libmv_homography.cc)
+  target_link_libraries(libmv_homography ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(denoising
+                 denoising.cc
+                 fields_of_experts.cc)
+  target_link_libraries(denoising ceres ${GFLAGS_LIBRARIES})
+
+  add_executable(robot_pose_mle
+                 robot_pose_mle.cc)
+  target_link_libraries(robot_pose_mle ceres ${GFLAGS_LIBRARIES})
+
+endif (GFLAGS)
+
+add_subdirectory(sampled_function)
+add_subdirectory(slam)
diff --git a/examples/Makefile.example b/examples/Makefile.example
new file mode 100644
index 0000000..f2b0dc0
--- /dev/null
+++ b/examples/Makefile.example
@@ -0,0 +1,82 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com (Keir Mierle)
+#
+# This is an example Makefile for using Ceres. In practice, the Ceres authors
+# suggest using CMake instead, but if Make is needed for some reason, this
+# example serves to make it easy to do so.
+
+# This should point to place where you unpacked or cloned Ceres.
+CERES_SRC_DIR := /home/keir/wrk/ceres-extra
+
+# This should point to the place where you built Ceres. If you got Ceres by
+# installing it, then this will likely be /usr/local/lib.
+CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin
+
+# The place you unpacked or cloned Eigen. If Eigen was installed from packages,
+# this will likely be /usr/local/include.
+EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5
+
+INCLUDES := -I$(CERES_SRC_DIR)/include \
+            -I$(EIGEN_SRC_DIR)
+
+CERES_LIBRARY := -lceres
+CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib
+CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog
+
+# If Ceres was built with Suitesparse:
+CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod
+
+# If Ceres was built with CXSparse:
+CERES_LIBRARY_DEPENDENCIES += -lcxsparse
+
+# If Ceres was built with OpenMP:
+CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm
+
+# The set of object files for your application.
+APPLICATION_OBJS := simple_bundle_adjuster.o
+
+all: simple_bundle_adjuster
+
+simple_bundle_adjuster: $(APPLICATION_OBJS)
+	g++ \
+		$(APPLICATION_OBJS) \
+		$(CERES_LIBRARY_PATH) \
+		$(CERES_LIBRARY) \
+		$(CERES_LIBRARY_DEPENDENCIES) \
+		-o simple_bundle_adjuster
+
+# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of
+# not getting handy assert failures when there are issues in your code.
+CFLAGS := -O2 -DNDEBUG
+
+# If you have files ending in .cpp instead of .cc, fix the next line
+# appropriately.
+%.o: %.cc $(DEPS)
+	g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)
diff --git a/examples/bal_problem.cc b/examples/bal_problem.cc
new file mode 100644
index 0000000..1ee3c81
--- /dev/null
+++ b/examples/bal_problem.cc
@@ -0,0 +1,339 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "bal_problem.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <fstream>
+#include <string>
+#include <vector>
+#include "Eigen/Core"
+#include "ceres/rotation.h"
+#include "glog/logging.h"
+#include "random.h"
+
+namespace ceres {
+namespace examples {
+namespace {
+typedef Eigen::Map<Eigen::VectorXd> VectorRef;
+typedef Eigen::Map<const Eigen::VectorXd> ConstVectorRef;
+
+template<typename T>
+void FscanfOrDie(FILE* fptr, const char* format, T* value) {
+  int num_scanned = fscanf(fptr, format, value);
+  if (num_scanned != 1) {
+    LOG(FATAL) << "Invalid UW data file.";
+  }
+}
+
+void PerturbPoint3(const double sigma, double* point) {
+  for (int i = 0; i < 3; ++i) {
+    point[i] += RandNormal() * sigma;
+  }
+}
+
+double Median(std::vector<double>* data) {
+  int n = data->size();
+  std::vector<double>::iterator mid_point = data->begin() + n / 2;
+  std::nth_element(data->begin(), mid_point, data->end());
+  return *mid_point;
+}
+
+}  // namespace
+
+BALProblem::BALProblem(const std::string& filename, bool use_quaternions) {
+  FILE* fptr = fopen(filename.c_str(), "r");
+
+  if (fptr == NULL) {
+    LOG(FATAL) << "Error: unable to open file " << filename;
+    return;
+  };
+
+  // This wil die horribly on invalid files. Them's the breaks.
+  FscanfOrDie(fptr, "%d", &num_cameras_);
+  FscanfOrDie(fptr, "%d", &num_points_);
+  FscanfOrDie(fptr, "%d", &num_observations_);
+
+  VLOG(1) << "Header: " << num_cameras_
+          << " " << num_points_
+          << " " << num_observations_;
+
+  point_index_ = new int[num_observations_];
+  camera_index_ = new int[num_observations_];
+  observations_ = new double[2 * num_observations_];
+
+  num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+  parameters_ = new double[num_parameters_];
+
+  for (int i = 0; i < num_observations_; ++i) {
+    FscanfOrDie(fptr, "%d", camera_index_ + i);
+    FscanfOrDie(fptr, "%d", point_index_ + i);
+    for (int j = 0; j < 2; ++j) {
+      FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+    }
+  }
+
+  for (int i = 0; i < num_parameters_; ++i) {
+    FscanfOrDie(fptr, "%lf", parameters_ + i);
+  }
+
+  fclose(fptr);
+
+  use_quaternions_ = use_quaternions;
+  if (use_quaternions) {
+    // Switch the angle-axis rotations to quaternions.
+    num_parameters_ = 10 * num_cameras_ + 3 * num_points_;
+    double* quaternion_parameters = new double[num_parameters_];
+    double* original_cursor = parameters_;
+    double* quaternion_cursor = quaternion_parameters;
+    for (int i = 0; i < num_cameras_; ++i) {
+      AngleAxisToQuaternion(original_cursor, quaternion_cursor);
+      quaternion_cursor += 4;
+      original_cursor += 3;
+      for (int j = 4; j < 10; ++j) {
+       *quaternion_cursor++ = *original_cursor++;
+      }
+    }
+    // Copy the rest of the points.
+    for (int i = 0; i < 3 * num_points_; ++i) {
+      *quaternion_cursor++ = *original_cursor++;
+    }
+    // Swap in the quaternion parameters.
+    delete []parameters_;
+    parameters_ = quaternion_parameters;
+  }
+}
+
+// This function writes the problem to a file in the same format that
+// is read by the constructor.
+void BALProblem::WriteToFile(const std::string& filename) const {
+  FILE* fptr = fopen(filename.c_str(), "w");
+
+  if (fptr == NULL) {
+    LOG(FATAL) << "Error: unable to open file " << filename;
+    return;
+  };
+
+  fprintf(fptr, "%d %d %d\n", num_cameras_, num_points_, num_observations_);
+
+  for (int i = 0; i < num_observations_; ++i) {
+    fprintf(fptr, "%d %d", camera_index_[i], point_index_[i]);
+    for (int j = 0; j < 2; ++j) {
+      fprintf(fptr, " %g", observations_[2 * i + j]);
+    }
+    fprintf(fptr, "\n");
+  }
+
+  for (int i = 0; i < num_cameras(); ++i) {
+    double angleaxis[9];
+    if (use_quaternions_) {
+      // Output in angle-axis format.
+      QuaternionToAngleAxis(parameters_ + 10 * i, angleaxis);
+      memcpy(angleaxis + 3, parameters_ + 10 * i + 4, 6 * sizeof(double));
+    } else {
+      memcpy(angleaxis, parameters_ + 9 * i, 9 * sizeof(double));
+    }
+    for (int j = 0; j < 9; ++j) {
+      fprintf(fptr, "%.16g\n", angleaxis[j]);
+    }
+  }
+
+  const double* points = parameters_ + camera_block_size() * num_cameras_;
+  for (int i = 0; i < num_points(); ++i) {
+    const double* point = points + i * point_block_size();
+    for (int j = 0; j < point_block_size(); ++j) {
+      fprintf(fptr, "%.16g\n", point[j]);
+    }
+  }
+
+  fclose(fptr);
+}
+
+// Write the problem to a PLY file for inspection in Meshlab or CloudCompare.
+void BALProblem::WriteToPLYFile(const std::string& filename) const {
+  std::ofstream of(filename.c_str());
+
+  of << "ply"
+     << '\n' << "format ascii 1.0"
+     << '\n' << "element vertex " << num_cameras_ + num_points_
+     << '\n' << "property float x"
+     << '\n' << "property float y"
+     << '\n' << "property float z"
+     << '\n' << "property uchar red"
+     << '\n' << "property uchar green"
+     << '\n' << "property uchar blue"
+     << '\n' << "end_header" << std::endl;
+
+  // Export extrinsic data (i.e. camera centers) as green points.
+  double angle_axis[3];
+  double center[3];
+  for (int i = 0; i < num_cameras(); ++i)  {
+    const double* camera = cameras() + camera_block_size() * i;
+    CameraToAngleAxisAndCenter(camera, angle_axis, center);
+    of << center[0] << ' ' << center[1] << ' ' << center[2]
+       << " 0 255 0" << '\n';
+  }
+
+  // Export the structure (i.e. 3D Points) as white points.
+  const double* points = parameters_ + camera_block_size() * num_cameras_;
+  for (int i = 0; i < num_points(); ++i) {
+    const double* point = points + i * point_block_size();
+    for (int j = 0; j < point_block_size(); ++j) {
+      of << point[j] << ' ';
+    }
+    of << "255 255 255\n";
+  }
+  of.close();
+}
+
+void BALProblem::CameraToAngleAxisAndCenter(const double* camera,
+                                            double* angle_axis,
+                                            double* center) const {
+  VectorRef angle_axis_ref(angle_axis, 3);
+  if (use_quaternions_) {
+    QuaternionToAngleAxis(camera, angle_axis);
+  } else {
+    angle_axis_ref = ConstVectorRef(camera, 3);
+  }
+
+  // c = -R't
+  Eigen::VectorXd inverse_rotation = -angle_axis_ref;
+  AngleAxisRotatePoint(inverse_rotation.data(),
+                       camera + camera_block_size() - 6,
+                       center);
+  VectorRef(center, 3) *= -1.0;
+}
+
+void BALProblem::AngleAxisAndCenterToCamera(const double* angle_axis,
+                                            const double* center,
+                                            double* camera) const {
+  ConstVectorRef angle_axis_ref(angle_axis, 3);
+  if (use_quaternions_) {
+    AngleAxisToQuaternion(angle_axis, camera);
+  } else {
+    VectorRef(camera, 3) = angle_axis_ref;
+  }
+
+  // t = -R * c
+  AngleAxisRotatePoint(angle_axis,
+                       center,
+                       camera + camera_block_size() - 6);
+  VectorRef(camera + camera_block_size() - 6, 3) *= -1.0;
+}
+
+
+void BALProblem::Normalize() {
+  // Compute the marginal median of the geometry.
+  std::vector<double> tmp(num_points_);
+  Eigen::Vector3d median;
+  double* points = mutable_points();
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < num_points_; ++j) {
+      tmp[j] = points[3 * j + i];
+    }
+    median(i) = Median(&tmp);
+  }
+
+  for (int i = 0; i < num_points_; ++i) {
+    VectorRef point(points + 3 * i, 3);
+    tmp[i] = (point - median).lpNorm<1>();
+  }
+
+  const double median_absolute_deviation = Median(&tmp);
+
+  // Scale so that the median absolute deviation of the resulting
+  // reconstruction is 100.
+  const double scale = 100.0 / median_absolute_deviation;
+
+  VLOG(2) << "median: " << median.transpose();
+  VLOG(2) << "median absolute deviation: " << median_absolute_deviation;
+  VLOG(2) << "scale: " << scale;
+
+  // X = scale * (X - median)
+  for (int i = 0; i < num_points_; ++i) {
+    VectorRef point(points + 3 * i, 3);
+    point = scale * (point - median);
+  }
+
+  double* cameras = mutable_cameras();
+  double angle_axis[3];
+  double center[3];
+  for (int i = 0; i < num_cameras_; ++i) {
+    double* camera = cameras + camera_block_size() * i;
+    CameraToAngleAxisAndCenter(camera, angle_axis, center);
+    // center = scale * (center - median)
+    VectorRef(center, 3) = scale * (VectorRef(center, 3) - median);
+    AngleAxisAndCenterToCamera(angle_axis, center, camera);
+  }
+}
+
+void BALProblem::Perturb(const double rotation_sigma,
+                         const double translation_sigma,
+                         const double point_sigma) {
+  CHECK_GE(point_sigma, 0.0);
+  CHECK_GE(rotation_sigma, 0.0);
+  CHECK_GE(translation_sigma, 0.0);
+
+  double* points = mutable_points();
+  if (point_sigma > 0) {
+    for (int i = 0; i < num_points_; ++i) {
+      PerturbPoint3(point_sigma, points + 3 * i);
+    }
+  }
+
+  for (int i = 0; i < num_cameras_; ++i) {
+    double* camera = mutable_cameras() + camera_block_size() * i;
+
+    double angle_axis[3];
+    double center[3];
+    // Perturb in the rotation of the camera in the angle-axis
+    // representation.
+    CameraToAngleAxisAndCenter(camera, angle_axis, center);
+    if (rotation_sigma > 0.0) {
+      PerturbPoint3(rotation_sigma, angle_axis);
+    }
+    AngleAxisAndCenterToCamera(angle_axis, center, camera);
+
+    if (translation_sigma > 0.0) {
+      PerturbPoint3(translation_sigma, camera + camera_block_size() - 6);
+    }
+  }
+}
+
+BALProblem::~BALProblem() {
+  delete []point_index_;
+  delete []camera_index_;
+  delete []observations_;
+  delete []parameters_;
+}
+
+}  // namespace examples
+}  // namespace ceres
diff --git a/examples/bal_problem.h b/examples/bal_problem.h
new file mode 100644
index 0000000..e9a348e
--- /dev/null
+++ b/examples/bal_problem.h
@@ -0,0 +1,109 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Class for loading and holding in memory bundle adjustment problems
+// from the BAL (Bundle Adjustment in the Large) dataset from the
+// University of Washington.
+//
+// For more details see http://grail.cs.washington.edu/projects/bal/
+
+#ifndef CERES_EXAMPLES_BAL_PROBLEM_H_
+#define CERES_EXAMPLES_BAL_PROBLEM_H_
+
+#include <string>
+
+namespace ceres {
+namespace examples {
+
+class BALProblem {
+ public:
+  explicit BALProblem(const std::string& filename, bool use_quaternions);
+  ~BALProblem();
+
+  void WriteToFile(const std::string& filename) const;
+  void WriteToPLYFile(const std::string& filename) const;
+
+  // Move the "center" of the reconstruction to the origin, where the
+  // center is determined by computing the marginal median of the
+  // points. The reconstruction is then scaled so that the median
+  // absolute deviation of the points measured from the origin is
+  // 100.0.
+  //
+  // The reprojection error of the problem remains the same.
+  void Normalize();
+
+  // Perturb the camera pose and the geometry with random normal
+  // numbers with corresponding standard deviations.
+  void Perturb(const double rotation_sigma,
+               const double translation_sigma,
+               const double point_sigma);
+
+  int camera_block_size()      const { return use_quaternions_ ? 10 : 9; }
+  int point_block_size()       const { return 3;                         }
+  int num_cameras()            const { return num_cameras_;              }
+  int num_points()             const { return num_points_;               }
+  int num_observations()       const { return num_observations_;         }
+  int num_parameters()         const { return num_parameters_;           }
+  const int* point_index()     const { return point_index_;              }
+  const int* camera_index()    const { return camera_index_;             }
+  const double* observations() const { return observations_;             }
+  const double* parameters()   const { return parameters_;               }
+  const double* cameras()      const { return parameters_;               }
+  double* mutable_cameras()          { return parameters_;               }
+  double* mutable_points() {
+    return parameters_  + camera_block_size() * num_cameras_;
+  }
+
+ private:
+  void CameraToAngleAxisAndCenter(const double* camera,
+                                  double* angle_axis,
+                                  double* center) const;
+
+  void AngleAxisAndCenterToCamera(const double* angle_axis,
+                                  const double* center,
+                                  double* camera) const;
+  int num_cameras_;
+  int num_points_;
+  int num_observations_;
+  int num_parameters_;
+  bool use_quaternions_;
+
+  int* point_index_;
+  int* camera_index_;
+  double* observations_;
+  // The parameter vector is laid out as follows
+  // [camera_1, ..., camera_n, point_1, ..., point_m]
+  double* parameters_;
+};
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_BAL_PROBLEM_H_
diff --git a/examples/bundle_adjuster.cc b/examples/bundle_adjuster.cc
new file mode 100644
index 0000000..e21c4ee
--- /dev/null
+++ b/examples/bundle_adjuster.cc
@@ -0,0 +1,343 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An example of solving a dynamically sized problem with various
+// solvers and loss functions.
+//
+// For a simpler bare bones example of doing bundle adjustment with
+// Ceres, please see simple_bundle_adjuster.cc.
+//
+// NOTE: This example will not compile without gflags and SuiteSparse.
+//
+// The problem being solved here is known as a Bundle Adjustment
+// problem in computer vision. Given a set of 3d points X_1, ..., X_n,
+// a set of cameras P_1, ..., P_m. If the point X_i is visible in
+// image j, then there is a 2D observation u_ij that is the expected
+// projection of X_i using P_j. The aim of this optimization is to
+// find values of X_i and P_j such that the reprojection error
+//
+//    E(X,P) =  sum_ij  |u_ij - P_j X_i|^2
+//
+// is minimized.
+//
+// The problem used here comes from a collection of bundle adjustment
+// problems published at University of Washington.
+// http://grail.cs.washington.edu/projects/bal
+
+#include <algorithm>
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <vector>
+
+#include "bal_problem.h"
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "snavely_reprojection_error.h"
+
+DEFINE_string(input, "", "Input File name");
+DEFINE_string(trust_region_strategy, "levenberg_marquardt",
+              "Options are: levenberg_marquardt, dogleg.");
+DEFINE_string(dogleg, "traditional_dogleg", "Options are: traditional_dogleg,"
+              "subspace_dogleg.");
+
+DEFINE_bool(inner_iterations, false, "Use inner iterations to non-linearly "
+            "refine each successful trust region step.");
+
+DEFINE_string(blocks_for_inner_iterations, "automatic", "Options are: "
+            "automatic, cameras, points, cameras,points, points,cameras");
+
+DEFINE_string(linear_solver, "sparse_schur", "Options are: "
+              "sparse_schur, dense_schur, iterative_schur, sparse_normal_cholesky, "
+              "dense_qr, dense_normal_cholesky and cgnr.");
+DEFINE_bool(explicit_schur_complement, false, "If using ITERATIVE_SCHUR "
+            "then explicitly compute the Schur complement.");
+DEFINE_string(preconditioner, "jacobi", "Options are: "
+              "identity, jacobi, schur_jacobi, cluster_jacobi, "
+              "cluster_tridiagonal.");
+DEFINE_string(visibility_clustering, "canonical_views",
+              "single_linkage, canonical_views");
+
+DEFINE_string(sparse_linear_algebra_library, "suite_sparse",
+              "Options are: suite_sparse and cx_sparse.");
+DEFINE_string(dense_linear_algebra_library, "eigen",
+              "Options are: eigen and lapack.");
+DEFINE_string(ordering, "automatic", "Options are: automatic, user.");
+
+DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
+            "rotations. If false, angle axis is used.");
+DEFINE_bool(use_local_parameterization, false, "For quaternions, use a local "
+            "parameterization.");
+DEFINE_bool(robustify, false, "Use a robust loss function.");
+
+DEFINE_double(eta, 1e-2, "Default value for eta. Eta determines the "
+             "accuracy of each linear solve of the truncated newton step. "
+             "Changing this parameter can affect solve performance.");
+
+DEFINE_int32(num_threads, 1, "Number of threads.");
+DEFINE_int32(num_iterations, 5, "Number of iterations.");
+DEFINE_double(max_solver_time, 1e32, "Maximum solve time in seconds.");
+DEFINE_bool(nonmonotonic_steps, false, "Trust region algorithm can use"
+            " nonmonotic steps.");
+
+DEFINE_double(rotation_sigma, 0.0, "Standard deviation of camera rotation "
+              "perturbation.");
+DEFINE_double(translation_sigma, 0.0, "Standard deviation of the camera "
+              "translation perturbation.");
+DEFINE_double(point_sigma, 0.0, "Standard deviation of the point "
+              "perturbation.");
+DEFINE_int32(random_seed, 38401, "Random seed used to set the state "
+             "of the pseudo random number generator used to generate "
+             "the pertubations.");
+DEFINE_bool(line_search, false, "Use a line search instead of trust region "
+            "algorithm.");
+DEFINE_string(initial_ply, "", "Export the BAL file data as a PLY file.");
+DEFINE_string(final_ply, "", "Export the refined BAL file data as a PLY "
+              "file.");
+
+namespace ceres {
+namespace examples {
+
+void SetLinearSolver(Solver::Options* options) {
+  CHECK(StringToLinearSolverType(FLAGS_linear_solver,
+                                 &options->linear_solver_type));
+  CHECK(StringToPreconditionerType(FLAGS_preconditioner,
+                                   &options->preconditioner_type));
+  CHECK(StringToVisibilityClusteringType(FLAGS_visibility_clustering,
+                                         &options->visibility_clustering_type));
+  CHECK(StringToSparseLinearAlgebraLibraryType(
+            FLAGS_sparse_linear_algebra_library,
+            &options->sparse_linear_algebra_library_type));
+  CHECK(StringToDenseLinearAlgebraLibraryType(
+            FLAGS_dense_linear_algebra_library,
+            &options->dense_linear_algebra_library_type));
+  options->num_linear_solver_threads = FLAGS_num_threads;
+  options->use_explicit_schur_complement = FLAGS_explicit_schur_complement;
+}
+
+void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
+  const int num_points = bal_problem->num_points();
+  const int point_block_size = bal_problem->point_block_size();
+  double* points = bal_problem->mutable_points();
+
+  const int num_cameras = bal_problem->num_cameras();
+  const int camera_block_size = bal_problem->camera_block_size();
+  double* cameras = bal_problem->mutable_cameras();
+
+  if (options->use_inner_iterations) {
+    if (FLAGS_blocks_for_inner_iterations == "cameras") {
+      LOG(INFO) << "Camera blocks for inner iterations";
+      options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+      for (int i = 0; i < num_cameras; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
+      }
+    } else if (FLAGS_blocks_for_inner_iterations == "points") {
+      LOG(INFO) << "Point blocks for inner iterations";
+      options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+      for (int i = 0; i < num_points; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
+      }
+    } else if (FLAGS_blocks_for_inner_iterations == "cameras,points") {
+      LOG(INFO) << "Camera followed by point blocks for inner iterations";
+      options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+      for (int i = 0; i < num_cameras; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
+      }
+      for (int i = 0; i < num_points; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 1);
+      }
+    } else if (FLAGS_blocks_for_inner_iterations == "points,cameras") {
+      LOG(INFO) << "Point followed by camera blocks for inner iterations";
+      options->inner_iteration_ordering.reset(new ParameterBlockOrdering);
+      for (int i = 0; i < num_cameras; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
+      }
+      for (int i = 0; i < num_points; ++i) {
+        options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
+      }
+    } else if (FLAGS_blocks_for_inner_iterations == "automatic") {
+      LOG(INFO) << "Choosing automatic blocks for inner iterations";
+    } else {
+      LOG(FATAL) << "Unknown block type for inner iterations: "
+                 << FLAGS_blocks_for_inner_iterations;
+    }
+  }
+
+  // Bundle adjustment problems have a sparsity structure that makes
+  // them amenable to more specialized and much more efficient
+  // solution strategies. The SPARSE_SCHUR, DENSE_SCHUR and
+  // ITERATIVE_SCHUR solvers make use of this specialized
+  // structure.
+  //
+  // This can either be done by specifying Options::ordering_type =
+  // ceres::SCHUR, in which case Ceres will automatically determine
+  // the right ParameterBlock ordering, or by manually specifying a
+  // suitable ordering vector and defining
+  // Options::num_eliminate_blocks.
+  if (FLAGS_ordering == "automatic") {
+    return;
+  }
+
+  ceres::ParameterBlockOrdering* ordering =
+      new ceres::ParameterBlockOrdering;
+
+  // The points come before the cameras.
+  for (int i = 0; i < num_points; ++i) {
+    ordering->AddElementToGroup(points + point_block_size * i, 0);
+  }
+
+  for (int i = 0; i < num_cameras; ++i) {
+    // When using axis-angle, there is a single parameter block for
+    // the entire camera.
+    ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
+  }
+
+  options->linear_solver_ordering.reset(ordering);
+}
+
+void SetMinimizerOptions(Solver::Options* options) {
+  options->max_num_iterations = FLAGS_num_iterations;
+  options->minimizer_progress_to_stdout = true;
+  options->num_threads = FLAGS_num_threads;
+  options->eta = FLAGS_eta;
+  options->max_solver_time_in_seconds = FLAGS_max_solver_time;
+  options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
+  if (FLAGS_line_search) {
+    options->minimizer_type = ceres::LINE_SEARCH;
+  }
+
+  CHECK(StringToTrustRegionStrategyType(FLAGS_trust_region_strategy,
+                                        &options->trust_region_strategy_type));
+  CHECK(StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));
+  options->use_inner_iterations = FLAGS_inner_iterations;
+}
+
+void SetSolverOptionsFromFlags(BALProblem* bal_problem,
+                               Solver::Options* options) {
+  SetMinimizerOptions(options);
+  SetLinearSolver(options);
+  SetOrdering(bal_problem, options);
+}
+
+void BuildProblem(BALProblem* bal_problem, Problem* problem) {
+  const int point_block_size = bal_problem->point_block_size();
+  const int camera_block_size = bal_problem->camera_block_size();
+  double* points = bal_problem->mutable_points();
+  double* cameras = bal_problem->mutable_cameras();
+
+  // Observations is 2*num_observations long array observations =
+  // [u_1, u_2, ... , u_n], where each u_i is two dimensional, the x
+  // and y positions of the observation.
+  const double* observations = bal_problem->observations();
+  for (int i = 0; i < bal_problem->num_observations(); ++i) {
+    CostFunction* cost_function;
+    // Each Residual block takes a point and a camera as input and
+    // outputs a 2 dimensional residual.
+    cost_function =
+        (FLAGS_use_quaternions)
+        ? SnavelyReprojectionErrorWithQuaternions::Create(
+            observations[2 * i + 0],
+            observations[2 * i + 1])
+        : SnavelyReprojectionError::Create(
+            observations[2 * i + 0],
+            observations[2 * i + 1]);
+
+    // If enabled use Huber's loss function.
+    LossFunction* loss_function = FLAGS_robustify ? new HuberLoss(1.0) : NULL;
+
+    // Each observation correponds to a pair of a camera and a point
+    // which are identified by camera_index()[i] and point_index()[i]
+    // respectively.
+    double* camera =
+        cameras + camera_block_size * bal_problem->camera_index()[i];
+    double* point = points + point_block_size * bal_problem->point_index()[i];
+    problem->AddResidualBlock(cost_function, loss_function, camera, point);
+  }
+
+  if (FLAGS_use_quaternions && FLAGS_use_local_parameterization) {
+    LocalParameterization* camera_parameterization =
+        new ProductParameterization(
+            new QuaternionParameterization(),
+            new IdentityParameterization(6));
+    for (int i = 0; i < bal_problem->num_cameras(); ++i) {
+      problem->SetParameterization(cameras + camera_block_size * i,
+                                   camera_parameterization);
+    }
+  }
+}
+
+void SolveProblem(const char* filename) {
+  BALProblem bal_problem(filename, FLAGS_use_quaternions);
+
+  if (!FLAGS_initial_ply.empty()) {
+    bal_problem.WriteToPLYFile(FLAGS_initial_ply);
+  }
+
+  Problem problem;
+
+  srand(FLAGS_random_seed);
+  bal_problem.Normalize();
+  bal_problem.Perturb(FLAGS_rotation_sigma,
+                      FLAGS_translation_sigma,
+                      FLAGS_point_sigma);
+
+  BuildProblem(&bal_problem, &problem);
+  Solver::Options options;
+  SetSolverOptionsFromFlags(&bal_problem, &options);
+  options.gradient_tolerance = 1e-16;
+  options.function_tolerance = 1e-16;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  std::cout << summary.FullReport() << "\n";
+
+  if (!FLAGS_final_ply.empty()) {
+    bal_problem.WriteToPLYFile(FLAGS_final_ply);
+  }
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+int main(int argc, char** argv) {
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  google::InitGoogleLogging(argv[0]);
+  if (FLAGS_input.empty()) {
+    LOG(ERROR) << "Usage: bundle_adjuster --input=bal_problem";
+    return 1;
+  }
+
+  CHECK(FLAGS_use_quaternions || !FLAGS_use_local_parameterization)
+      << "--use_local_parameterization can only be used with "
+      << "--use_quaternions.";
+  ceres::examples::SolveProblem(FLAGS_input.c_str());
+  return 0;
+}
diff --git a/examples/circle_fit.cc b/examples/circle_fit.cc
new file mode 100644
index 0000000..b58ce4e
--- /dev/null
+++ b/examples/circle_fit.cc
@@ -0,0 +1,164 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// This fits circles to a collection of points, where the error is related to
+// the distance of a point from the circle. This uses auto-differentiation to
+// take the derivatives.
+//
+// The input format is simple text. Feed on standard in:
+//
+//   x_initial y_initial r_initial
+//   x1 y1
+//   x2 y2
+//   y3 y3
+//   ...
+//
+// And the result after solving will be printed to stdout:
+//
+//   x y r
+//
+// There are closed form solutions [1] to this problem which you may want to
+// consider instead of using this one. If you already have a decent guess, Ceres
+// can squeeze down the last bit of error.
+//
+//   [1] http://www.mathworks.com/matlabcentral/fileexchange/5557-circle-fit/content/circfit.m
+
+#include <cstdio>
+#include <vector>
+
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CauchyLoss;
+using ceres::CostFunction;
+using ceres::LossFunction;
+using ceres::Problem;
+using ceres::Solve;
+using ceres::Solver;
+
+DEFINE_double(robust_threshold, 0.0, "Robust loss parameter. Set to 0 for "
+              "normal squared error (no robustification).");
+
+// The cost for a single sample. The returned residual is related to the
+// distance of the point from the circle (passed in as x, y, m parameters).
+//
+// Note that the radius is parameterized as r = m^2 to constrain the radius to
+// positive values.
+class DistanceFromCircleCost {
+ public:
+  DistanceFromCircleCost(double xx, double yy) : xx_(xx), yy_(yy) {}
+  template <typename T> bool operator()(const T* const x,
+                                        const T* const y,
+                                        const T* const m,  // r = m^2
+                                        T* residual) const {
+    // Since the radius is parameterized as m^2, unpack m to get r.
+    T r = *m * *m;
+
+    // Get the position of the sample in the circle's coordinate system.
+    T xp = xx_ - *x;
+    T yp = yy_ - *y;
+
+    // It is tempting to use the following cost:
+    //
+    //   residual[0] = r - sqrt(xp*xp + yp*yp);
+    //
+    // which is the distance of the sample from the circle. This works
+    // reasonably well, but the sqrt() adds strong nonlinearities to the cost
+    // function. Instead, a different cost is used, which while not strictly a
+    // distance in the metric sense (it has units distance^2) it produces more
+    // robust fits when there are outliers. This is because the cost surface is
+    // more convex.
+    residual[0] = r*r - xp*xp - yp*yp;
+    return true;
+  }
+
+ private:
+  // The measured x,y coordinate that should be on the circle.
+  double xx_, yy_;
+};
+
+int main(int argc, char** argv) {
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  google::InitGoogleLogging(argv[0]);
+
+  double x, y, r;
+  if (scanf("%lg %lg %lg", &x, &y, &r) != 3) {
+    fprintf(stderr, "Couldn't read first line.\n");
+    return 1;
+  }
+  fprintf(stderr, "Got x, y, r %lg, %lg, %lg\n", x, y, r);
+
+  // Save initial values for comparison.
+  double initial_x = x;
+  double initial_y = y;
+  double initial_r = r;
+
+  // Parameterize r as m^2 so that it can't be negative.
+  double m = sqrt(r);
+
+  Problem problem;
+
+  // Configure the loss function.
+  LossFunction* loss = NULL;
+  if (FLAGS_robust_threshold) {
+    loss = new CauchyLoss(FLAGS_robust_threshold);
+  }
+
+  // Add the residuals.
+  double xx, yy;
+  int num_points = 0;
+  while (scanf("%lf %lf\n", &xx, &yy) == 2) {
+    CostFunction *cost =
+        new AutoDiffCostFunction<DistanceFromCircleCost, 1, 1, 1, 1>(
+            new DistanceFromCircleCost(xx, yy));
+    problem.AddResidualBlock(cost, loss, &x, &y, &m);
+    num_points++;
+  }
+
+  std::cout << "Got " << num_points << " points.\n";
+
+  // Build and solve the problem.
+  Solver::Options options;
+  options.max_num_iterations = 500;
+  options.linear_solver_type = ceres::DENSE_QR;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+
+  // Recover r from m.
+  r = m * m;
+
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "x : " << initial_x << " -> " << x << "\n";
+  std::cout << "y : " << initial_y << " -> " << y << "\n";
+  std::cout << "r : " << initial_r << " -> " << r << "\n";
+  return 0;
+}
diff --git a/examples/curve_fitting.c b/examples/curve_fitting.c
new file mode 100644
index 0000000..0027aa8
--- /dev/null
+++ b/examples/curve_fitting.c
@@ -0,0 +1,187 @@
+/* Ceres Solver - A fast non-linear least squares minimizer
+ * Copyright 2015 Google Inc. All rights reserved.
+ * http://ceres-solver.org/
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * - Redistributions of source code must retain the above copyright notice,
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of Google Inc. nor the names of its contributors may be
+ *   used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: mierle@gmail.com (Keir Mierle)
+ *
+ * This is a port of curve_fitting.cc to the minimal C API for Ceres.
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <string.h>  // For NULL
+#include "ceres/c_api.h"
+
+/* Data generated using the following octave code.
+ *
+ *   randn('seed', 23497);
+ *   m = 0.3;
+ *   c = 0.1;
+ *   x=[0:0.075:5];
+ *   y = exp(m * x + c);
+ *   noise = randn(size(x)) * 0.2;
+ *   y_observed = y + noise;
+ *   data = [x', y_observed'];
+ *
+ */
+
+int num_observations = 67;
+double data[] = {
+  0.000000e+00, 1.133898e+00,
+  7.500000e-02, 1.334902e+00,
+  1.500000e-01, 1.213546e+00,
+  2.250000e-01, 1.252016e+00,
+  3.000000e-01, 1.392265e+00,
+  3.750000e-01, 1.314458e+00,
+  4.500000e-01, 1.472541e+00,
+  5.250000e-01, 1.536218e+00,
+  6.000000e-01, 1.355679e+00,
+  6.750000e-01, 1.463566e+00,
+  7.500000e-01, 1.490201e+00,
+  8.250000e-01, 1.658699e+00,
+  9.000000e-01, 1.067574e+00,
+  9.750000e-01, 1.464629e+00,
+  1.050000e+00, 1.402653e+00,
+  1.125000e+00, 1.713141e+00,
+  1.200000e+00, 1.527021e+00,
+  1.275000e+00, 1.702632e+00,
+  1.350000e+00, 1.423899e+00,
+  1.425000e+00, 1.543078e+00,
+  1.500000e+00, 1.664015e+00,
+  1.575000e+00, 1.732484e+00,
+  1.650000e+00, 1.543296e+00,
+  1.725000e+00, 1.959523e+00,
+  1.800000e+00, 1.685132e+00,
+  1.875000e+00, 1.951791e+00,
+  1.950000e+00, 2.095346e+00,
+  2.025000e+00, 2.361460e+00,
+  2.100000e+00, 2.169119e+00,
+  2.175000e+00, 2.061745e+00,
+  2.250000e+00, 2.178641e+00,
+  2.325000e+00, 2.104346e+00,
+  2.400000e+00, 2.584470e+00,
+  2.475000e+00, 1.914158e+00,
+  2.550000e+00, 2.368375e+00,
+  2.625000e+00, 2.686125e+00,
+  2.700000e+00, 2.712395e+00,
+  2.775000e+00, 2.499511e+00,
+  2.850000e+00, 2.558897e+00,
+  2.925000e+00, 2.309154e+00,
+  3.000000e+00, 2.869503e+00,
+  3.075000e+00, 3.116645e+00,
+  3.150000e+00, 3.094907e+00,
+  3.225000e+00, 2.471759e+00,
+  3.300000e+00, 3.017131e+00,
+  3.375000e+00, 3.232381e+00,
+  3.450000e+00, 2.944596e+00,
+  3.525000e+00, 3.385343e+00,
+  3.600000e+00, 3.199826e+00,
+  3.675000e+00, 3.423039e+00,
+  3.750000e+00, 3.621552e+00,
+  3.825000e+00, 3.559255e+00,
+  3.900000e+00, 3.530713e+00,
+  3.975000e+00, 3.561766e+00,
+  4.050000e+00, 3.544574e+00,
+  4.125000e+00, 3.867945e+00,
+  4.200000e+00, 4.049776e+00,
+  4.275000e+00, 3.885601e+00,
+  4.350000e+00, 4.110505e+00,
+  4.425000e+00, 4.345320e+00,
+  4.500000e+00, 4.161241e+00,
+  4.575000e+00, 4.363407e+00,
+  4.650000e+00, 4.161576e+00,
+  4.725000e+00, 4.619728e+00,
+  4.800000e+00, 4.737410e+00,
+  4.875000e+00, 4.727863e+00,
+  4.950000e+00, 4.669206e+00,
+};
+
+/* This is the equivalent of a use-defined CostFunction in the C++ Ceres API.
+ * This is passed as a callback to the Ceres C API, which internally converts
+ * the callback into a CostFunction. */
+int exponential_residual(void* user_data,
+                         double** parameters,
+                         double* residuals,
+                         double** jacobians) {
+  double* measurement = (double*) user_data;
+  double x = measurement[0];
+  double y = measurement[1];
+  double m = parameters[0][0];
+  double c = parameters[1][0];
+
+  residuals[0] = y - exp(m * x + c);
+  if (jacobians == NULL) {
+    return 1;
+  }
+  if (jacobians[0] != NULL) {
+    jacobians[0][0] = - x * exp(m * x + c);  /* dr/dm */
+  }
+  if (jacobians[1] != NULL) {
+    jacobians[1][0] =     - exp(m * x + c);  /* dr/dc */
+  }
+  return 1;
+}
+
+int main(int argc, char** argv) {
+  /* Note: Typically it is better to compact m and c into one block,
+   * but in this case use separate blocks to illustrate the use of
+   * multiple parameter blocks. */
+  double m = 0.0;
+  double c = 0.0;
+
+  double *parameter_pointers[] = { &m, &c };
+  int parameter_sizes[] = { 1, 1 };
+  int i;
+
+  ceres_problem_t* problem;
+
+  /* Ceres has some internal stuff that needs to get initialized. */
+  ceres_init();
+
+  problem = ceres_create_problem();
+
+  /* Add all the residuals. */
+  for (i = 0; i < num_observations; ++i) {
+    ceres_problem_add_residual_block(
+        problem,
+        exponential_residual,  /* Cost function */
+        &data[2 * i],          /* Points to the (x,y) measurement */
+        NULL,                  /* No loss function */
+        NULL,                  /* No loss function user data */
+        1,                     /* Number of residuals */
+        2,                     /* Number of parameter blocks */
+        parameter_sizes,
+        parameter_pointers);
+  }
+
+  ceres_solve(problem);
+  ceres_free_problem(problem);
+
+  printf("Initial m: 0.0, c: 0.0\n");
+  printf("Final m: %g, c: %g\n", m, c);
+  return 0;
+}
diff --git a/examples/curve_fitting.cc b/examples/curve_fitting.cc
new file mode 100644
index 0000000..3f577f8
--- /dev/null
+++ b/examples/curve_fitting.cc
@@ -0,0 +1,163 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// Data generated using the following octave code.
+//   randn('seed', 23497);
+//   m = 0.3;
+//   c = 0.1;
+//   x=[0:0.075:5];
+//   y = exp(m * x + c);
+//   noise = randn(size(x)) * 0.2;
+//   y_observed = y + noise;
+//   data = [x', y_observed'];
+
+const int kNumObservations = 67;
+const double data[] = {
+  0.000000e+00, 1.133898e+00,
+  7.500000e-02, 1.334902e+00,
+  1.500000e-01, 1.213546e+00,
+  2.250000e-01, 1.252016e+00,
+  3.000000e-01, 1.392265e+00,
+  3.750000e-01, 1.314458e+00,
+  4.500000e-01, 1.472541e+00,
+  5.250000e-01, 1.536218e+00,
+  6.000000e-01, 1.355679e+00,
+  6.750000e-01, 1.463566e+00,
+  7.500000e-01, 1.490201e+00,
+  8.250000e-01, 1.658699e+00,
+  9.000000e-01, 1.067574e+00,
+  9.750000e-01, 1.464629e+00,
+  1.050000e+00, 1.402653e+00,
+  1.125000e+00, 1.713141e+00,
+  1.200000e+00, 1.527021e+00,
+  1.275000e+00, 1.702632e+00,
+  1.350000e+00, 1.423899e+00,
+  1.425000e+00, 1.543078e+00,
+  1.500000e+00, 1.664015e+00,
+  1.575000e+00, 1.732484e+00,
+  1.650000e+00, 1.543296e+00,
+  1.725000e+00, 1.959523e+00,
+  1.800000e+00, 1.685132e+00,
+  1.875000e+00, 1.951791e+00,
+  1.950000e+00, 2.095346e+00,
+  2.025000e+00, 2.361460e+00,
+  2.100000e+00, 2.169119e+00,
+  2.175000e+00, 2.061745e+00,
+  2.250000e+00, 2.178641e+00,
+  2.325000e+00, 2.104346e+00,
+  2.400000e+00, 2.584470e+00,
+  2.475000e+00, 1.914158e+00,
+  2.550000e+00, 2.368375e+00,
+  2.625000e+00, 2.686125e+00,
+  2.700000e+00, 2.712395e+00,
+  2.775000e+00, 2.499511e+00,
+  2.850000e+00, 2.558897e+00,
+  2.925000e+00, 2.309154e+00,
+  3.000000e+00, 2.869503e+00,
+  3.075000e+00, 3.116645e+00,
+  3.150000e+00, 3.094907e+00,
+  3.225000e+00, 2.471759e+00,
+  3.300000e+00, 3.017131e+00,
+  3.375000e+00, 3.232381e+00,
+  3.450000e+00, 2.944596e+00,
+  3.525000e+00, 3.385343e+00,
+  3.600000e+00, 3.199826e+00,
+  3.675000e+00, 3.423039e+00,
+  3.750000e+00, 3.621552e+00,
+  3.825000e+00, 3.559255e+00,
+  3.900000e+00, 3.530713e+00,
+  3.975000e+00, 3.561766e+00,
+  4.050000e+00, 3.544574e+00,
+  4.125000e+00, 3.867945e+00,
+  4.200000e+00, 4.049776e+00,
+  4.275000e+00, 3.885601e+00,
+  4.350000e+00, 4.110505e+00,
+  4.425000e+00, 4.345320e+00,
+  4.500000e+00, 4.161241e+00,
+  4.575000e+00, 4.363407e+00,
+  4.650000e+00, 4.161576e+00,
+  4.725000e+00, 4.619728e+00,
+  4.800000e+00, 4.737410e+00,
+  4.875000e+00, 4.727863e+00,
+  4.950000e+00, 4.669206e+00,
+};
+
+struct ExponentialResidual {
+  ExponentialResidual(double x, double y)
+      : x_(x), y_(y) {}
+
+  template <typename T> bool operator()(const T* const m,
+                                        const T* const c,
+                                        T* residual) const {
+    residual[0] = y_ - exp(m[0] * x_ + c[0]);
+    return true;
+  }
+
+ private:
+  const double x_;
+  const double y_;
+};
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  double m = 0.0;
+  double c = 0.0;
+
+  Problem problem;
+  for (int i = 0; i < kNumObservations; ++i) {
+    problem.AddResidualBlock(
+        new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+            new ExponentialResidual(data[2 * i], data[2 * i + 1])),
+        NULL,
+        &m, &c);
+  }
+
+  Solver::Options options;
+  options.max_num_iterations = 25;
+  options.linear_solver_type = ceres::DENSE_QR;
+  options.minimizer_progress_to_stdout = true;
+
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
+  std::cout << "Final   m: " << m << " c: " << c << "\n";
+  return 0;
+}
diff --git a/examples/denoising.cc b/examples/denoising.cc
new file mode 100644
index 0000000..a8bdd7c
--- /dev/null
+++ b/examples/denoising.cc
@@ -0,0 +1,220 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Denoising using Fields of Experts and the Ceres minimizer.
+//
+// Note that for good denoising results the weighting between the data term
+// and the Fields of Experts term needs to be adjusted. This is discussed
+// in [1]. This program assumes Gaussian noise. The noise model can be changed
+// by substituing another function for QuadraticCostFunction.
+//
+// [1] S. Roth and M.J. Black. "Fields of Experts." International Journal of
+//     Computer Vision, 82(2):205--229, 2009.
+
+#include <algorithm>
+#include <cmath>
+#include <iostream>
+#include <vector>
+#include <sstream>
+#include <string>
+
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+#include "fields_of_experts.h"
+#include "pgm_image.h"
+
+DEFINE_string(input, "", "File to which the output image should be written");
+DEFINE_string(foe_file, "", "FoE file to use");
+DEFINE_string(output, "", "File to which the output image should be written");
+DEFINE_double(sigma, 20.0, "Standard deviation of noise");
+DEFINE_bool(verbose, false, "Prints information about the solver progress.");
+DEFINE_bool(line_search, false, "Use a line search instead of trust region "
+            "algorithm.");
+
+namespace ceres {
+namespace examples {
+
+// This cost function is used to build the data term.
+//
+//   f_i(x) = a * (x_i - b)^2
+//
+class QuadraticCostFunction : public ceres::SizedCostFunction<1, 1> {
+ public:
+  QuadraticCostFunction(double a, double b)
+    : sqrta_(std::sqrt(a)), b_(b) {}
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    const double x = parameters[0][0];
+    residuals[0] = sqrta_ * (x - b_);
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = sqrta_;
+    }
+    return true;
+  }
+ private:
+  double sqrta_, b_;
+};
+
+// Creates a Fields of Experts MAP inference problem.
+void CreateProblem(const FieldsOfExperts& foe,
+                   const PGMImage<double>& image,
+                   Problem* problem,
+                   PGMImage<double>* solution) {
+  // Create the data term
+  CHECK_GT(FLAGS_sigma, 0.0);
+  const double coefficient = 1 / (2.0 * FLAGS_sigma * FLAGS_sigma);
+  for (unsigned index = 0; index < image.NumPixels(); ++index) {
+    ceres::CostFunction* cost_function =
+        new QuadraticCostFunction(coefficient,
+                                  image.PixelFromLinearIndex(index));
+    problem->AddResidualBlock(cost_function,
+                              NULL,
+                              solution->MutablePixelFromLinearIndex(index));
+  }
+
+  // Create Ceres cost and loss functions for regularization. One is needed for
+  // each filter.
+  std::vector<ceres::LossFunction*> loss_function(foe.NumFilters());
+  std::vector<ceres::CostFunction*> cost_function(foe.NumFilters());
+  for (int alpha_index = 0; alpha_index < foe.NumFilters(); ++alpha_index) {
+    loss_function[alpha_index] = foe.NewLossFunction(alpha_index);
+    cost_function[alpha_index] = foe.NewCostFunction(alpha_index);
+  }
+
+  // Add FoE regularization for each patch in the image.
+  for (int x = 0; x < image.width() - (foe.Size() - 1); ++x) {
+    for (int y = 0; y < image.height() - (foe.Size() - 1); ++y) {
+      // Build a vector with the pixel indices of this patch.
+      std::vector<double*> pixels;
+      const std::vector<int>& x_delta_indices = foe.GetXDeltaIndices();
+      const std::vector<int>& y_delta_indices = foe.GetYDeltaIndices();
+      for (int i = 0; i < foe.NumVariables(); ++i) {
+        double* pixel = solution->MutablePixel(x + x_delta_indices[i],
+                                               y + y_delta_indices[i]);
+        pixels.push_back(pixel);
+      }
+      // For this patch with coordinates (x, y), we will add foe.NumFilters()
+      // terms to the objective function.
+      for (int alpha_index = 0; alpha_index < foe.NumFilters(); ++alpha_index) {
+        problem->AddResidualBlock(cost_function[alpha_index],
+                                  loss_function[alpha_index],
+                                  pixels);
+      }
+    }
+  }
+}
+
+// Solves the FoE problem using Ceres and post-processes it to make sure the
+// solution stays within [0, 255].
+void SolveProblem(Problem* problem, PGMImage<double>* solution) {
+  // These parameters may be experimented with. For example, ceres::DOGLEG tends
+  // to be faster for 2x2 filters, but gives solutions with slightly higher
+  // objective function value.
+  ceres::Solver::Options options;
+  options.max_num_iterations = 100;
+  if (FLAGS_verbose) {
+    options.minimizer_progress_to_stdout = true;
+  }
+
+  if (FLAGS_line_search) {
+    options.minimizer_type = ceres::LINE_SEARCH;
+  }
+
+  options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+  options.function_tolerance = 1e-3;  // Enough for denoising.
+
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, problem, &summary);
+  if (FLAGS_verbose) {
+    std::cout << summary.FullReport() << "\n";
+  }
+
+  // Make the solution stay in [0, 255].
+  for (int x = 0; x < solution->width(); ++x) {
+    for (int y = 0; y < solution->height(); ++y) {
+      *solution->MutablePixel(x, y) =
+          std::min(255.0, std::max(0.0, solution->Pixel(x, y)));
+    }
+  }
+}
+}  // namespace examples
+}  // namespace ceres
+
+int main(int argc, char** argv) {
+  using namespace ceres::examples;
+  std::string
+      usage("This program denoises an image using Ceres.  Sample usage:\n");
+  usage += argv[0];
+  usage += " --input=<noisy image PGM file> --foe_file=<FoE file name>";
+  CERES_GFLAGS_NAMESPACE::SetUsageMessage(usage);
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  google::InitGoogleLogging(argv[0]);
+
+  if (FLAGS_input.empty()) {
+    std::cerr << "Please provide an image file name.\n";
+    return 1;
+  }
+
+  if (FLAGS_foe_file.empty()) {
+    std::cerr << "Please provide a Fields of Experts file name.\n";
+    return 1;
+  }
+
+  // Load the Fields of Experts filters from file.
+  FieldsOfExperts foe;
+  if (!foe.LoadFromFile(FLAGS_foe_file)) {
+    std::cerr << "Loading \"" << FLAGS_foe_file << "\" failed.\n";
+    return 2;
+  }
+
+  // Read the images
+  PGMImage<double> image(FLAGS_input);
+  if (image.width() == 0) {
+    std::cerr << "Reading \"" << FLAGS_input << "\" failed.\n";
+    return 3;
+  }
+  PGMImage<double> solution(image.width(), image.height());
+  solution.Set(0.0);
+
+  ceres::Problem problem;
+  CreateProblem(foe, image, &problem, &solution);
+
+  SolveProblem(&problem, &solution);
+
+  if (!FLAGS_output.empty()) {
+    CHECK(solution.WriteToFile(FLAGS_output))
+        << "Writing \"" << FLAGS_output << "\" failed.";
+  }
+
+  return 0;
+}
diff --git a/examples/ellipse_approximation.cc b/examples/ellipse_approximation.cc
new file mode 100644
index 0000000..f519f0c
--- /dev/null
+++ b/examples/ellipse_approximation.cc
@@ -0,0 +1,452 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+//
+// This fits points randomly distributed on an ellipse with an approximate
+// line segment contour. This is done by jointly optimizing the control points
+// of the line segment contour along with the preimage positions for the data
+// points. The purpose of this example is to show an example use case for
+// dynamic_sparsity, and how it can benefit problems which are numerically
+// dense but dynamically sparse.
+
+#include <cmath>
+#include <vector>
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+// Data generated with the following Python code.
+//   import numpy as np
+//   np.random.seed(1337)
+//   t = np.linspace(0.0, 2.0 * np.pi, 212, endpoint=False)
+//   t += 2.0 * np.pi * 0.01 * np.random.randn(t.size)
+//   theta = np.deg2rad(15)
+//   a, b = np.cos(theta), np.sin(theta)
+//   R = np.array([[a, -b],
+//                 [b, a]])
+//   Y = np.dot(np.c_[4.0 * np.cos(t), np.sin(t)], R.T)
+
+const int kYRows = 212;
+const int kYCols = 2;
+const double kYData[kYRows * kYCols] = {
+  +3.871364e+00, +9.916027e-01,
+  +3.864003e+00, +1.034148e+00,
+  +3.850651e+00, +1.072202e+00,
+  +3.868350e+00, +1.014408e+00,
+  +3.796381e+00, +1.153021e+00,
+  +3.857138e+00, +1.056102e+00,
+  +3.787532e+00, +1.162215e+00,
+  +3.704477e+00, +1.227272e+00,
+  +3.564711e+00, +1.294959e+00,
+  +3.754363e+00, +1.191948e+00,
+  +3.482098e+00, +1.322725e+00,
+  +3.602777e+00, +1.279658e+00,
+  +3.585433e+00, +1.286858e+00,
+  +3.347505e+00, +1.356415e+00,
+  +3.220855e+00, +1.378914e+00,
+  +3.558808e+00, +1.297174e+00,
+  +3.403618e+00, +1.343809e+00,
+  +3.179828e+00, +1.384721e+00,
+  +3.054789e+00, +1.398759e+00,
+  +3.294153e+00, +1.366808e+00,
+  +3.247312e+00, +1.374813e+00,
+  +2.988547e+00, +1.404247e+00,
+  +3.114508e+00, +1.392698e+00,
+  +2.899226e+00, +1.409802e+00,
+  +2.533256e+00, +1.414778e+00,
+  +2.654773e+00, +1.415909e+00,
+  +2.565100e+00, +1.415313e+00,
+  +2.976456e+00, +1.405118e+00,
+  +2.484200e+00, +1.413640e+00,
+  +2.324751e+00, +1.407476e+00,
+  +1.930468e+00, +1.378221e+00,
+  +2.329017e+00, +1.407688e+00,
+  +1.760640e+00, +1.360319e+00,
+  +2.147375e+00, +1.396603e+00,
+  +1.741989e+00, +1.358178e+00,
+  +1.743859e+00, +1.358394e+00,
+  +1.557372e+00, +1.335208e+00,
+  +1.280551e+00, +1.295087e+00,
+  +1.429880e+00, +1.317546e+00,
+  +1.213485e+00, +1.284400e+00,
+  +9.168172e-01, +1.232870e+00,
+  +1.311141e+00, +1.299839e+00,
+  +1.231969e+00, +1.287382e+00,
+  +7.453773e-01, +1.200049e+00,
+  +6.151587e-01, +1.173683e+00,
+  +5.935666e-01, +1.169193e+00,
+  +2.538707e-01, +1.094227e+00,
+  +6.806136e-01, +1.187089e+00,
+  +2.805447e-01, +1.100405e+00,
+  +6.184807e-01, +1.174371e+00,
+  +1.170550e-01, +1.061762e+00,
+  +2.890507e-01, +1.102365e+00,
+  +3.834234e-01, +1.123772e+00,
+  +3.980161e-04, +1.033061e+00,
+  -3.651680e-01, +9.370367e-01,
+  -8.386351e-01, +7.987201e-01,
+  -8.105704e-01, +8.073702e-01,
+  -8.735139e-01, +7.878886e-01,
+  -9.913836e-01, +7.506100e-01,
+  -8.784011e-01, +7.863636e-01,
+  -1.181440e+00, +6.882566e-01,
+  -1.229556e+00, +6.720191e-01,
+  -1.035839e+00, +7.362765e-01,
+  -8.031520e-01, +8.096470e-01,
+  -1.539136e+00, +5.629549e-01,
+  -1.755423e+00, +4.817306e-01,
+  -1.337589e+00, +6.348763e-01,
+  -1.836966e+00, +4.499485e-01,
+  -1.913367e+00, +4.195617e-01,
+  -2.126467e+00, +3.314900e-01,
+  -1.927625e+00, +4.138238e-01,
+  -2.339862e+00, +2.379074e-01,
+  -1.881736e+00, +4.322152e-01,
+  -2.116753e+00, +3.356163e-01,
+  -2.255733e+00, +2.754930e-01,
+  -2.555834e+00, +1.368473e-01,
+  -2.770277e+00, +2.895711e-02,
+  -2.563376e+00, +1.331890e-01,
+  -2.826715e+00, -9.000818e-04,
+  -2.978191e+00, -8.457804e-02,
+  -3.115855e+00, -1.658786e-01,
+  -2.982049e+00, -8.678322e-02,
+  -3.307892e+00, -2.902083e-01,
+  -3.038346e+00, -1.194222e-01,
+  -3.190057e+00, -2.122060e-01,
+  -3.279086e+00, -2.705777e-01,
+  -3.322028e+00, -2.999889e-01,
+  -3.122576e+00, -1.699965e-01,
+  -3.551973e+00, -4.768674e-01,
+  -3.581866e+00, -5.032175e-01,
+  -3.497799e+00, -4.315203e-01,
+  -3.565384e+00, -4.885602e-01,
+  -3.699493e+00, -6.199815e-01,
+  -3.585166e+00, -5.061925e-01,
+  -3.758914e+00, -6.918275e-01,
+  -3.741104e+00, -6.689131e-01,
+  -3.688331e+00, -6.077239e-01,
+  -3.810425e+00, -7.689015e-01,
+  -3.791829e+00, -7.386911e-01,
+  -3.789951e+00, -7.358189e-01,
+  -3.823100e+00, -7.918398e-01,
+  -3.857021e+00, -8.727074e-01,
+  -3.858250e+00, -8.767645e-01,
+  -3.872100e+00, -9.563174e-01,
+  -3.864397e+00, -1.032630e+00,
+  -3.846230e+00, -1.081669e+00,
+  -3.834799e+00, -1.102536e+00,
+  -3.866684e+00, -1.022901e+00,
+  -3.808643e+00, -1.139084e+00,
+  -3.868840e+00, -1.011569e+00,
+  -3.791071e+00, -1.158615e+00,
+  -3.797999e+00, -1.151267e+00,
+  -3.696278e+00, -1.232314e+00,
+  -3.779007e+00, -1.170504e+00,
+  -3.622855e+00, -1.270793e+00,
+  -3.647249e+00, -1.259166e+00,
+  -3.655412e+00, -1.255042e+00,
+  -3.573218e+00, -1.291696e+00,
+  -3.638019e+00, -1.263684e+00,
+  -3.498409e+00, -1.317750e+00,
+  -3.304143e+00, -1.364970e+00,
+  -3.183001e+00, -1.384295e+00,
+  -3.202456e+00, -1.381599e+00,
+  -3.244063e+00, -1.375332e+00,
+  -3.233308e+00, -1.377019e+00,
+  -3.060112e+00, -1.398264e+00,
+  -3.078187e+00, -1.396517e+00,
+  -2.689594e+00, -1.415761e+00,
+  -2.947662e+00, -1.407039e+00,
+  -2.854490e+00, -1.411860e+00,
+  -2.660499e+00, -1.415900e+00,
+  -2.875955e+00, -1.410930e+00,
+  -2.675385e+00, -1.415848e+00,
+  -2.813155e+00, -1.413363e+00,
+  -2.417673e+00, -1.411512e+00,
+  -2.725461e+00, -1.415373e+00,
+  -2.148334e+00, -1.396672e+00,
+  -2.108972e+00, -1.393738e+00,
+  -2.029905e+00, -1.387302e+00,
+  -2.046214e+00, -1.388687e+00,
+  -2.057402e+00, -1.389621e+00,
+  -1.650250e+00, -1.347160e+00,
+  -1.806764e+00, -1.365469e+00,
+  -1.206973e+00, -1.283343e+00,
+  -8.029259e-01, -1.211308e+00,
+  -1.229551e+00, -1.286993e+00,
+  -1.101507e+00, -1.265754e+00,
+  -9.110645e-01, -1.231804e+00,
+  -1.110046e+00, -1.267211e+00,
+  -8.465274e-01, -1.219677e+00,
+  -7.594163e-01, -1.202818e+00,
+  -8.023823e-01, -1.211203e+00,
+  -3.732519e-01, -1.121494e+00,
+  -1.918373e-01, -1.079668e+00,
+  -4.671988e-01, -1.142253e+00,
+  -4.033645e-01, -1.128215e+00,
+  -1.920740e-01, -1.079724e+00,
+  -3.022157e-01, -1.105389e+00,
+  -1.652831e-01, -1.073354e+00,
+  +4.671625e-01, -9.085886e-01,
+  +5.940178e-01, -8.721832e-01,
+  +3.147557e-01, -9.508290e-01,
+  +6.383631e-01, -8.591867e-01,
+  +9.888923e-01, -7.514088e-01,
+  +7.076339e-01, -8.386023e-01,
+  +1.326682e+00, -6.386698e-01,
+  +1.149834e+00, -6.988221e-01,
+  +1.257742e+00, -6.624207e-01,
+  +1.492352e+00, -5.799632e-01,
+  +1.595574e+00, -5.421766e-01,
+  +1.240173e+00, -6.684113e-01,
+  +1.706612e+00, -5.004442e-01,
+  +1.873984e+00, -4.353002e-01,
+  +1.985633e+00, -3.902561e-01,
+  +1.722880e+00, -4.942329e-01,
+  +2.095182e+00, -3.447402e-01,
+  +2.018118e+00, -3.768991e-01,
+  +2.422702e+00, -1.999563e-01,
+  +2.370611e+00, -2.239326e-01,
+  +2.152154e+00, -3.205250e-01,
+  +2.525121e+00, -1.516499e-01,
+  +2.422116e+00, -2.002280e-01,
+  +2.842806e+00, +9.536372e-03,
+  +3.030128e+00, +1.146027e-01,
+  +2.888424e+00, +3.433444e-02,
+  +2.991609e+00, +9.226409e-02,
+  +2.924807e+00, +5.445844e-02,
+  +3.007772e+00, +1.015875e-01,
+  +2.781973e+00, -2.282382e-02,
+  +3.164737e+00, +1.961781e-01,
+  +3.237671e+00, +2.430139e-01,
+  +3.046123e+00, +1.240014e-01,
+  +3.414834e+00, +3.669060e-01,
+  +3.436591e+00, +3.833600e-01,
+  +3.626207e+00, +5.444311e-01,
+  +3.223325e+00, +2.336361e-01,
+  +3.511963e+00, +4.431060e-01,
+  +3.698380e+00, +6.187442e-01,
+  +3.670244e+00, +5.884943e-01,
+  +3.558833e+00, +4.828230e-01,
+  +3.661807e+00, +5.797689e-01,
+  +3.767261e+00, +7.030893e-01,
+  +3.801065e+00, +7.532650e-01,
+  +3.828523e+00, +8.024454e-01,
+  +3.840719e+00, +8.287032e-01,
+  +3.848748e+00, +8.485921e-01,
+  +3.865801e+00, +9.066551e-01,
+  +3.870983e+00, +9.404873e-01,
+  +3.870263e+00, +1.001884e+00,
+  +3.864462e+00, +1.032374e+00,
+  +3.870542e+00, +9.996121e-01,
+  +3.865424e+00, +1.028474e+00
+};
+ceres::ConstMatrixRef kY(kYData, kYRows, kYCols);
+
+class PointToLineSegmentContourCostFunction : public ceres::CostFunction {
+ public:
+  PointToLineSegmentContourCostFunction(const int num_segments,
+                                        const Eigen::Vector2d& y)
+      : num_segments_(num_segments), y_(y) {
+    // The first parameter is the preimage position.
+    mutable_parameter_block_sizes()->push_back(1);
+    // The next parameters are the control points for the line segment contour.
+    for (int i = 0; i < num_segments_; ++i) {
+      mutable_parameter_block_sizes()->push_back(2);
+    }
+    set_num_residuals(2);
+  }
+
+  virtual bool Evaluate(const double* const* x,
+                        double* residuals,
+                        double** jacobians) const {
+    // Convert the preimage position `t` into a segment index `i0` and the
+    // line segment interpolation parameter `u`. `i1` is the index of the next
+    // control point.
+    const double t = ModuloNumSegments(*x[0]);
+    CHECK_GE(t, 0.0);
+    CHECK_LT(t, num_segments_);
+    const int i0 = floor(t), i1 = (i0 + 1) % num_segments_;
+    const double u = t - i0;
+
+    // Linearly interpolate between control points `i0` and `i1`.
+    residuals[0] = y_[0] - ((1.0 - u) * x[1 + i0][0] + u * x[1 + i1][0]);
+    residuals[1] = y_[1] - ((1.0 - u) * x[1 + i0][1] + u * x[1 + i1][1]);
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    if (jacobians[0] != NULL) {
+      jacobians[0][0] = x[1 + i0][0] - x[1 + i1][0];
+      jacobians[0][1] = x[1 + i0][1] - x[1 + i1][1];
+    }
+    for (int i = 0; i < num_segments_; ++i) {
+      if (jacobians[i + 1] != NULL) {
+        ceres::MatrixRef(jacobians[i + 1], 2, 2).setZero();
+        if (i == i0) {
+          jacobians[i + 1][0] = -(1.0 - u);
+          jacobians[i + 1][3] = -(1.0 - u);
+        } else if (i == i1) {
+          jacobians[i + 1][0] = -u;
+          jacobians[i + 1][3] = -u;
+        }
+      }
+    }
+    return true;
+  }
+
+  static ceres::CostFunction* Create(const int num_segments,
+                                     const Eigen::Vector2d& y) {
+    return new PointToLineSegmentContourCostFunction(num_segments, y);
+  }
+
+ private:
+  inline double ModuloNumSegments(const double t) const {
+    return t - num_segments_ * floor(t / num_segments_);
+  }
+
+  const int num_segments_;
+  const Eigen::Vector2d y_;
+};
+
+class EuclideanDistanceFunctor {
+ public:
+  explicit EuclideanDistanceFunctor(const double& sqrt_weight)
+      : sqrt_weight_(sqrt_weight) {}
+
+  template <typename T>
+  bool operator()(const T* x0, const T* x1, T* residuals) const {
+    residuals[0] = sqrt_weight_ * (x0[0] - x1[0]);
+    residuals[1] = sqrt_weight_ * (x0[1] - x1[1]);
+    return true;
+  }
+
+  static ceres::CostFunction* Create(const double sqrt_weight) {
+    return new ceres::AutoDiffCostFunction<EuclideanDistanceFunctor, 2, 2, 2>(
+        new EuclideanDistanceFunctor(sqrt_weight));
+  }
+
+ private:
+  const double sqrt_weight_;
+};
+
+bool SolveWithFullReport(ceres::Solver::Options options,
+                         ceres::Problem* problem,
+                         bool dynamic_sparsity) {
+  options.dynamic_sparsity = dynamic_sparsity;
+
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, problem, &summary);
+
+  std::cout << "####################" << std::endl;
+  std::cout << "dynamic_sparsity = " << dynamic_sparsity << std::endl;
+  std::cout << "####################" << std::endl;
+  std::cout << summary.FullReport() << std::endl;
+
+  return summary.termination_type == ceres::CONVERGENCE;
+}
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  // Problem configuration.
+  const int num_segments = 151;
+  const double regularization_weight = 1e-2;
+
+  // Eigen::MatrixXd is column major so we define our own MatrixXd which is
+  // row major. Eigen::VectorXd can be used directly.
+  typedef Eigen::Matrix<double,
+                        Eigen::Dynamic, Eigen::Dynamic,
+                        Eigen::RowMajor> MatrixXd;
+  using Eigen::VectorXd;
+
+  // `X` is the matrix of control points which make up the contour of line
+  // segments. The number of control points is equal to the number of line
+  // segments because the contour is closed.
+  //
+  // Initialize `X` to points on the unit circle.
+  VectorXd w(num_segments + 1);
+  w.setLinSpaced(num_segments + 1, 0.0, 2.0 * M_PI);
+  w.conservativeResize(num_segments);
+  MatrixXd X(num_segments, 2);
+  X.col(0) = w.array().cos();
+  X.col(1) = w.array().sin();
+
+  // Each data point has an associated preimage position on the line segment
+  // contour. For each data point we initialize the preimage positions to
+  // the index of the closest control point.
+  const int num_observations = kY.rows();
+  VectorXd t(num_observations);
+  for (int i = 0; i < num_observations; ++i) {
+    (X.rowwise() - kY.row(i)).rowwise().squaredNorm().minCoeff(&t[i]);
+  }
+
+  ceres::Problem problem;
+
+  // For each data point add a residual which measures its distance to its
+  // corresponding position on the line segment contour.
+  std::vector<double*> parameter_blocks(1 + num_segments);
+  parameter_blocks[0] = NULL;
+  for (int i = 0; i < num_segments; ++i) {
+    parameter_blocks[i + 1] = X.data() + 2 * i;
+  }
+  for (int i = 0; i < num_observations; ++i) {
+    parameter_blocks[0] = &t[i];
+    problem.AddResidualBlock(
+      PointToLineSegmentContourCostFunction::Create(num_segments, kY.row(i)),
+      NULL,
+      parameter_blocks);
+  }
+
+  // Add regularization to minimize the length of the line segment contour.
+  for (int i = 0; i < num_segments; ++i) {
+    problem.AddResidualBlock(
+      EuclideanDistanceFunctor::Create(sqrt(regularization_weight)),
+      NULL,
+      X.data() + 2 * i,
+      X.data() + 2 * ((i + 1) % num_segments));
+  }
+
+  ceres::Solver::Options options;
+  options.max_num_iterations = 100;
+  options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+
+  // First, solve `X` and `t` jointly with dynamic_sparsity = true.
+  MatrixXd X0 = X;
+  VectorXd t0 = t;
+  CHECK(SolveWithFullReport(options, &problem, true));
+
+  // Second, solve with dynamic_sparsity = false.
+  X = X0;
+  t = t0;
+  CHECK(SolveWithFullReport(options, &problem, false));
+
+  return 0;
+}
diff --git a/examples/fields_of_experts.cc b/examples/fields_of_experts.cc
new file mode 100644
index 0000000..60d179a
--- /dev/null
+++ b/examples/fields_of_experts.cc
@@ -0,0 +1,152 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Class for loading the data required for descibing a Fields of Experts (FoE)
+// model.
+
+#include "fields_of_experts.h"
+
+#include <fstream>
+#include <cmath>
+
+#include "pgm_image.h"
+
+namespace ceres {
+namespace examples {
+
+FieldsOfExpertsCost::FieldsOfExpertsCost(const std::vector<double>& filter)
+    : filter_(filter) {
+  set_num_residuals(1);
+  for (int i = 0; i < filter_.size(); ++i) {
+    mutable_parameter_block_sizes()->push_back(1);
+  }
+}
+
+// This is a dot product between a the scalar parameters and a vector of filter
+// coefficients.
+bool FieldsOfExpertsCost::Evaluate(double const* const* parameters,
+                                   double* residuals,
+                                   double** jacobians) const {
+  int num_variables = filter_.size();
+  residuals[0] = 0;
+  for (int i = 0; i < num_variables; ++i) {
+    residuals[0] += filter_[i] * parameters[i][0];
+  }
+
+  if (jacobians != NULL) {
+    for (int i = 0; i < num_variables; ++i) {
+      if (jacobians[i] != NULL) {
+        jacobians[i][0] = filter_[i];
+      }
+    }
+  }
+
+  return true;
+}
+
+// This loss function builds the FoE terms and is equal to
+//
+//   f(x) = alpha_i * log(1 + (1/2)s)
+//
+void FieldsOfExpertsLoss::Evaluate(double sq_norm, double rho[3]) const {
+  const double c = 0.5;
+  const double sum = 1.0 + sq_norm * c;
+  const double inv = 1.0 / sum;
+  // 'sum' and 'inv' are always positive, assuming that 's' is.
+  rho[0] = alpha_ *  log(sum);
+  rho[1] = alpha_ * c * inv;
+  rho[2] = - alpha_ * c * c * inv * inv;
+}
+
+FieldsOfExperts::FieldsOfExperts()
+    :  size_(0), num_filters_(0) {
+}
+
+bool FieldsOfExperts::LoadFromFile(const std::string& filename) {
+  std::ifstream foe_file(filename.c_str());
+  foe_file >> size_;
+  foe_file >> num_filters_;
+  if (size_ < 0 || num_filters_ < 0) {
+    return false;
+  }
+  const int num_variables = NumVariables();
+
+  x_delta_indices_.resize(num_variables);
+  for (int i = 0; i < num_variables; ++i) {
+    foe_file >> x_delta_indices_[i];
+  }
+
+  y_delta_indices_.resize(NumVariables());
+  for (int i = 0; i < num_variables; ++i) {
+    foe_file >> y_delta_indices_[i];
+  }
+
+  alpha_.resize(num_filters_);
+  for (int i = 0; i < num_filters_; ++i) {
+    foe_file >> alpha_[i];
+  }
+
+  filters_.resize(num_filters_);
+  for (int i = 0; i < num_filters_; ++i) {
+    filters_[i].resize(num_variables);
+    for (int j = 0; j < num_variables; ++j) {
+      foe_file >> filters_[i][j];
+    }
+  }
+
+  // If any read failed, return failure.
+  if (!foe_file) {
+    size_ = 0;
+    return false;
+  }
+
+  // There cannot be anything else in the file. Try reading another number and
+  // return failure if that succeeded.
+  double temp;
+  foe_file >> temp;
+  if (foe_file) {
+    size_ = 0;
+    return false;
+  }
+
+  return true;
+}
+
+ceres::CostFunction* FieldsOfExperts::NewCostFunction(int alpha_index) const {
+  return new FieldsOfExpertsCost(filters_[alpha_index]);
+}
+
+ceres::LossFunction* FieldsOfExperts::NewLossFunction(int alpha_index) const {
+  return new FieldsOfExpertsLoss(alpha_[alpha_index]);
+}
+
+
+}  // namespace examples
+}  // namespace ceres
diff --git a/examples/fields_of_experts.h b/examples/fields_of_experts.h
new file mode 100644
index 0000000..210ca69
--- /dev/null
+++ b/examples/fields_of_experts.h
@@ -0,0 +1,145 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Class for loading the data required for descibing a Fields of Experts (FoE)
+// model. The Fields of Experts regularization consists of terms of the type
+//
+//   alpha * log(1 + (1/2)*sum(F .* X)^2),
+//
+// where F is a d-by-d image patch and alpha is a constant. This is implemented
+// by a FieldsOfExpertsSum object which represents the dot product between the
+// image patches and a FieldsOfExpertsLoss which implements the log(1 + (1/2)s)
+// part.
+//
+// [1] S. Roth and M.J. Black. "Fields of Experts." International Journal of
+//     Computer Vision, 82(2):205--229, 2009.
+
+#ifndef CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
+#define CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
+
+#include <iostream>
+#include <vector>
+
+#include "ceres/loss_function.h"
+#include "ceres/cost_function.h"
+#include "ceres/sized_cost_function.h"
+
+#include "pgm_image.h"
+
+namespace ceres {
+namespace examples {
+
+// One sum in the FoE regularizer. This is a dot product between a filter and an
+// image patch. It simply calculates the dot product between the filter
+// coefficients given in the constructor and the scalar parameters passed to it.
+class FieldsOfExpertsCost : public ceres::CostFunction {
+ public:
+  explicit FieldsOfExpertsCost(const std::vector<double>& filter);
+  // The number of scalar parameters passed to Evaluate must equal the number of
+  // filter coefficients passed to the constructor.
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const;
+
+ private:
+  const std::vector<double>& filter_;
+};
+
+// The loss function used to build the correct regularization. See above.
+//
+//   f(x) = alpha_i * log(1 + (1/2)s)
+//
+class FieldsOfExpertsLoss : public ceres::LossFunction {
+ public:
+  explicit FieldsOfExpertsLoss(double alpha) : alpha_(alpha) { }
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  const double alpha_;
+};
+
+// This class loads a set of filters and coefficients from file. Then the users
+// obtains the correct loss and cost functions through NewCostFunction and
+// NewLossFunction.
+class FieldsOfExperts {
+ public:
+  // Creates an empty object with size() == 0.
+  FieldsOfExperts();
+  // Attempts to load filters from a file. If unsuccessful it returns false and
+  // sets size() == 0.
+  bool LoadFromFile(const std::string& filename);
+
+  // Side length of a square filter in this FoE. They are all of the same size.
+  int Size() const {
+    return size_;
+  }
+
+  // Total number of pixels the filter covers.
+  int NumVariables() const {
+    return size_ * size_;
+  }
+
+  // Number of filters used by the FoE.
+  int NumFilters() const {
+    return num_filters_;
+  }
+
+  // Creates a new cost function. The caller is responsible for deallocating the
+  // memory. alpha_index specifies which filter is used in the cost function.
+  ceres::CostFunction* NewCostFunction(int alpha_index) const;
+  // Creates a new loss function. The caller is responsible for deallocating the
+  // memory. alpha_index specifies which filter this loss function is for.
+  ceres::LossFunction* NewLossFunction(int alpha_index) const;
+
+  // Gets the delta pixel indices for all pixels in a patch.
+  const std::vector<int>& GetXDeltaIndices() const {
+    return x_delta_indices_;
+  }
+  const std::vector<int>& GetYDeltaIndices() const {
+    return y_delta_indices_;
+  }
+
+ private:
+  // The side length of a square filter.
+  int size_;
+  // The number of different filters used.
+  int num_filters_;
+  // Pixel offsets for all variables.
+  std::vector<int> x_delta_indices_, y_delta_indices_;
+  // The coefficients in front of each term.
+  std::vector<double> alpha_;
+  // The filters used for the dot product with image patches.
+  std::vector<std::vector<double> > filters_;
+};
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
diff --git a/examples/helloworld.cc b/examples/helloworld.cc
new file mode 100644
index 0000000..22dff55
--- /dev/null
+++ b/examples/helloworld.cc
@@ -0,0 +1,83 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A simple example of using the Ceres minimizer.
+//
+// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
+// automatic differentiation.
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A templated cost functor that implements the residual r = 10 -
+// x. The method operator() is templated so that we can then use an
+// automatic differentiation wrapper around it to generate its
+// derivatives.
+struct CostFunctor {
+  template <typename T> bool operator()(const T* const x, T* residual) const {
+    residual[0] = 10.0 - x[0];
+    return true;
+  }
+};
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  // The variable to solve for with its initial value. It will be
+  // mutated in place by the solver.
+  double x = 0.5;
+  const double initial_x = x;
+
+  // Build the problem.
+  Problem problem;
+
+  // Set up the only cost function (also known as residual). This uses
+  // auto-differentiation to obtain the derivative (jacobian).
+  CostFunction* cost_function =
+      new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+  problem.AddResidualBlock(cost_function, NULL, &x);
+
+  // Run the solver!
+  Solver::Options options;
+  options.minimizer_progress_to_stdout = true;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "x : " << initial_x
+            << " -> " << x << "\n";
+  return 0;
+}
diff --git a/examples/helloworld_analytic_diff.cc b/examples/helloworld_analytic_diff.cc
new file mode 100644
index 0000000..9dbbc76
--- /dev/null
+++ b/examples/helloworld_analytic_diff.cc
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A simple example of using the Ceres minimizer.
+//
+// Minimize 0.5 (10 - x)^2 using analytic jacobian matrix.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+using ceres::CostFunction;
+using ceres::SizedCostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A CostFunction implementing analytically derivatives for the
+// function f(x) = 10 - x.
+class QuadraticCostFunction
+  : public SizedCostFunction<1 /* number of residuals */,
+                             1 /* size of first parameter */> {
+ public:
+  virtual ~QuadraticCostFunction() {}
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    double x = parameters[0][0];
+
+    // f(x) = 10 - x.
+    residuals[0] = 10 - x;
+
+    // f'(x) = -1. Since there's only 1 parameter and that parameter
+    // has 1 dimension, there is only 1 element to fill in the
+    // jacobians.
+    //
+    // Since the Evaluate function can be called with the jacobians
+    // pointer equal to NULL, the Evaluate function must check to see
+    // if jacobians need to be computed.
+    //
+    // For this simple problem it is overkill to check if jacobians[0]
+    // is NULL, but in general when writing more complex
+    // CostFunctions, it is possible that Ceres may only demand the
+    // derivatives w.r.t. a subset of the parameter blocks.
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = -1;
+    }
+
+    return true;
+  }
+};
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  // The variable to solve for with its initial value. It will be
+  // mutated in place by the solver.
+  double x = 0.5;
+  const double initial_x = x;
+
+  // Build the problem.
+  Problem problem;
+
+  // Set up the only cost function (also known as residual).
+  CostFunction* cost_function = new QuadraticCostFunction;
+  problem.AddResidualBlock(cost_function, NULL, &x);
+
+  // Run the solver!
+  Solver::Options options;
+  options.minimizer_progress_to_stdout = true;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "x : " << initial_x
+            << " -> " << x << "\n";
+
+  return 0;
+}
diff --git a/examples/helloworld_numeric_diff.cc b/examples/helloworld_numeric_diff.cc
new file mode 100644
index 0000000..0810f47
--- /dev/null
+++ b/examples/helloworld_numeric_diff.cc
@@ -0,0 +1,79 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
+// numeric differentiation.
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+using ceres::NumericDiffCostFunction;
+using ceres::CENTRAL;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A cost functor that implements the residual r = 10 - x.
+struct CostFunctor {
+  bool operator()(const double* const x, double* residual) const {
+    residual[0] = 10.0 - x[0];
+    return true;
+  }
+};
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  // The variable to solve for with its initial value. It will be
+  // mutated in place by the solver.
+  double x = 0.5;
+  const double initial_x = x;
+
+  // Build the problem.
+  Problem problem;
+
+  // Set up the only cost function (also known as residual). This uses
+  // numeric differentiation to obtain the derivative (jacobian).
+  CostFunction* cost_function =
+      new NumericDiffCostFunction<CostFunctor, CENTRAL, 1, 1> (new CostFunctor);
+  problem.AddResidualBlock(cost_function, NULL, &x);
+
+  // Run the solver!
+  Solver::Options options;
+  options.minimizer_progress_to_stdout = true;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "x : " << initial_x
+            << " -> " << x << "\n";
+  return 0;
+}
diff --git a/examples/libmv_bundle_adjuster.cc b/examples/libmv_bundle_adjuster.cc
new file mode 100644
index 0000000..47d0cd7
--- /dev/null
+++ b/examples/libmv_bundle_adjuster.cc
@@ -0,0 +1,843 @@
+// Copyright (c) 2013 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+//         sergey.vfx@gmail.com (Sergey Sharybin)
+//
+// This is an example application which contains bundle adjustment code used
+// in the Libmv library and Blender. It reads problems from files passed via
+// the command line and runs the bundle adjuster on the problem.
+//
+// File with problem a binary file, for which it is crucial to know in which
+// order bytes of float values are stored in. This information is provided
+// by a single character in the beginning of the file. There're two possible
+// values of this byte:
+//  - V, which means values in the file are stored with big endian type
+//  - v, which means values in the file are stored with little endian type
+//
+// The rest of the file contains data in the following order:
+//   - Space in which markers' coordinates are stored in
+//   - Camera intrinsics
+//   - Number of cameras
+//   - Cameras
+//   - Number of 3D points
+//   - 3D points
+//   - Number of markers
+//   - Markers
+//
+// Markers' space could either be normalized or image (pixels). This is defined
+// by the single character in the file. P means markers in the file is in image
+// space, and N means markers are in normalized space.
+//
+// Camera intrinsics are 8 described by 8 float 8.
+// This values goes in the following order:
+//
+//   - Focal length, principal point X, principal point Y, k1, k2, k3, p1, p2
+//
+// Every camera is described by:
+//
+//   - Image for which camera belongs to (single 4 bytes integer value).
+//   - Column-major camera rotation matrix, 9 float values.
+//   - Camera translation, 3-component vector of float values.
+//
+// Image number shall be greater or equal to zero. Order of cameras does not
+// matter and gaps are possible.
+//
+// Every 3D point is decribed by:
+//
+//  - Track number point belongs to (single 4 bytes integer value).
+//  - 3D position vector, 3-component vector of float values.
+//
+// Track number shall be greater or equal to zero. Order of tracks does not
+// matter and gaps are possible.
+//
+// Finally every marker is described by:
+//
+//  - Image marker belongs to single 4 bytes integer value).
+//  - Track marker belongs to single 4 bytes integer value).
+//  - 2D marker position vector, (two float values).
+//
+// Marker's space is used a default value for refine_intrinsics command line
+// flag. This means if there's no refine_intrinsics flag passed via command
+// line, camera intrinsics will be refined if markers in the problem are
+// stored in image space and camera intrinsics will not be refined if markers
+// are in normalized space.
+//
+// Passing refine_intrinsics command line flag defines explicitly whether
+// refinement of intrinsics will happen. Currently, only none and all
+// intrinsics refinement is supported.
+//
+// There're existing problem files dumped from blender stored in folder
+// ../data/libmv-ba-problems.
+
+#include <cstdio>
+#include <fcntl.h>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#ifdef _MSC_VER
+#  include <io.h>
+#  define open _open
+#  define close _close
+typedef unsigned __int32 uint32_t;
+#else
+#include <stdint.h>
+#include <unistd.h>
+
+// O_BINARY is not defined on unix like platforms, as there is no
+// difference between binary and text files.
+#define O_BINARY 0
+
+#endif
+
+#include "ceres/ceres.h"
+#include "ceres/rotation.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+typedef Eigen::Matrix<double, 3, 3> Mat3;
+typedef Eigen::Matrix<double, 6, 1> Vec6;
+typedef Eigen::Vector3d Vec3;
+typedef Eigen::Vector4d Vec4;
+
+using std::vector;
+
+DEFINE_string(input, "", "Input File name");
+DEFINE_string(refine_intrinsics, "", "Camera intrinsics to be refined. "
+              "Options are: none, radial.");
+
+namespace {
+
+// A EuclideanCamera is the location and rotation of the camera
+// viewing an image.
+//
+// image identifies which image this camera represents.
+// R is a 3x3 matrix representing the rotation of the camera.
+// t is a translation vector representing its positions.
+struct EuclideanCamera {
+  EuclideanCamera() : image(-1) {}
+  EuclideanCamera(const EuclideanCamera &c) : image(c.image), R(c.R), t(c.t) {}
+
+  int image;
+  Mat3 R;
+  Vec3 t;
+};
+
+// A Point is the 3D location of a track.
+//
+// track identifies which track this point corresponds to.
+// X represents the 3D position of the track.
+struct EuclideanPoint {
+  EuclideanPoint() : track(-1) {}
+  EuclideanPoint(const EuclideanPoint &p) : track(p.track), X(p.X) {}
+  int track;
+  Vec3 X;
+};
+
+// A Marker is the 2D location of a tracked point in an image.
+//
+// x and y is the position of the marker in pixels from the top left corner
+// in the image identified by an image. All markers for to the same target
+// form a track identified by a common track number.
+struct Marker {
+  int image;
+  int track;
+  double x, y;
+};
+
+// Cameras intrinsics to be bundled.
+//
+// BUNDLE_RADIAL actually implies bundling of k1 and k2 coefficients only,
+// no bundling of k3 is possible at this moment.
+enum BundleIntrinsics {
+  BUNDLE_NO_INTRINSICS = 0,
+  BUNDLE_FOCAL_LENGTH = 1,
+  BUNDLE_PRINCIPAL_POINT = 2,
+  BUNDLE_RADIAL_K1 = 4,
+  BUNDLE_RADIAL_K2 = 8,
+  BUNDLE_RADIAL = 12,
+  BUNDLE_TANGENTIAL_P1 = 16,
+  BUNDLE_TANGENTIAL_P2 = 32,
+  BUNDLE_TANGENTIAL = 48,
+};
+
+// Denotes which blocks to keep constant during bundling.
+// For example it is useful to keep camera translations constant
+// when bundling tripod motions.
+enum BundleConstraints {
+  BUNDLE_NO_CONSTRAINTS = 0,
+  BUNDLE_NO_TRANSLATION = 1,
+};
+
+// The intrinsics need to get combined into a single parameter block; use these
+// enums to index instead of numeric constants.
+enum {
+  OFFSET_FOCAL_LENGTH,
+  OFFSET_PRINCIPAL_POINT_X,
+  OFFSET_PRINCIPAL_POINT_Y,
+  OFFSET_K1,
+  OFFSET_K2,
+  OFFSET_K3,
+  OFFSET_P1,
+  OFFSET_P2,
+};
+
+// Returns a pointer to the camera corresponding to a image.
+EuclideanCamera *CameraForImage(vector<EuclideanCamera> *all_cameras,
+                                const int image) {
+  if (image < 0 || image >= all_cameras->size()) {
+    return NULL;
+  }
+  EuclideanCamera *camera = &(*all_cameras)[image];
+  if (camera->image == -1) {
+    return NULL;
+  }
+  return camera;
+}
+
+const EuclideanCamera *CameraForImage(
+    const vector<EuclideanCamera> &all_cameras,
+    const int image) {
+  if (image < 0 || image >= all_cameras.size()) {
+    return NULL;
+  }
+  const EuclideanCamera *camera = &all_cameras[image];
+  if (camera->image == -1) {
+    return NULL;
+  }
+  return camera;
+}
+
+// Returns maximal image number at which marker exists.
+int MaxImage(const vector<Marker> &all_markers) {
+  if (all_markers.size() == 0) {
+    return -1;
+  }
+
+  int max_image = all_markers[0].image;
+  for (int i = 1; i < all_markers.size(); i++) {
+    max_image = std::max(max_image, all_markers[i].image);
+  }
+  return max_image;
+}
+
+// Returns a pointer to the point corresponding to a track.
+EuclideanPoint *PointForTrack(vector<EuclideanPoint> *all_points,
+                              const int track) {
+  if (track < 0 || track >= all_points->size()) {
+    return NULL;
+  }
+  EuclideanPoint *point = &(*all_points)[track];
+  if (point->track == -1) {
+    return NULL;
+  }
+  return point;
+}
+
+// Reader of binary file which makes sure possibly needed endian
+// conversion happens when loading values like floats and integers.
+//
+// File's endian type is reading from a first character of file, which
+// could either be V for big endian or v for little endian.  This
+// means you need to design file format assuming first character
+// denotes file endianness in this way.
+class EndianAwareFileReader {
+ public:
+  EndianAwareFileReader(void) : file_descriptor_(-1) {
+    // Get an endian type of the host machine.
+    union {
+      unsigned char bytes[4];
+      uint32_t value;
+    } endian_test = { { 0, 1, 2, 3 } };
+    host_endian_type_ = endian_test.value;
+    file_endian_type_ = host_endian_type_;
+  }
+
+  ~EndianAwareFileReader(void) {
+    if (file_descriptor_ > 0) {
+      close(file_descriptor_);
+    }
+  }
+
+  bool OpenFile(const std::string &file_name) {
+    file_descriptor_ = open(file_name.c_str(), O_RDONLY | O_BINARY);
+    if (file_descriptor_ < 0) {
+      return false;
+    }
+    // Get an endian tpye of data in the file.
+    unsigned char file_endian_type_flag = Read<unsigned char>();
+    if (file_endian_type_flag == 'V') {
+      file_endian_type_ = kBigEndian;
+    } else if (file_endian_type_flag == 'v') {
+      file_endian_type_ = kLittleEndian;
+    } else {
+      LOG(FATAL) << "Problem file is stored in unknown endian type.";
+    }
+    return true;
+  }
+
+  // Read value from the file, will switch endian if needed.
+  template <typename T>
+  T Read(void) const {
+    T value;
+    CHECK_GT(read(file_descriptor_, &value, sizeof(value)), 0);
+    // Switch endian type if file contains data in different type
+    // that current machine.
+    if (file_endian_type_ != host_endian_type_) {
+      value = SwitchEndian<T>(value);
+    }
+    return value;
+  }
+ private:
+  static const long int kLittleEndian = 0x03020100ul;
+  static const long int kBigEndian = 0x00010203ul;
+
+  // Switch endian type between big to little.
+  template <typename T>
+  T SwitchEndian(const T value) const {
+    if (sizeof(T) == 4) {
+      unsigned int temp_value = static_cast<unsigned int>(value);
+      return ((temp_value >> 24)) |
+             ((temp_value << 8) & 0x00ff0000) |
+             ((temp_value >> 8) & 0x0000ff00) |
+             ((temp_value << 24));
+    } else if (sizeof(T) == 1) {
+      return value;
+    } else {
+      LOG(FATAL) << "Entered non-implemented part of endian switching function.";
+    }
+  }
+
+  int host_endian_type_;
+  int file_endian_type_;
+  int file_descriptor_;
+};
+
+// Read 3x3 column-major matrix from the file
+void ReadMatrix3x3(const EndianAwareFileReader &file_reader,
+                   Mat3 *matrix) {
+  for (int i = 0; i < 9; i++) {
+    (*matrix)(i % 3, i / 3) = file_reader.Read<float>();
+  }
+}
+
+// Read 3-vector from file
+void ReadVector3(const EndianAwareFileReader &file_reader,
+                 Vec3 *vector) {
+  for (int i = 0; i < 3; i++) {
+    (*vector)(i) = file_reader.Read<float>();
+  }
+}
+
+// Reads a bundle adjustment problem from the file.
+//
+// file_name denotes from which file to read the problem.
+// camera_intrinsics will contain initial camera intrinsics values.
+//
+// all_cameras is a vector of all reconstructed cameras to be optimized,
+// vector element with number i will contain camera for image i.
+//
+// all_points is a vector of all reconstructed 3D points to be optimized,
+// vector element with number i will contain point for track i.
+//
+// all_markers is a vector of all tracked markers existing in
+// the problem. Only used for reprojection error calculation, stay
+// unchanged during optimization.
+//
+// Returns false if any kind of error happened during
+// reading.
+bool ReadProblemFromFile(const std::string &file_name,
+                         double camera_intrinsics[8],
+                         vector<EuclideanCamera> *all_cameras,
+                         vector<EuclideanPoint> *all_points,
+                         bool *is_image_space,
+                         vector<Marker> *all_markers) {
+  EndianAwareFileReader file_reader;
+  if (!file_reader.OpenFile(file_name)) {
+    return false;
+  }
+
+  // Read markers' space flag.
+  unsigned char is_image_space_flag = file_reader.Read<unsigned char>();
+  if (is_image_space_flag == 'P') {
+    *is_image_space = true;
+  } else if (is_image_space_flag == 'N') {
+    *is_image_space = false;
+  } else {
+    LOG(FATAL) << "Problem file contains markers stored in unknown space.";
+  }
+
+  // Read camera intrinsics.
+  for (int i = 0; i < 8; i++) {
+    camera_intrinsics[i] = file_reader.Read<float>();
+  }
+
+  // Read all cameras.
+  int number_of_cameras = file_reader.Read<int>();
+  for (int i = 0; i < number_of_cameras; i++) {
+    EuclideanCamera camera;
+
+    camera.image = file_reader.Read<int>();
+    ReadMatrix3x3(file_reader, &camera.R);
+    ReadVector3(file_reader, &camera.t);
+
+    if (camera.image >= all_cameras->size()) {
+      all_cameras->resize(camera.image + 1);
+    }
+
+    (*all_cameras)[camera.image].image = camera.image;
+    (*all_cameras)[camera.image].R = camera.R;
+    (*all_cameras)[camera.image].t = camera.t;
+  }
+
+  LOG(INFO) << "Read " << number_of_cameras << " cameras.";
+
+  // Read all reconstructed 3D points.
+  int number_of_points = file_reader.Read<int>();
+  for (int i = 0; i < number_of_points; i++) {
+    EuclideanPoint point;
+
+    point.track = file_reader.Read<int>();
+    ReadVector3(file_reader, &point.X);
+
+    if (point.track >= all_points->size()) {
+      all_points->resize(point.track + 1);
+    }
+
+    (*all_points)[point.track].track = point.track;
+    (*all_points)[point.track].X = point.X;
+  }
+
+  LOG(INFO) << "Read " << number_of_points << " points.";
+
+  // And finally read all markers.
+  int number_of_markers = file_reader.Read<int>();
+  for (int i = 0; i < number_of_markers; i++) {
+    Marker marker;
+
+    marker.image = file_reader.Read<int>();
+    marker.track = file_reader.Read<int>();
+    marker.x = file_reader.Read<float>();
+    marker.y = file_reader.Read<float>();
+
+    all_markers->push_back(marker);
+  }
+
+  LOG(INFO) << "Read " << number_of_markers << " markers.";
+
+  return true;
+}
+
+// Apply camera intrinsics to the normalized point to get image coordinates.
+// This applies the radial lens distortion to a point which is in normalized
+// camera coordinates (i.e. the principal point is at (0, 0)) to get image
+// coordinates in pixels. Templated for use with autodifferentiation.
+template <typename T>
+inline void ApplyRadialDistortionCameraIntrinsics(const T &focal_length_x,
+                                                  const T &focal_length_y,
+                                                  const T &principal_point_x,
+                                                  const T &principal_point_y,
+                                                  const T &k1,
+                                                  const T &k2,
+                                                  const T &k3,
+                                                  const T &p1,
+                                                  const T &p2,
+                                                  const T &normalized_x,
+                                                  const T &normalized_y,
+                                                  T *image_x,
+                                                  T *image_y) {
+  T x = normalized_x;
+  T y = normalized_y;
+
+  // Apply distortion to the normalized points to get (xd, yd).
+  T r2 = x*x + y*y;
+  T r4 = r2 * r2;
+  T r6 = r4 * r2;
+  T r_coeff = 1.0 + k1 * r2 + k2 * r4 + k3 * r6;
+  T xd = x * r_coeff + 2.0 * p1 * x * y + p2 * (r2 + 2.0 * x * x);
+  T yd = y * r_coeff + 2.0 * p2 * x * y + p1 * (r2 + 2.0 * y * y);
+
+  // Apply focal length and principal point to get the final image coordinates.
+  *image_x = focal_length_x * xd + principal_point_x;
+  *image_y = focal_length_y * yd + principal_point_y;
+}
+
+// Cost functor which computes reprojection error of 3D point X
+// on camera defined by angle-axis rotation and it's translation
+// (which are in the same block due to optimization reasons).
+//
+// This functor uses a radial distortion model.
+struct OpenCVReprojectionError {
+  OpenCVReprojectionError(const double observed_x, const double observed_y)
+      : observed_x(observed_x), observed_y(observed_y) {}
+
+  template <typename T>
+  bool operator()(const T* const intrinsics,
+                  const T* const R_t,  // Rotation denoted by angle axis
+                                       // followed with translation
+                  const T* const X,    // Point coordinates 3x1.
+                  T* residuals) const {
+    // Unpack the intrinsics.
+    const T& focal_length      = intrinsics[OFFSET_FOCAL_LENGTH];
+    const T& principal_point_x = intrinsics[OFFSET_PRINCIPAL_POINT_X];
+    const T& principal_point_y = intrinsics[OFFSET_PRINCIPAL_POINT_Y];
+    const T& k1                = intrinsics[OFFSET_K1];
+    const T& k2                = intrinsics[OFFSET_K2];
+    const T& k3                = intrinsics[OFFSET_K3];
+    const T& p1                = intrinsics[OFFSET_P1];
+    const T& p2                = intrinsics[OFFSET_P2];
+
+    // Compute projective coordinates: x = RX + t.
+    T x[3];
+
+    ceres::AngleAxisRotatePoint(R_t, X, x);
+    x[0] += R_t[3];
+    x[1] += R_t[4];
+    x[2] += R_t[5];
+
+    // Compute normalized coordinates: x /= x[2].
+    T xn = x[0] / x[2];
+    T yn = x[1] / x[2];
+
+    T predicted_x, predicted_y;
+
+    // Apply distortion to the normalized points to get (xd, yd).
+    // TODO(keir): Do early bailouts for zero distortion; these are expensive
+    // jet operations.
+    ApplyRadialDistortionCameraIntrinsics(focal_length,
+                                          focal_length,
+                                          principal_point_x,
+                                          principal_point_y,
+                                          k1, k2, k3,
+                                          p1, p2,
+                                          xn, yn,
+                                          &predicted_x,
+                                          &predicted_y);
+
+    // The error is the difference between the predicted and observed position.
+    residuals[0] = predicted_x - observed_x;
+    residuals[1] = predicted_y - observed_y;
+
+    return true;
+  }
+
+  const double observed_x;
+  const double observed_y;
+};
+
+// Print a message to the log which camera intrinsics are gonna to be optimized.
+void BundleIntrinsicsLogMessage(const int bundle_intrinsics) {
+  if (bundle_intrinsics == BUNDLE_NO_INTRINSICS) {
+    LOG(INFO) << "Bundling only camera positions.";
+  } else {
+    std::string bundling_message = "";
+
+#define APPEND_BUNDLING_INTRINSICS(name, flag) \
+    if (bundle_intrinsics & flag) { \
+      if (!bundling_message.empty()) { \
+        bundling_message += ", "; \
+      } \
+      bundling_message += name; \
+    } (void)0
+
+    APPEND_BUNDLING_INTRINSICS("f",      BUNDLE_FOCAL_LENGTH);
+    APPEND_BUNDLING_INTRINSICS("px, py", BUNDLE_PRINCIPAL_POINT);
+    APPEND_BUNDLING_INTRINSICS("k1",     BUNDLE_RADIAL_K1);
+    APPEND_BUNDLING_INTRINSICS("k2",     BUNDLE_RADIAL_K2);
+    APPEND_BUNDLING_INTRINSICS("p1",     BUNDLE_TANGENTIAL_P1);
+    APPEND_BUNDLING_INTRINSICS("p2",     BUNDLE_TANGENTIAL_P2);
+
+    LOG(INFO) << "Bundling " << bundling_message << ".";
+  }
+}
+
+// Print a message to the log containing all the camera intriniscs values.
+void PrintCameraIntrinsics(const char *text, const double *camera_intrinsics) {
+  std::ostringstream intrinsics_output;
+
+  intrinsics_output << "f=" << camera_intrinsics[OFFSET_FOCAL_LENGTH];
+
+  intrinsics_output <<
+    " cx=" << camera_intrinsics[OFFSET_PRINCIPAL_POINT_X] <<
+    " cy=" << camera_intrinsics[OFFSET_PRINCIPAL_POINT_Y];
+
+#define APPEND_DISTORTION_COEFFICIENT(name, offset) \
+  { \
+    if (camera_intrinsics[offset] != 0.0) { \
+      intrinsics_output << " " name "=" << camera_intrinsics[offset];  \
+    } \
+  } (void)0
+
+  APPEND_DISTORTION_COEFFICIENT("k1", OFFSET_K1);
+  APPEND_DISTORTION_COEFFICIENT("k2", OFFSET_K2);
+  APPEND_DISTORTION_COEFFICIENT("k3", OFFSET_K3);
+  APPEND_DISTORTION_COEFFICIENT("p1", OFFSET_P1);
+  APPEND_DISTORTION_COEFFICIENT("p2", OFFSET_P2);
+
+#undef APPEND_DISTORTION_COEFFICIENT
+
+  LOG(INFO) << text << intrinsics_output.str();
+}
+
+// Get a vector of camera's rotations denoted by angle axis
+// conjuncted with translations into single block
+//
+// Element with index i matches to a rotation+translation for
+// camera at image i.
+vector<Vec6> PackCamerasRotationAndTranslation(
+    const vector<Marker> &all_markers,
+    const vector<EuclideanCamera> &all_cameras) {
+  vector<Vec6> all_cameras_R_t;
+  int max_image = MaxImage(all_markers);
+
+  all_cameras_R_t.resize(max_image + 1);
+
+  for (int i = 0; i <= max_image; i++) {
+    const EuclideanCamera *camera = CameraForImage(all_cameras, i);
+
+    if (!camera) {
+      continue;
+    }
+
+    ceres::RotationMatrixToAngleAxis(&camera->R(0, 0),
+                                     &all_cameras_R_t[i](0));
+    all_cameras_R_t[i].tail<3>() = camera->t;
+  }
+
+  return all_cameras_R_t;
+}
+
+// Convert cameras rotations fro mangle axis back to rotation matrix.
+void UnpackCamerasRotationAndTranslation(
+    const vector<Marker> &all_markers,
+    const vector<Vec6> &all_cameras_R_t,
+    vector<EuclideanCamera> *all_cameras) {
+  int max_image = MaxImage(all_markers);
+
+  for (int i = 0; i <= max_image; i++) {
+    EuclideanCamera *camera = CameraForImage(all_cameras, i);
+
+    if (!camera) {
+      continue;
+    }
+
+    ceres::AngleAxisToRotationMatrix(&all_cameras_R_t[i](0),
+                                     &camera->R(0, 0));
+    camera->t = all_cameras_R_t[i].tail<3>();
+  }
+}
+
+void EuclideanBundleCommonIntrinsics(const vector<Marker> &all_markers,
+                                     const int bundle_intrinsics,
+                                     const int bundle_constraints,
+                                     double *camera_intrinsics,
+                                     vector<EuclideanCamera> *all_cameras,
+                                     vector<EuclideanPoint> *all_points) {
+  PrintCameraIntrinsics("Original intrinsics: ", camera_intrinsics);
+
+  ceres::Problem::Options problem_options;
+  ceres::Problem problem(problem_options);
+
+  // Convert cameras rotations to angle axis and merge with translation
+  // into single parameter block for maximal minimization speed
+  //
+  // Block for minimization has got the following structure:
+  //   <3 elements for angle-axis> <3 elements for translation>
+  vector<Vec6> all_cameras_R_t =
+    PackCamerasRotationAndTranslation(all_markers, *all_cameras);
+
+  // Parameterization used to restrict camera motion for modal solvers.
+  ceres::SubsetParameterization *constant_transform_parameterization = NULL;
+  if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
+      std::vector<int> constant_translation;
+
+      // First three elements are rotation, last three are translation.
+      constant_translation.push_back(3);
+      constant_translation.push_back(4);
+      constant_translation.push_back(5);
+
+      constant_transform_parameterization =
+        new ceres::SubsetParameterization(6, constant_translation);
+  }
+
+  int num_residuals = 0;
+  bool have_locked_camera = false;
+  for (int i = 0; i < all_markers.size(); ++i) {
+    const Marker &marker = all_markers[i];
+    EuclideanCamera *camera = CameraForImage(all_cameras, marker.image);
+    EuclideanPoint *point = PointForTrack(all_points, marker.track);
+    if (camera == NULL || point == NULL) {
+      continue;
+    }
+
+    // Rotation of camera denoted in angle axis followed with
+    // camera translaiton.
+    double *current_camera_R_t = &all_cameras_R_t[camera->image](0);
+
+    problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
+        OpenCVReprojectionError, 2, 8, 6, 3>(
+            new OpenCVReprojectionError(
+                marker.x,
+                marker.y)),
+        NULL,
+        camera_intrinsics,
+        current_camera_R_t,
+        &point->X(0));
+
+    // We lock the first camera to better deal with scene orientation ambiguity.
+    if (!have_locked_camera) {
+      problem.SetParameterBlockConstant(current_camera_R_t);
+      have_locked_camera = true;
+    }
+
+    if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
+      problem.SetParameterization(current_camera_R_t,
+                                  constant_transform_parameterization);
+    }
+
+    num_residuals++;
+  }
+  LOG(INFO) << "Number of residuals: " << num_residuals;
+
+  if (!num_residuals) {
+    LOG(INFO) << "Skipping running minimizer with zero residuals";
+    return;
+  }
+
+  BundleIntrinsicsLogMessage(bundle_intrinsics);
+
+  if (bundle_intrinsics == BUNDLE_NO_INTRINSICS) {
+    // No camera intrinsics are being refined,
+    // set the whole parameter block as constant for best performance.
+    problem.SetParameterBlockConstant(camera_intrinsics);
+  } else {
+    // Set the camera intrinsics that are not to be bundled as
+    // constant using some macro trickery.
+
+    std::vector<int> constant_intrinsics;
+#define MAYBE_SET_CONSTANT(bundle_enum, offset) \
+    if (!(bundle_intrinsics & bundle_enum)) { \
+      constant_intrinsics.push_back(offset); \
+    }
+    MAYBE_SET_CONSTANT(BUNDLE_FOCAL_LENGTH,    OFFSET_FOCAL_LENGTH);
+    MAYBE_SET_CONSTANT(BUNDLE_PRINCIPAL_POINT, OFFSET_PRINCIPAL_POINT_X);
+    MAYBE_SET_CONSTANT(BUNDLE_PRINCIPAL_POINT, OFFSET_PRINCIPAL_POINT_Y);
+    MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K1,       OFFSET_K1);
+    MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K2,       OFFSET_K2);
+    MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P1,   OFFSET_P1);
+    MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P2,   OFFSET_P2);
+#undef MAYBE_SET_CONSTANT
+
+    // Always set K3 constant, it's not used at the moment.
+    constant_intrinsics.push_back(OFFSET_K3);
+
+    ceres::SubsetParameterization *subset_parameterization =
+      new ceres::SubsetParameterization(8, constant_intrinsics);
+
+    problem.SetParameterization(camera_intrinsics, subset_parameterization);
+  }
+
+  // Configure the solver.
+  ceres::Solver::Options options;
+  options.use_nonmonotonic_steps = true;
+  options.preconditioner_type = ceres::SCHUR_JACOBI;
+  options.linear_solver_type = ceres::ITERATIVE_SCHUR;
+  options.use_inner_iterations = true;
+  options.max_num_iterations = 100;
+  options.minimizer_progress_to_stdout = true;
+
+  // Solve!
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, &problem, &summary);
+
+  std::cout << "Final report:\n" << summary.FullReport();
+
+  // Copy rotations and translations back.
+  UnpackCamerasRotationAndTranslation(all_markers,
+                                      all_cameras_R_t,
+                                      all_cameras);
+
+  PrintCameraIntrinsics("Final intrinsics: ", camera_intrinsics);
+}
+}  // namespace
+
+int main(int argc, char **argv) {
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  google::InitGoogleLogging(argv[0]);
+
+  if (FLAGS_input.empty()) {
+    LOG(ERROR) << "Usage: libmv_bundle_adjuster --input=blender_problem";
+    return EXIT_FAILURE;
+  }
+
+  double camera_intrinsics[8];
+  vector<EuclideanCamera> all_cameras;
+  vector<EuclideanPoint> all_points;
+  bool is_image_space;
+  vector<Marker> all_markers;
+
+  if (!ReadProblemFromFile(FLAGS_input,
+                           camera_intrinsics,
+                           &all_cameras,
+                           &all_points,
+                           &is_image_space,
+                           &all_markers)) {
+    LOG(ERROR) << "Error reading problem file";
+    return EXIT_FAILURE;
+  }
+
+  // If there's no refine_intrinsics passed via command line
+  // (in this case FLAGS_refine_intrinsics will be an empty string)
+  // we use problem's settings to detect whether intrinsics
+  // shall be refined or not.
+  //
+  // Namely, if problem has got markers stored in image (pixel)
+  // space, we do full intrinsics refinement. If markers are
+  // stored in normalized space, and refine_intrinsics is not
+  // set, no refining will happen.
+  //
+  // Using command line argument refine_intrinsics will explicitly
+  // declare which intrinsics need to be refined and in this case
+  // refining flags does not depend on problem at all.
+  int bundle_intrinsics = BUNDLE_NO_INTRINSICS;
+  if (FLAGS_refine_intrinsics.empty()) {
+    if (is_image_space) {
+      bundle_intrinsics = BUNDLE_FOCAL_LENGTH | BUNDLE_RADIAL;
+    }
+  } else {
+    if (FLAGS_refine_intrinsics == "radial") {
+      bundle_intrinsics = BUNDLE_FOCAL_LENGTH | BUNDLE_RADIAL;
+    } else if (FLAGS_refine_intrinsics != "none") {
+      LOG(ERROR) << "Unsupported value for refine-intrinsics";
+      return EXIT_FAILURE;
+    }
+  }
+
+  // Run the bundler.
+  EuclideanBundleCommonIntrinsics(all_markers,
+                                  bundle_intrinsics,
+                                  BUNDLE_NO_CONSTRAINTS,
+                                  camera_intrinsics,
+                                  &all_cameras,
+                                  &all_points);
+
+  return EXIT_SUCCESS;
+}
diff --git a/examples/libmv_homography.cc b/examples/libmv_homography.cc
new file mode 100644
index 0000000..6e74fcd
--- /dev/null
+++ b/examples/libmv_homography.cc
@@ -0,0 +1,414 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2014 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//
+// Author: sergey.vfx@gmail.com (Sergey Sharybin)
+//
+// This file demonstrates solving for a homography between two sets of points.
+// A homography describes a transformation between a sets of points on a plane,
+// perspectively projected into two images. The first step is to solve a
+// homogeneous system of equations via singular value decompposition, giving an
+// algebraic solution for the homography, then solving for a final solution by
+// minimizing the symmetric transfer error in image space with Ceres (called the
+// Gold Standard Solution in "Multiple View Geometry"). The routines are based on
+// the routines from the Libmv library.
+//
+// This example demonstrates custom exit criterion by having a callback check
+// for image-space error.
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+typedef Eigen::NumTraits<double> EigenDouble;
+
+typedef Eigen::MatrixXd Mat;
+typedef Eigen::VectorXd Vec;
+typedef Eigen::Matrix<double, 3, 3> Mat3;
+typedef Eigen::Matrix<double, 2, 1> Vec2;
+typedef Eigen::Matrix<double, Eigen::Dynamic,  8> MatX8;
+typedef Eigen::Vector3d Vec3;
+
+namespace {
+
+// This structure contains options that controls how the homography
+// estimation operates.
+//
+// Defaults should be suitable for a wide range of use cases, but
+// better performance and accuracy might require tweaking.
+struct EstimateHomographyOptions {
+  // Default settings for homography estimation which should be suitable
+  // for a wide range of use cases.
+  EstimateHomographyOptions()
+    :  max_num_iterations(50),
+       expected_average_symmetric_distance(1e-16) {}
+
+  // Maximal number of iterations for the refinement step.
+  int max_num_iterations;
+
+  // Expected average of symmetric geometric distance between
+  // actual destination points and original ones transformed by
+  // estimated homography matrix.
+  //
+  // Refinement will finish as soon as average of symmetric
+  // geometric distance is less or equal to this value.
+  //
+  // This distance is measured in the same units as input points are.
+  double expected_average_symmetric_distance;
+};
+
+// Calculate symmetric geometric cost terms:
+//
+// forward_error = D(H * x1, x2)
+// backward_error = D(H^-1 * x2, x1)
+//
+// Templated to be used with autodifferenciation.
+template <typename T>
+void SymmetricGeometricDistanceTerms(const Eigen::Matrix<T, 3, 3> &H,
+                                     const Eigen::Matrix<T, 2, 1> &x1,
+                                     const Eigen::Matrix<T, 2, 1> &x2,
+                                     T forward_error[2],
+                                     T backward_error[2]) {
+  typedef Eigen::Matrix<T, 3, 1> Vec3;
+  Vec3 x(x1(0), x1(1), T(1.0));
+  Vec3 y(x2(0), x2(1), T(1.0));
+
+  Vec3 H_x = H * x;
+  Vec3 Hinv_y = H.inverse() * y;
+
+  H_x /= H_x(2);
+  Hinv_y /= Hinv_y(2);
+
+  forward_error[0] = H_x(0) - y(0);
+  forward_error[1] = H_x(1) - y(1);
+  backward_error[0] = Hinv_y(0) - x(0);
+  backward_error[1] = Hinv_y(1) - x(1);
+}
+
+// Calculate symmetric geometric cost:
+//
+//   D(H * x1, x2)^2 + D(H^-1 * x2, x1)^2
+//
+double SymmetricGeometricDistance(const Mat3 &H,
+                                  const Vec2 &x1,
+                                  const Vec2 &x2) {
+  Vec2 forward_error, backward_error;
+  SymmetricGeometricDistanceTerms<double>(H,
+                                          x1,
+                                          x2,
+                                          forward_error.data(),
+                                          backward_error.data());
+  return forward_error.squaredNorm() +
+         backward_error.squaredNorm();
+}
+
+// A parameterization of the 2D homography matrix that uses 8 parameters so
+// that the matrix is normalized (H(2,2) == 1).
+// The homography matrix H is built from a list of 8 parameters (a, b,...g, h)
+// as follows
+//
+//         |a b c|
+//     H = |d e f|
+//         |g h 1|
+//
+template<typename T = double>
+class Homography2DNormalizedParameterization {
+ public:
+  typedef Eigen::Matrix<T, 8, 1> Parameters;     // a, b, ... g, h
+  typedef Eigen::Matrix<T, 3, 3> Parameterized;  // H
+
+  // Convert from the 8 parameters to a H matrix.
+  static void To(const Parameters &p, Parameterized *h) {
+    *h << p(0), p(1), p(2),
+          p(3), p(4), p(5),
+          p(6), p(7), 1.0;
+  }
+
+  // Convert from a H matrix to the 8 parameters.
+  static void From(const Parameterized &h, Parameters *p) {
+    *p << h(0, 0), h(0, 1), h(0, 2),
+          h(1, 0), h(1, 1), h(1, 2),
+          h(2, 0), h(2, 1);
+  }
+};
+
+// 2D Homography transformation estimation in the case that points are in
+// euclidean coordinates.
+//
+//   x = H y
+//
+// x and y vector must have the same direction, we could write
+//
+//   crossproduct(|x|, * H * |y| ) = |0|
+//
+//   | 0 -1  x2|   |a b c|   |y1|    |0|
+//   | 1  0 -x1| * |d e f| * |y2| =  |0|
+//   |-x2  x1 0|   |g h 1|   |1 |    |0|
+//
+// That gives:
+//
+//   (-d+x2*g)*y1    + (-e+x2*h)*y2 + -f+x2          |0|
+//   (a-x1*g)*y1     + (b-x1*h)*y2  + c-x1         = |0|
+//   (-x2*a+x1*d)*y1 + (-x2*b+x1*e)*y2 + -x2*c+x1*f  |0|
+//
+bool Homography2DFromCorrespondencesLinearEuc(
+    const Mat &x1,
+    const Mat &x2,
+    Mat3 *H,
+    double expected_precision) {
+  assert(2 == x1.rows());
+  assert(4 <= x1.cols());
+  assert(x1.rows() == x2.rows());
+  assert(x1.cols() == x2.cols());
+
+  int n = x1.cols();
+  MatX8 L = Mat::Zero(n * 3, 8);
+  Mat b = Mat::Zero(n * 3, 1);
+  for (int i = 0; i < n; ++i) {
+    int j = 3 * i;
+    L(j, 0) =  x1(0, i);             // a
+    L(j, 1) =  x1(1, i);             // b
+    L(j, 2) =  1.0;                  // c
+    L(j, 6) = -x2(0, i) * x1(0, i);  // g
+    L(j, 7) = -x2(0, i) * x1(1, i);  // h
+    b(j, 0) =  x2(0, i);             // i
+
+    ++j;
+    L(j, 3) =  x1(0, i);             // d
+    L(j, 4) =  x1(1, i);             // e
+    L(j, 5) =  1.0;                  // f
+    L(j, 6) = -x2(1, i) * x1(0, i);  // g
+    L(j, 7) = -x2(1, i) * x1(1, i);  // h
+    b(j, 0) =  x2(1, i);             // i
+
+    // This ensures better stability
+    // TODO(julien) make a lite version without this 3rd set
+    ++j;
+    L(j, 0) =  x2(1, i) * x1(0, i);  // a
+    L(j, 1) =  x2(1, i) * x1(1, i);  // b
+    L(j, 2) =  x2(1, i);             // c
+    L(j, 3) = -x2(0, i) * x1(0, i);  // d
+    L(j, 4) = -x2(0, i) * x1(1, i);  // e
+    L(j, 5) = -x2(0, i);             // f
+  }
+  // Solve Lx=B
+  const Vec h = L.fullPivLu().solve(b);
+  Homography2DNormalizedParameterization<double>::To(h, H);
+  return (L * h).isApprox(b, expected_precision);
+}
+
+// Cost functor which computes symmetric geometric distance
+// used for homography matrix refinement.
+class HomographySymmetricGeometricCostFunctor {
+ public:
+  HomographySymmetricGeometricCostFunctor(const Vec2 &x,
+                                          const Vec2 &y)
+      : x_(x), y_(y) { }
+
+  template<typename T>
+  bool operator()(const T* homography_parameters, T* residuals) const {
+    typedef Eigen::Matrix<T, 3, 3> Mat3;
+    typedef Eigen::Matrix<T, 2, 1> Vec2;
+
+    Mat3 H(homography_parameters);
+    Vec2 x(T(x_(0)), T(x_(1)));
+    Vec2 y(T(y_(0)), T(y_(1)));
+
+    SymmetricGeometricDistanceTerms<T>(H,
+                                       x,
+                                       y,
+                                       &residuals[0],
+                                       &residuals[2]);
+    return true;
+  }
+
+  const Vec2 x_;
+  const Vec2 y_;
+};
+
+// Termination checking callback. This is needed to finish the
+// optimization when an absolute error threshold is met, as opposed
+// to Ceres's function_tolerance, which provides for finishing when
+// successful steps reduce the cost function by a fractional amount.
+// In this case, the callback checks for the absolute average reprojection
+// error and terminates when it's below a threshold (for example all
+// points < 0.5px error).
+class TerminationCheckingCallback : public ceres::IterationCallback {
+ public:
+  TerminationCheckingCallback(const Mat &x1, const Mat &x2,
+                              const EstimateHomographyOptions &options,
+                              Mat3 *H)
+      : options_(options), x1_(x1), x2_(x2), H_(H) {}
+
+  virtual ceres::CallbackReturnType operator()(
+      const ceres::IterationSummary& summary) {
+    // If the step wasn't successful, there's nothing to do.
+    if (!summary.step_is_successful) {
+      return ceres::SOLVER_CONTINUE;
+    }
+
+    // Calculate average of symmetric geometric distance.
+    double average_distance = 0.0;
+    for (int i = 0; i < x1_.cols(); i++) {
+      average_distance += SymmetricGeometricDistance(*H_,
+                                                     x1_.col(i),
+                                                     x2_.col(i));
+    }
+    average_distance /= x1_.cols();
+
+    if (average_distance <= options_.expected_average_symmetric_distance) {
+      return ceres::SOLVER_TERMINATE_SUCCESSFULLY;
+    }
+
+    return ceres::SOLVER_CONTINUE;
+  }
+
+ private:
+  const EstimateHomographyOptions &options_;
+  const Mat &x1_;
+  const Mat &x2_;
+  Mat3 *H_;
+};
+
+bool EstimateHomography2DFromCorrespondences(
+    const Mat &x1,
+    const Mat &x2,
+    const EstimateHomographyOptions &options,
+    Mat3 *H) {
+  assert(2 == x1.rows());
+  assert(4 <= x1.cols());
+  assert(x1.rows() == x2.rows());
+  assert(x1.cols() == x2.cols());
+
+  // Step 1: Algebraic homography estimation.
+  // Assume algebraic estimation always succeeds.
+  Homography2DFromCorrespondencesLinearEuc(x1,
+                                           x2,
+                                           H,
+                                           EigenDouble::dummy_precision());
+
+  LOG(INFO) << "Estimated matrix after algebraic estimation:\n" << *H;
+
+  // Step 2: Refine matrix using Ceres minimizer.
+  ceres::Problem problem;
+  for (int i = 0; i < x1.cols(); i++) {
+    HomographySymmetricGeometricCostFunctor
+        *homography_symmetric_geometric_cost_function =
+            new HomographySymmetricGeometricCostFunctor(x1.col(i),
+                                                        x2.col(i));
+
+    problem.AddResidualBlock(
+        new ceres::AutoDiffCostFunction<
+            HomographySymmetricGeometricCostFunctor,
+            4,  // num_residuals
+            9>(homography_symmetric_geometric_cost_function),
+        NULL,
+        H->data());
+  }
+
+  // Configure the solve.
+  ceres::Solver::Options solver_options;
+  solver_options.linear_solver_type = ceres::DENSE_QR;
+  solver_options.max_num_iterations = options.max_num_iterations;
+  solver_options.update_state_every_iteration = true;
+
+  // Terminate if the average symmetric distance is good enough.
+  TerminationCheckingCallback callback(x1, x2, options, H);
+  solver_options.callbacks.push_back(&callback);
+
+  // Run the solve.
+  ceres::Solver::Summary summary;
+  ceres::Solve(solver_options, &problem, &summary);
+
+  LOG(INFO) << "Summary:\n" << summary.FullReport();
+  LOG(INFO) << "Final refined matrix:\n" << *H;
+
+  return summary.IsSolutionUsable();
+}
+
+}  // namespace libmv
+
+int main(int argc, char **argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  Mat x1(2, 100);
+  for (int i = 0; i < x1.cols(); ++i) {
+    x1(0, i) = rand() % 1024;
+    x1(1, i) = rand() % 1024;
+  }
+
+  Mat3 homography_matrix;
+  // This matrix has been dumped from a Blender test file of plane tracking.
+  homography_matrix << 1.243715, -0.461057, -111.964454,
+                       0.0,       0.617589, -192.379252,
+                       0.0,      -0.000983,    1.0;
+
+  Mat x2 = x1;
+  for (int i = 0; i < x2.cols(); ++i) {
+    Vec3 homogenous_x1 = Vec3(x1(0, i), x1(1, i), 1.0);
+    Vec3 homogenous_x2 = homography_matrix * homogenous_x1;
+    x2(0, i) = homogenous_x2(0) / homogenous_x2(2);
+    x2(1, i) = homogenous_x2(1) / homogenous_x2(2);
+
+    // Apply some noise so algebraic estimation is not good enough.
+    x2(0, i) += static_cast<double>(rand() % 1000) / 5000.0;
+    x2(1, i) += static_cast<double>(rand() % 1000) / 5000.0;
+  }
+
+  Mat3 estimated_matrix;
+
+  EstimateHomographyOptions options;
+  options.expected_average_symmetric_distance = 0.02;
+  EstimateHomography2DFromCorrespondences(x1, x2, options, &estimated_matrix);
+
+  // Normalize the matrix for easier comparison.
+  estimated_matrix /= estimated_matrix(2 ,2);
+
+  std::cout << "Original matrix:\n" << homography_matrix << "\n";
+  std::cout << "Estimated matrix:\n" << estimated_matrix << "\n";
+
+  return EXIT_SUCCESS;
+}
diff --git a/examples/more_garbow_hillstrom.cc b/examples/more_garbow_hillstrom.cc
new file mode 100644
index 0000000..02169cd
--- /dev/null
+++ b/examples/more_garbow_hillstrom.cc
@@ -0,0 +1,674 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Test problems from the paper
+//
+// Testing Unconstrained Optimization Software
+// Jorge J. More, Burton S. Garbow and Kenneth E. Hillstrom
+// ACM Transactions on Mathematical Software, 7(1), pp. 17-41, 1981
+//
+// A subset of these problems were augmented with bounds and used for
+// testing bounds constrained optimization algorithms by
+//
+// A Trust Region Approach to Linearly Constrained Optimization
+// David M. Gay
+// Numerical Analysis (Griffiths, D.F., ed.), pp. 72-105
+// Lecture Notes in Mathematics 1066, Springer Verlag, 1984.
+//
+// The latter paper is behind a paywall. We obtained the bounds on the
+// variables and the function values at the global minimums from
+//
+// http://www.mat.univie.ac.at/~neum/glopt/bounds.html
+//
+// A problem is considered solved if of the log relative error of its
+// objective function is at least 4.
+
+
+#include <cmath>
+#include <iostream>  // NOLINT
+#include <sstream>   // NOLINT
+#include <string>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+DEFINE_string(problem, "all", "Which problem to solve");
+DEFINE_bool(use_numeric_diff, false,
+            "Use numeric differentiation instead of automatic "
+            "differentiation.");
+DEFINE_string(numeric_diff_method, "ridders", "When using numeric "
+              "differentiation, selects algorithm. Options are: central, "
+              "forward, ridders.");
+DEFINE_int32(ridders_extrapolations, 3, "Maximal number of extrapolations in "
+             "Ridders' method.");
+
+namespace ceres {
+namespace examples {
+
+const double kDoubleMax = std::numeric_limits<double>::max();
+
+static void SetNumericDiffOptions(ceres::NumericDiffOptions* options) {
+  options->max_num_ridders_extrapolations = FLAGS_ridders_extrapolations;
+}
+
+#define BEGIN_MGH_PROBLEM(name, num_parameters, num_residuals)            \
+  struct name {                                                           \
+    static const int kNumParameters = num_parameters;                     \
+    static const double initial_x[kNumParameters];                        \
+    static const double lower_bounds[kNumParameters];                     \
+    static const double upper_bounds[kNumParameters];                     \
+    static const double constrained_optimal_cost;                         \
+    static const double unconstrained_optimal_cost;                       \
+    static CostFunction* Create() {                                       \
+      if (FLAGS_use_numeric_diff) {                                       \
+        ceres::NumericDiffOptions options;                                \
+        SetNumericDiffOptions(&options);                                  \
+        if (FLAGS_numeric_diff_method == "central") {                     \
+          return new NumericDiffCostFunction<name,                        \
+                                             ceres::CENTRAL,              \
+                                             num_residuals,               \
+                                             num_parameters>(             \
+              new name, ceres::TAKE_OWNERSHIP, num_residuals, options);   \
+        } else if (FLAGS_numeric_diff_method == "forward") {              \
+          return new NumericDiffCostFunction<name,                        \
+                                             ceres::FORWARD,              \
+                                             num_residuals,               \
+                                             num_parameters>(             \
+              new name, ceres::TAKE_OWNERSHIP, num_residuals, options);   \
+        } else if (FLAGS_numeric_diff_method == "ridders") {              \
+          return new NumericDiffCostFunction<name,                        \
+                                             ceres::RIDDERS,              \
+                                             num_residuals,               \
+                                             num_parameters>(             \
+              new name, ceres::TAKE_OWNERSHIP, num_residuals, options);   \
+        } else {                                                          \
+          LOG(ERROR) << "Invalid numeric diff method specified";          \
+          return NULL;                                                    \
+        }                                                                 \
+      } else {                                                            \
+        return new AutoDiffCostFunction<name,                             \
+                                        num_residuals,                    \
+                                        num_parameters>(new name);        \
+      }                                                                   \
+    }                                                                     \
+    template <typename T>                                                 \
+    bool operator()(const T* const x, T* residual) const {
+
+#define END_MGH_PROBLEM return true; } };  // NOLINT
+
+// Rosenbrock function.
+BEGIN_MGH_PROBLEM(TestProblem1, 2, 2)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  residual[0] = 10.0 * (x2 - x1 * x1);
+  residual[1] = 1.0 - x1;
+END_MGH_PROBLEM;
+
+const double TestProblem1::initial_x[] = {-1.2, 1.0};
+const double TestProblem1::lower_bounds[] = {-kDoubleMax, -kDoubleMax};
+const double TestProblem1::upper_bounds[] = {kDoubleMax, kDoubleMax};
+const double TestProblem1::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem1::unconstrained_optimal_cost = 0.0;
+
+// Freudenstein and Roth function.
+BEGIN_MGH_PROBLEM(TestProblem2, 2, 2)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  residual[0] = -13.0 + x1 + ((5.0 - x2) * x2 - 2.0) * x2;
+  residual[1] = -29.0 + x1 + ((x2 + 1.0) * x2 - 14.0) * x2;
+END_MGH_PROBLEM;
+
+const double TestProblem2::initial_x[] = {0.5, -2.0};
+const double TestProblem2::lower_bounds[] = {-kDoubleMax, -kDoubleMax};
+const double TestProblem2::upper_bounds[] = {kDoubleMax, kDoubleMax};
+const double TestProblem2::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem2::unconstrained_optimal_cost = 0.0;
+
+// Powell badly scaled function.
+BEGIN_MGH_PROBLEM(TestProblem3, 2, 2)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  residual[0] = 10000.0 * x1 * x2 - 1.0;
+  residual[1] = exp(-x1) + exp(-x2) - 1.0001;
+END_MGH_PROBLEM;
+
+const double TestProblem3::initial_x[] = {0.0, 1.0};
+const double TestProblem3::lower_bounds[] = {0.0, 1.0};
+const double TestProblem3::upper_bounds[] = {1.0, 9.0};
+const double TestProblem3::constrained_optimal_cost = 0.15125900e-9;
+const double TestProblem3::unconstrained_optimal_cost = 0.0;
+
+// Brown badly scaled function.
+BEGIN_MGH_PROBLEM(TestProblem4, 2, 3)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  residual[0] = x1  - 1000000.0;
+  residual[1] = x2 - 0.000002;
+  residual[2] = x1 * x2 - 2.0;
+END_MGH_PROBLEM;
+
+const double TestProblem4::initial_x[] = {1.0, 1.0};
+const double TestProblem4::lower_bounds[] = {0.0, 0.00003};
+const double TestProblem4::upper_bounds[] = {1000000.0, 100.0};
+const double TestProblem4::constrained_optimal_cost = 0.78400000e3;
+const double TestProblem4::unconstrained_optimal_cost = 0.0;
+
+// Beale function.
+BEGIN_MGH_PROBLEM(TestProblem5, 2, 3)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  residual[0] = 1.5 - x1 * (1.0 - x2);
+  residual[1] = 2.25 - x1 * (1.0 - x2 * x2);
+  residual[2] = 2.625 - x1 * (1.0 - x2 * x2 * x2);
+END_MGH_PROBLEM;
+
+const double TestProblem5::initial_x[] = {1.0, 1.0};
+const double TestProblem5::lower_bounds[] = {0.6, 0.5};
+const double TestProblem5::upper_bounds[] = {10.0, 100.0};
+const double TestProblem5::constrained_optimal_cost = 0.0;
+const double TestProblem5::unconstrained_optimal_cost = 0.0;
+
+// Jennrich and Sampson function.
+BEGIN_MGH_PROBLEM(TestProblem6, 2, 10)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  for (int i = 1; i <= 10; ++i) {
+    residual[i - 1] = 2.0 + 2.0 * i -
+        (exp(static_cast<double>(i) * x1) +
+         exp(static_cast<double>(i) * x2));
+  }
+END_MGH_PROBLEM;
+
+const double TestProblem6::initial_x[] = {1.0, 1.0};
+const double TestProblem6::lower_bounds[] = {-kDoubleMax, -kDoubleMax};
+const double TestProblem6::upper_bounds[] = {kDoubleMax, kDoubleMax};
+const double TestProblem6::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem6::unconstrained_optimal_cost = 124.362;
+
+// Helical valley function.
+BEGIN_MGH_PROBLEM(TestProblem7, 3, 3)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T theta = (0.5 / M_PI)  * atan(x2 / x1) + (x1 > 0.0 ? 0.0 : 0.5);
+  residual[0] = 10.0 * (x3 - 10.0 * theta);
+  residual[1] = 10.0 * (sqrt(x1 * x1 + x2 * x2) - 1.0);
+  residual[2] = x3;
+END_MGH_PROBLEM;
+
+const double TestProblem7::initial_x[] = {-1.0, 0.0, 0.0};
+const double TestProblem7::lower_bounds[] = {-100.0, -1.0, -1.0};
+const double TestProblem7::upper_bounds[] = {0.8, 1.0, 1.0};
+const double TestProblem7::constrained_optimal_cost = 0.99042212;
+const double TestProblem7::unconstrained_optimal_cost = 0.0;
+
+// Bard function
+BEGIN_MGH_PROBLEM(TestProblem8, 3, 15)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+
+  double y[] = {0.14, 0.18, 0.22, 0.25,
+                0.29, 0.32, 0.35, 0.39, 0.37, 0.58,
+                0.73, 0.96, 1.34, 2.10, 4.39};
+
+  for (int i = 1; i <=15; ++i) {
+    const double u = i;
+    const double v = 16 - i;
+    const double w = std::min(i, 16 - i);
+    residual[i - 1] = y[i - 1] - (x1 + u / (v * x2 + w * x3));
+  }
+END_MGH_PROBLEM;
+
+const double TestProblem8::initial_x[] = {1.0, 1.0, 1.0};
+const double TestProblem8::lower_bounds[] = {
+  -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem8::upper_bounds[] = {
+  kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem8::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem8::unconstrained_optimal_cost = 8.21487e-3;
+
+// Gaussian function.
+BEGIN_MGH_PROBLEM(TestProblem9, 3, 15)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+
+  const double y[] = {0.0009, 0.0044, 0.0175, 0.0540, 0.1295, 0.2420, 0.3521,
+                      0.3989,
+                      0.3521, 0.2420, 0.1295, 0.0540, 0.0175, 0.0044, 0.0009};
+  for (int i = 0; i < 15; ++i) {
+    const double t_i = (8.0 - i - 1.0) / 2.0;
+    residual[i] = x1 * exp(-x2 * (t_i - x3) * (t_i - x3) / 2.0) - y[i];
+  }
+END_MGH_PROBLEM;
+
+const double TestProblem9::initial_x[] = {0.4, 1.0, 0.0};
+const double TestProblem9::lower_bounds[] = {0.398, 1.0, -0.5};
+const double TestProblem9::upper_bounds[] = {4.2, 2.0, 0.1};
+const double TestProblem9::constrained_optimal_cost = 0.11279300e-7;
+const double TestProblem9::unconstrained_optimal_cost = 0.112793e-7;
+
+// Meyer function.
+BEGIN_MGH_PROBLEM(TestProblem10, 3, 16)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+
+  const double y[] = {34780, 28610, 23650, 19630, 16370, 13720, 11540, 9744,
+                      8261, 7030, 6005, 5147, 4427, 3820, 3307, 2872};
+
+  for (int i = 0; i < 16; ++i) {
+    const double ti = 45.0 + 5.0 * (i + 1);
+    residual[i] = x1 * exp(x2 / (ti + x3)) - y[i];
+  }
+END_MGH_PROBLEM
+
+const double TestProblem10::initial_x[] = {0.02, 4000, 250};
+const double TestProblem10::lower_bounds[] = {
+  -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem10::upper_bounds[] = {
+  kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem10::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem10::unconstrained_optimal_cost = 87.9458;
+
+// Gulf research and development function
+BEGIN_MGH_PROBLEM(TestProblem11, 3, 100)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  for (int i = 1; i <= 100; ++i) {
+    const double ti = i / 100.0;
+    const double yi = 25.0 + pow(-50.0 * log(ti), 2.0 / 3.0);
+    residual[i - 1] = exp(-pow(abs((yi * 100.0 * i) * x2), x3) / x1) - ti;
+  }
+END_MGH_PROBLEM
+
+const double TestProblem11::initial_x[] = {5.0, 2.5, 0.15};
+const double TestProblem11::lower_bounds[] = {1e-16, 0.0, 0.0};
+const double TestProblem11::upper_bounds[] = {10.0, 10.0, 10.0};
+const double TestProblem11::constrained_optimal_cost = 0.58281431e-4;
+const double TestProblem11::unconstrained_optimal_cost = 0.0;
+
+// Box three-dimensional function.
+BEGIN_MGH_PROBLEM(TestProblem12, 3, 3)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+
+  const double t1 = 0.1;
+  const double t2 = 0.2;
+  const double t3 = 0.3;
+
+  residual[0] = exp(-t1 * x1) - exp(-t1 * x2) - x3 * (exp(-t1) - exp(-10.0 * t1));
+  residual[1] = exp(-t2 * x1) - exp(-t2 * x2) - x3 * (exp(-t2) - exp(-10.0 * t2));
+  residual[2] = exp(-t3 * x1) - exp(-t3 * x2) - x3 * (exp(-t3) - exp(-10.0 * t3));
+END_MGH_PROBLEM
+
+const double TestProblem12::initial_x[] = {0.0, 10.0, 20.0};
+const double TestProblem12::lower_bounds[] = {0.0, 5.0, 0.0};
+const double TestProblem12::upper_bounds[] = {2.0, 9.5, 20.0};
+const double TestProblem12::constrained_optimal_cost = 0.30998153e-5;
+const double TestProblem12::unconstrained_optimal_cost = 0.0;
+
+// Powell Singular function.
+BEGIN_MGH_PROBLEM(TestProblem13, 4, 4)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T x4 = x[3];
+
+  residual[0] = x1 + 10.0 * x2;
+  residual[1] = sqrt(5.0) * (x3 - x4);
+  residual[2] = (x2 - 2.0 * x3) * (x2 - 2.0 * x3);
+  residual[3] = sqrt(10.0) * (x1 - x4) * (x1 - x4);
+END_MGH_PROBLEM
+
+const double TestProblem13::initial_x[] = {3.0, -1.0, 0.0, 1.0};
+const double TestProblem13::lower_bounds[] = {
+  -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem13::upper_bounds[] = {
+  kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem13::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem13::unconstrained_optimal_cost = 0.0;
+
+// Wood function.
+BEGIN_MGH_PROBLEM(TestProblem14, 4, 6)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T x4 = x[3];
+
+  residual[0] = 10.0 * (x2 - x1 * x1);
+  residual[1] = 1.0 - x1;
+  residual[2] = sqrt(90.0) * (x4 - x3 * x3);
+  residual[3] = 1.0 - x3;
+  residual[4] = sqrt(10.0) * (x2 + x4 - 2.0);
+  residual[5] = 1.0 / sqrt(10.0) * (x2 - x4);
+END_MGH_PROBLEM;
+
+  const double TestProblem14::initial_x[] = {-3.0, -1.0, -3.0, -1.0};
+  const double TestProblem14::lower_bounds[] = {-100.0, -100.0, -100.0, -100.0};
+  const double TestProblem14::upper_bounds[] = {0.0, 10.0, 100.0, 100.0};
+  const double TestProblem14::constrained_optimal_cost = 0.15567008e1;
+  const double TestProblem14::unconstrained_optimal_cost = 0.0;
+
+  // Kowalik and Osborne function.
+  BEGIN_MGH_PROBLEM(TestProblem15, 4, 11)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T x4 = x[3];
+
+  const double y[] = {0.1957, 0.1947, 0.1735, 0.1600, 0.0844, 0.0627,
+                      0.0456, 0.0342, 0.0323, 0.0235, 0.0246};
+  const double u[] = {4.0, 2.0, 1.0, 0.5, 0.25, 0.167, 0.125, 0.1,
+                      0.0833, 0.0714, 0.0625};
+
+  for (int i = 0; i < 11; ++i) {
+    residual[i]  = y[i] - x1 * (u[i] * u[i] + u[i] * x2) /
+        (u[i] * u[i]  + u[i] * x3 + x4);
+  }
+END_MGH_PROBLEM;
+
+const double TestProblem15::initial_x[] = {0.25, 0.39, 0.415, 0.39};
+const double TestProblem15::lower_bounds[] = {
+  -kDoubleMax, -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem15::upper_bounds[] = {
+  kDoubleMax, kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem15::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem15::unconstrained_optimal_cost = 3.07505e-4;
+
+// Brown and Dennis function.
+BEGIN_MGH_PROBLEM(TestProblem16, 4, 20)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T x4 = x[3];
+
+  for (int i = 0; i < 20; ++i) {
+    const double ti = (i + 1) / 5.0;
+    residual[i] = (x1 + ti * x2 - exp(ti)) * (x1 + ti * x2 - exp(ti)) +
+        (x3 + x4 * sin(ti) - cos(ti)) * (x3 + x4 * sin(ti) - cos(ti));
+  }
+END_MGH_PROBLEM;
+
+const double TestProblem16::initial_x[] = {25.0, 5.0, -5.0, -1.0};
+const double TestProblem16::lower_bounds[] = {-10.0, 0.0, -100.0, -20.0};
+const double TestProblem16::upper_bounds[] = {100.0, 15.0, 0.0, 0.2};
+const double TestProblem16::constrained_optimal_cost = 0.88860479e5;
+const double TestProblem16::unconstrained_optimal_cost = 85822.2;
+
+// Osborne 1 function.
+BEGIN_MGH_PROBLEM(TestProblem17, 5, 33)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T x4 = x[3];
+  const T x5 = x[4];
+
+  const double y[] = {0.844, 0.908, 0.932, 0.936, 0.925, 0.908, 0.881, 0.850, 0.818,
+                      0.784, 0.751, 0.718, 0.685, 0.658, 0.628, 0.603, 0.580, 0.558,
+                      0.538, 0.522, 0.506, 0.490, 0.478, 0.467, 0.457, 0.448, 0.438,
+                      0.431, 0.424, 0.420, 0.414, 0.411, 0.406};
+
+  for (int i = 0; i < 33; ++i) {
+     const double ti = 10.0 * i;
+    residual[i] = y[i] - (x1 + x2 * exp(-ti * x4) + x3 * exp(-ti * x5));
+  }
+END_MGH_PROBLEM;
+
+const double TestProblem17::initial_x[] = {0.5, 1.5, -1.0, 0.01, 0.02};
+const double TestProblem17::lower_bounds[] = {
+  -kDoubleMax, -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem17::upper_bounds[] = {
+  kDoubleMax, kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem17::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem17::unconstrained_optimal_cost = 5.46489e-5;
+
+// Biggs EXP6 function.
+BEGIN_MGH_PROBLEM(TestProblem18, 6, 13)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T x4 = x[3];
+  const T x5 = x[4];
+  const T x6 = x[5];
+
+  for (int i = 0; i < 13; ++i) {
+    const double ti = 0.1 * (i + 1.0);
+    const double yi = exp(-ti) - 5.0 * exp(-10.0 * ti) + 3.0 * exp(-4.0 * ti);
+    residual[i] =
+        x3 * exp(-ti * x1) - x4 * exp(-ti * x2) + x6 * exp(-ti * x5) - yi;
+  }
+  END_MGH_PROBLEM
+
+  const double TestProblem18::initial_x[] = {1.0, 2.0, 1.0, 1.0, 1.0, 1.0};
+  const double TestProblem18::lower_bounds[] = {0.0, 0.0, 0.0, 1.0, 0.0, 0.0};
+  const double TestProblem18::upper_bounds[] = {2.0, 8.0, 1.0, 7.0, 5.0, 5.0};
+  const double TestProblem18::constrained_optimal_cost = 0.53209865e-3;
+  const double TestProblem18::unconstrained_optimal_cost = 0.0;
+
+  // Osborne 2 function.
+  BEGIN_MGH_PROBLEM(TestProblem19, 11, 65)
+  const T x1 = x[0];
+  const T x2 = x[1];
+  const T x3 = x[2];
+  const T x4 = x[3];
+  const T x5 = x[4];
+  const T x6 = x[5];
+  const T x7 = x[6];
+  const T x8 = x[7];
+  const T x9 = x[8];
+  const T x10 = x[9];
+  const T x11 = x[10];
+
+  const double y[] = {1.366, 1.191, 1.112, 1.013, 0.991,
+                      0.885, 0.831, 0.847, 0.786, 0.725,
+                      0.746, 0.679, 0.608, 0.655, 0.616,
+                      0.606, 0.602, 0.626, 0.651, 0.724,
+                      0.649, 0.649, 0.694, 0.644, 0.624,
+                      0.661, 0.612, 0.558, 0.533, 0.495,
+                      0.500, 0.423, 0.395, 0.375, 0.372,
+                      0.391, 0.396, 0.405, 0.428, 0.429,
+                      0.523, 0.562, 0.607, 0.653, 0.672,
+                      0.708, 0.633, 0.668, 0.645, 0.632,
+                      0.591, 0.559, 0.597, 0.625, 0.739,
+                      0.710, 0.729, 0.720, 0.636, 0.581,
+                      0.428, 0.292, 0.162, 0.098, 0.054};
+
+  for (int i = 0; i < 65; ++i) {
+    const double ti = i / 10.0;
+    residual[i] = y[i] - (x1 * exp(-(ti * x5)) +
+                          x2 * exp(-(ti - x9)  * (ti - x9)  * x6) +
+                          x3 * exp(-(ti - x10) * (ti - x10) * x7) +
+                          x4 * exp(-(ti - x11) * (ti - x11) * x8));
+  }
+END_MGH_PROBLEM;
+
+const double TestProblem19::initial_x[] = {1.3, 0.65, 0.65, 0.7, 0.6,
+                                           3.0, 5.0, 7.0, 2.0, 4.5, 5.5};
+const double TestProblem19::lower_bounds[] = {
+  -kDoubleMax, -kDoubleMax, -kDoubleMax, -kDoubleMax};
+const double TestProblem19::upper_bounds[] = {
+  kDoubleMax, kDoubleMax, kDoubleMax, kDoubleMax};
+const double TestProblem19::constrained_optimal_cost =
+    std::numeric_limits<double>::quiet_NaN();
+const double TestProblem19::unconstrained_optimal_cost = 4.01377e-2;
+
+
+#undef BEGIN_MGH_PROBLEM
+#undef END_MGH_PROBLEM
+
+template<typename TestProblem> bool Solve(bool is_constrained, int trial) {
+  double x[TestProblem::kNumParameters];
+  for (int i = 0; i < TestProblem::kNumParameters; ++i) {
+    x[i] = pow(10, trial) * TestProblem::initial_x[i];
+  }
+
+  Problem problem;
+  problem.AddResidualBlock(TestProblem::Create(), NULL, x);
+  double optimal_cost = TestProblem::unconstrained_optimal_cost;
+
+  if (is_constrained) {
+    for (int i = 0; i < TestProblem::kNumParameters; ++i) {
+      problem.SetParameterLowerBound(x, i, TestProblem::lower_bounds[i]);
+      problem.SetParameterUpperBound(x, i, TestProblem::upper_bounds[i]);
+    }
+    optimal_cost = TestProblem::constrained_optimal_cost;
+  }
+
+  Solver::Options options;
+  options.parameter_tolerance = 1e-18;
+  options.function_tolerance = 1e-18;
+  options.gradient_tolerance = 1e-18;
+  options.max_num_iterations = 1000;
+  options.linear_solver_type = DENSE_QR;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+
+  const double kMinLogRelativeError = 4.0;
+  const double log_relative_error = -std::log10(
+      std::abs(2.0 * summary.final_cost - optimal_cost) /
+      (optimal_cost > 0.0 ? optimal_cost : 1.0));
+
+  const bool success = log_relative_error >= kMinLogRelativeError;
+  LOG(INFO) << "Expected : " <<  optimal_cost
+            << " actual: " << 2.0 * summary.final_cost
+            << " " << success
+            << " in " << summary.total_time_in_seconds
+            << " seconds";
+  return success;
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+int main(int argc, char** argv) {
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  google::InitGoogleLogging(argv[0]);
+
+  using ceres::examples::Solve;
+
+  int unconstrained_problems = 0;
+  int unconstrained_successes = 0;
+  int constrained_problems = 0;
+  int constrained_successes = 0;
+  std::stringstream ss;
+
+#define UNCONSTRAINED_SOLVE(n)                                          \
+  ss << "Unconstrained Problem " << n << " : ";                          \
+  if (FLAGS_problem == #n || FLAGS_problem == "all") {                  \
+    unconstrained_problems += 3;                                        \
+    if (Solve<ceres::examples::TestProblem##n>(false, 0)) {             \
+      unconstrained_successes += 1;                                     \
+      ss <<  "Yes ";                                                    \
+    } else {                                                            \
+      ss << "No  ";                                                     \
+    }                                                                   \
+    if (Solve<ceres::examples::TestProblem##n>(false, 1)) {             \
+      unconstrained_successes += 1;                                     \
+      ss << "Yes ";                                                     \
+    } else {                                                            \
+      ss << "No  ";                                                     \
+    }                                                                   \
+    if (Solve<ceres::examples::TestProblem##n>(false, 2)) {             \
+      unconstrained_successes += 1;                                     \
+      ss << "Yes ";                                                     \
+    } else {                                                            \
+      ss << "No  ";                                                     \
+    }                                                                   \
+  }                                                                     \
+  ss << std::endl;
+
+  UNCONSTRAINED_SOLVE(1);
+  UNCONSTRAINED_SOLVE(2);
+  UNCONSTRAINED_SOLVE(3);
+  UNCONSTRAINED_SOLVE(4);
+  UNCONSTRAINED_SOLVE(5);
+  UNCONSTRAINED_SOLVE(6);
+  UNCONSTRAINED_SOLVE(7);
+  UNCONSTRAINED_SOLVE(8);
+  UNCONSTRAINED_SOLVE(9);
+  UNCONSTRAINED_SOLVE(10);
+  UNCONSTRAINED_SOLVE(11);
+  UNCONSTRAINED_SOLVE(12);
+  UNCONSTRAINED_SOLVE(13);
+  UNCONSTRAINED_SOLVE(14);
+  UNCONSTRAINED_SOLVE(15);
+  UNCONSTRAINED_SOLVE(16);
+  UNCONSTRAINED_SOLVE(17);
+  UNCONSTRAINED_SOLVE(18);
+  UNCONSTRAINED_SOLVE(19);
+
+  ss << "Unconstrained : "
+     << unconstrained_successes
+     << "/"
+     << unconstrained_problems << std::endl;
+
+#define CONSTRAINED_SOLVE(n)                                            \
+  ss << "Constrained Problem " << n << " : ";                           \
+  if (FLAGS_problem == #n || FLAGS_problem == "all") {                  \
+    constrained_problems += 1;                                          \
+    if (Solve<ceres::examples::TestProblem##n>(true, 0)) {              \
+      constrained_successes += 1;                                       \
+      ss << "Yes ";                                                     \
+    } else {                                                            \
+      ss << "No  ";                                                     \
+    }                                                                   \
+  }                                                                     \
+  ss << std::endl;
+
+  CONSTRAINED_SOLVE(3);
+  CONSTRAINED_SOLVE(4);
+  CONSTRAINED_SOLVE(5);
+  CONSTRAINED_SOLVE(7);
+  CONSTRAINED_SOLVE(9);
+  CONSTRAINED_SOLVE(11);
+  CONSTRAINED_SOLVE(12);
+  CONSTRAINED_SOLVE(14);
+  CONSTRAINED_SOLVE(16);
+  CONSTRAINED_SOLVE(18);
+  ss << "Constrained : "
+     << constrained_successes
+     << "/"
+     << constrained_problems << std::endl;
+
+  std::cout << ss.str();
+  return 0;
+}
diff --git a/examples/nist.cc b/examples/nist.cc
new file mode 100644
index 0000000..55a3c7c
--- /dev/null
+++ b/examples/nist.cc
@@ -0,0 +1,646 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// The National Institute of Standards and Technology has released a
+// set of problems to test non-linear least squares solvers.
+//
+// More information about the background on these problems and
+// suggested evaluation methodology can be found at:
+//
+//   http://www.itl.nist.gov/div898/strd/nls/nls_info.shtml
+//
+// The problem data themselves can be found at
+//
+//   http://www.itl.nist.gov/div898/strd/nls/nls_main.shtml
+//
+// The problems are divided into three levels of difficulty, Easy,
+// Medium and Hard. For each problem there are two starting guesses,
+// the first one far away from the global minimum and the second
+// closer to it.
+//
+// A problem is considered successfully solved, if every components of
+// the solution matches the globally optimal solution in at least 4
+// digits or more.
+//
+// This dataset was used for an evaluation of Non-linear least squares
+// solvers:
+//
+// P. F. Mondragon & B. Borchers, A Comparison of Nonlinear Regression
+// Codes, Journal of Modern Applied Statistical Methods, 4(1):343-351,
+// 2005.
+//
+// The results from Mondragon & Borchers can be summarized as
+//               Excel  Gnuplot  GaussFit  HBN  MinPack
+// Average LRE     2.3      4.3       4.0  6.8      4.4
+//      Winner       1        5        12   29       12
+//
+// Where the row Winner counts, the number of problems for which the
+// solver had the highest LRE.
+
+// In this file, we implement the same evaluation methodology using
+// Ceres. Currently using Levenberg-Marquardt with DENSE_QR, we get
+//
+//               Excel  Gnuplot  GaussFit  HBN  MinPack  Ceres
+// Average LRE     2.3      4.3       4.0  6.8      4.4    9.4
+//      Winner       0        0         5   11        2     41
+
+#include <iostream>
+#include <iterator>
+#include <fstream>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "Eigen/Core"
+
+DEFINE_string(nist_data_dir, "", "Directory containing the NIST non-linear"
+              "regression examples");
+DEFINE_string(minimizer, "trust_region",
+              "Minimizer type to use, choices are: line_search & trust_region");
+DEFINE_string(trust_region_strategy, "levenberg_marquardt",
+              "Options are: levenberg_marquardt, dogleg");
+DEFINE_string(dogleg, "traditional_dogleg",
+              "Options are: traditional_dogleg, subspace_dogleg");
+DEFINE_string(linear_solver, "dense_qr", "Options are: "
+              "sparse_cholesky, dense_qr, dense_normal_cholesky and"
+              "cgnr");
+DEFINE_string(preconditioner, "jacobi", "Options are: "
+              "identity, jacobi");
+DEFINE_string(line_search, "wolfe",
+              "Line search algorithm to use, choices are: armijo and wolfe.");
+DEFINE_string(line_search_direction, "lbfgs",
+              "Line search direction algorithm to use, choices: lbfgs, bfgs");
+DEFINE_int32(max_line_search_iterations, 20,
+             "Maximum number of iterations for each line search.");
+DEFINE_int32(max_line_search_restarts, 10,
+             "Maximum number of restarts of line search direction algorithm.");
+DEFINE_string(line_search_interpolation, "cubic",
+              "Degree of polynomial aproximation in line search, "
+              "choices are: bisection, quadratic & cubic.");
+DEFINE_int32(lbfgs_rank, 20,
+             "Rank of L-BFGS inverse Hessian approximation in line search.");
+DEFINE_bool(approximate_eigenvalue_bfgs_scaling, false,
+            "Use approximate eigenvalue scaling in (L)BFGS line search.");
+DEFINE_double(sufficient_decrease, 1.0e-4,
+              "Line search Armijo sufficient (function) decrease factor.");
+DEFINE_double(sufficient_curvature_decrease, 0.9,
+              "Line search Wolfe sufficient curvature decrease factor.");
+DEFINE_int32(num_iterations, 10000, "Number of iterations");
+DEFINE_bool(nonmonotonic_steps, false, "Trust region algorithm can use"
+            " nonmonotic steps");
+DEFINE_double(initial_trust_region_radius, 1e4, "Initial trust region radius");
+DEFINE_bool(use_numeric_diff, false,
+            "Use numeric differentiation instead of automatic "
+            "differentiation.");
+DEFINE_string(numeric_diff_method, "ridders", "When using numeric "
+              "differentiation, selects algorithm. Options are: central, "
+              "forward, ridders.");
+DEFINE_double(ridders_step_size, 1e-9, "Initial step size for Ridders "
+              "numeric differentiation.");
+DEFINE_int32(ridders_extrapolations, 3, "Maximal number of Ridders "
+             "extrapolations.");
+
+namespace ceres {
+namespace examples {
+
+using Eigen::Dynamic;
+using Eigen::RowMajor;
+typedef Eigen::Matrix<double, Dynamic, 1> Vector;
+typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+
+using std::atof;
+using std::atoi;
+using std::cout;
+using std::ifstream;
+using std::string;
+using std::vector;
+
+void SplitStringUsingChar(const string& full,
+                          const char delim,
+                          vector<string>* result) {
+  std::back_insert_iterator< vector<string> > it(*result);
+
+  const char* p = full.data();
+  const char* end = p + full.size();
+  while (p != end) {
+    if (*p == delim) {
+      ++p;
+    } else {
+      const char* start = p;
+      while (++p != end && *p != delim) {
+        // Skip to the next occurence of the delimiter.
+      }
+      *it++ = string(start, p - start);
+    }
+  }
+}
+
+bool GetAndSplitLine(ifstream& ifs, vector<string>* pieces) {
+  pieces->clear();
+  char buf[256];
+  ifs.getline(buf, 256);
+  SplitStringUsingChar(string(buf), ' ', pieces);
+  return true;
+}
+
+void SkipLines(ifstream& ifs, int num_lines) {
+  char buf[256];
+  for (int i = 0; i < num_lines; ++i) {
+    ifs.getline(buf, 256);
+  }
+}
+
+class NISTProblem {
+ public:
+  explicit NISTProblem(const string& filename) {
+    ifstream ifs(filename.c_str(), ifstream::in);
+    CHECK(ifs) << "Unable to open : " << filename;
+
+    vector<string> pieces;
+    SkipLines(ifs, 24);
+    GetAndSplitLine(ifs, &pieces);
+    const int kNumResponses = atoi(pieces[1].c_str());
+
+    GetAndSplitLine(ifs, &pieces);
+    const int kNumPredictors = atoi(pieces[0].c_str());
+
+    GetAndSplitLine(ifs, &pieces);
+    const int kNumObservations = atoi(pieces[0].c_str());
+
+    SkipLines(ifs, 4);
+    GetAndSplitLine(ifs, &pieces);
+    const int kNumParameters = atoi(pieces[0].c_str());
+    SkipLines(ifs, 8);
+
+    // Get the first line of initial and final parameter values to
+    // determine the number of tries.
+    GetAndSplitLine(ifs, &pieces);
+    const int kNumTries = pieces.size() - 4;
+
+    predictor_.resize(kNumObservations, kNumPredictors);
+    response_.resize(kNumObservations, kNumResponses);
+    initial_parameters_.resize(kNumTries, kNumParameters);
+    final_parameters_.resize(1, kNumParameters);
+
+    // Parse the line for parameter b1.
+    int parameter_id = 0;
+    for (int i = 0; i < kNumTries; ++i) {
+      initial_parameters_(i, parameter_id) = atof(pieces[i + 2].c_str());
+    }
+    final_parameters_(0, parameter_id) = atof(pieces[2 + kNumTries].c_str());
+
+    // Parse the remaining parameter lines.
+    for (int parameter_id = 1; parameter_id < kNumParameters; ++parameter_id) {
+     GetAndSplitLine(ifs, &pieces);
+     // b2, b3, ....
+     for (int i = 0; i < kNumTries; ++i) {
+       initial_parameters_(i, parameter_id) = atof(pieces[i + 2].c_str());
+     }
+     final_parameters_(0, parameter_id) = atof(pieces[2 + kNumTries].c_str());
+    }
+
+    // Certfied cost
+    SkipLines(ifs, 1);
+    GetAndSplitLine(ifs, &pieces);
+    certified_cost_ = atof(pieces[4].c_str()) / 2.0;
+
+    // Read the observations.
+    SkipLines(ifs, 18 - kNumParameters);
+    for (int i = 0; i < kNumObservations; ++i) {
+      GetAndSplitLine(ifs, &pieces);
+      // Response.
+      for (int j = 0; j < kNumResponses; ++j) {
+        response_(i, j) =  atof(pieces[j].c_str());
+      }
+
+      // Predictor variables.
+      for (int j = 0; j < kNumPredictors; ++j) {
+        predictor_(i, j) =  atof(pieces[j + kNumResponses].c_str());
+      }
+    }
+  }
+
+  Matrix initial_parameters(int start) const { return initial_parameters_.row(start); }  // NOLINT
+  Matrix final_parameters() const  { return final_parameters_; }
+  Matrix predictor()        const { return predictor_;         }
+  Matrix response()         const { return response_;          }
+  int predictor_size()      const { return predictor_.cols();  }
+  int num_observations()    const { return predictor_.rows();  }
+  int response_size()       const { return response_.cols();   }
+  int num_parameters()      const { return initial_parameters_.cols(); }
+  int num_starts()          const { return initial_parameters_.rows(); }
+  double certified_cost()   const { return certified_cost_; }
+
+ private:
+  Matrix predictor_;
+  Matrix response_;
+  Matrix initial_parameters_;
+  Matrix final_parameters_;
+  double certified_cost_;
+};
+
+#define NIST_BEGIN(CostFunctionName) \
+  struct CostFunctionName { \
+    CostFunctionName(const double* const x, \
+                     const double* const y) \
+        : x_(*x), y_(*y) {} \
+    double x_; \
+    double y_; \
+    template <typename T> \
+    bool operator()(const T* const b, T* residual) const { \
+    const T y(y_); \
+    const T x(x_); \
+      residual[0] = y - (
+
+#define NIST_END ); return true; }};
+
+// y = b1 * (b2+x)**(-1/b3)  +  e
+NIST_BEGIN(Bennet5)
+  b[0] * pow(b[1] + x, -1.0 / b[2])
+NIST_END
+
+// y = b1*(1-exp[-b2*x])  +  e
+NIST_BEGIN(BoxBOD)
+  b[0] * (1.0 - exp(-b[1] * x))
+NIST_END
+
+// y = exp[-b1*x]/(b2+b3*x)  +  e
+NIST_BEGIN(Chwirut)
+  exp(-b[0] * x) / (b[1] + b[2] * x)
+NIST_END
+
+// y  = b1*x**b2  +  e
+NIST_BEGIN(DanWood)
+  b[0] * pow(x, b[1])
+NIST_END
+
+// y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+//     + b6*exp( -(x-b7)**2 / b8**2 ) + e
+NIST_BEGIN(Gauss)
+  b[0] * exp(-b[1] * x) +
+  b[2] * exp(-pow((x - b[3])/b[4], 2)) +
+  b[5] * exp(-pow((x - b[6])/b[7], 2))
+NIST_END
+
+// y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x)  +  e
+NIST_BEGIN(Lanczos)
+  b[0] * exp(-b[1] * x) + b[2] * exp(-b[3] * x) + b[4] * exp(-b[5] * x)
+NIST_END
+
+// y = (b1+b2*x+b3*x**2+b4*x**3) /
+//     (1+b5*x+b6*x**2+b7*x**3)  +  e
+NIST_BEGIN(Hahn1)
+  (b[0] + b[1] * x + b[2] * x * x + b[3] * x * x * x) /
+  (1.0 + b[4] * x + b[5] * x * x + b[6] * x * x * x)
+NIST_END
+
+// y = (b1 + b2*x + b3*x**2) /
+//    (1 + b4*x + b5*x**2)  +  e
+NIST_BEGIN(Kirby2)
+  (b[0] + b[1] * x + b[2] * x * x) /
+  (1.0 + b[3] * x + b[4] * x * x)
+NIST_END
+
+// y = b1*(x**2+x*b2) / (x**2+x*b3+b4)  +  e
+NIST_BEGIN(MGH09)
+  b[0] * (x * x + x * b[1]) / (x * x + x * b[2] + b[3])
+NIST_END
+
+// y = b1 * exp[b2/(x+b3)]  +  e
+NIST_BEGIN(MGH10)
+  b[0] * exp(b[1] / (x + b[2]))
+NIST_END
+
+// y = b1 + b2*exp[-x*b4] + b3*exp[-x*b5]
+NIST_BEGIN(MGH17)
+  b[0] + b[1] * exp(-x * b[3]) + b[2] * exp(-x * b[4])
+NIST_END
+
+// y = b1*(1-exp[-b2*x])  +  e
+NIST_BEGIN(Misra1a)
+  b[0] * (1.0 - exp(-b[1] * x))
+NIST_END
+
+// y = b1 * (1-(1+b2*x/2)**(-2))  +  e
+NIST_BEGIN(Misra1b)
+  b[0] * (1.0 - 1.0/ ((1.0 + b[1] * x / 2.0) * (1.0 + b[1] * x / 2.0)))  // NOLINT
+NIST_END
+
+// y = b1 * (1-(1+2*b2*x)**(-.5))  +  e
+NIST_BEGIN(Misra1c)
+  b[0] * (1.0 - pow(1.0 + 2.0 * b[1] * x, -0.5))
+NIST_END
+
+// y = b1*b2*x*((1+b2*x)**(-1))  +  e
+NIST_BEGIN(Misra1d)
+  b[0] * b[1] * x / (1.0 + b[1] * x)
+NIST_END
+
+const double kPi = 3.141592653589793238462643383279;
+// pi = 3.141592653589793238462643383279E0
+// y =  b1 - b2*x - arctan[b3/(x-b4)]/pi  +  e
+NIST_BEGIN(Roszman1)
+  b[0] - b[1] * x - atan2(b[2], (x - b[3])) / kPi
+NIST_END
+
+// y = b1 / (1+exp[b2-b3*x])  +  e
+NIST_BEGIN(Rat42)
+  b[0] / (1.0 + exp(b[1] - b[2] * x))
+NIST_END
+
+// y = b1 / ((1+exp[b2-b3*x])**(1/b4))  +  e
+NIST_BEGIN(Rat43)
+  b[0] / pow(1.0 + exp(b[1] - b[2] * x), 1.0 / b[3])
+NIST_END
+
+// y = (b1 + b2*x + b3*x**2 + b4*x**3) /
+//    (1 + b5*x + b6*x**2 + b7*x**3)  +  e
+NIST_BEGIN(Thurber)
+  (b[0] + b[1] * x + b[2] * x * x  + b[3] * x * x * x) /
+  (1.0 + b[4] * x + b[5] * x * x + b[6] * x * x * x)
+NIST_END
+
+// y = b1 + b2*cos( 2*pi*x/12 ) + b3*sin( 2*pi*x/12 )
+//        + b5*cos( 2*pi*x/b4 ) + b6*sin( 2*pi*x/b4 )
+//        + b8*cos( 2*pi*x/b7 ) + b9*sin( 2*pi*x/b7 )  + e
+NIST_BEGIN(ENSO)
+  b[0] + b[1] * cos(2.0 * kPi * x / 12.0) +
+         b[2] * sin(2.0 * kPi * x / 12.0) +
+         b[4] * cos(2.0 * kPi * x / b[3]) +
+         b[5] * sin(2.0 * kPi * x / b[3]) +
+         b[7] * cos(2.0 * kPi * x / b[6]) +
+         b[8] * sin(2.0 * kPi * x / b[6])
+NIST_END
+
+// y = (b1/b2) * exp[-0.5*((x-b3)/b2)**2]  +  e
+NIST_BEGIN(Eckerle4)
+  b[0] / b[1] * exp(-0.5 * pow((x - b[2])/b[1], 2))
+NIST_END
+
+struct Nelson {
+ public:
+  Nelson(const double* const x, const double* const y)
+      : x1_(x[0]), x2_(x[1]), y_(y[0]) {}
+
+  template <typename T>
+  bool operator()(const T* const b, T* residual) const {
+    // log[y] = b1 - b2*x1 * exp[-b3*x2]  +  e
+    residual[0] = log(y_) - (b[0] - b[1] * x1_ * exp(-b[2] * x2_));
+    return true;
+  }
+
+ private:
+  double x1_;
+  double x2_;
+  double y_;
+};
+
+static void SetNumericDiffOptions(ceres::NumericDiffOptions* options) {
+  options->max_num_ridders_extrapolations = FLAGS_ridders_extrapolations;
+  options->ridders_relative_initial_step_size = FLAGS_ridders_step_size;
+}
+
+string JoinPath(const string& dirname, const string& basename) {
+#ifdef _WIN32
+    static const char separator = '\\';
+#else
+    static const char separator = '/';
+#endif  // _WIN32
+
+  if ((!basename.empty() && basename[0] == separator) || dirname.empty()) {
+    return basename;
+  } else if (dirname[dirname.size() - 1] == separator) {
+    return dirname + basename;
+  } else {
+    return dirname + string(&separator, 1) + basename;
+  }
+}
+
+template <typename Model, int num_residuals, int num_parameters>
+int RegressionDriver(const string& filename,
+                     const ceres::Solver::Options& options) {
+  NISTProblem nist_problem(JoinPath(FLAGS_nist_data_dir, filename));
+  CHECK_EQ(num_residuals, nist_problem.response_size());
+  CHECK_EQ(num_parameters, nist_problem.num_parameters());
+
+  Matrix predictor = nist_problem.predictor();
+  Matrix response = nist_problem.response();
+  Matrix final_parameters = nist_problem.final_parameters();
+
+  printf("%s\n", filename.c_str());
+
+  // Each NIST problem comes with multiple starting points, so we
+  // construct the problem from scratch for each case and solve it.
+  int num_success = 0;
+  for (int start = 0; start < nist_problem.num_starts(); ++start) {
+    Matrix initial_parameters = nist_problem.initial_parameters(start);
+
+    ceres::Problem problem;
+    for (int i = 0; i < nist_problem.num_observations(); ++i) {
+      Model* model = new Model(
+          predictor.data() + nist_problem.predictor_size() * i,
+          response.data() + nist_problem.response_size() * i);
+      ceres::CostFunction* cost_function = NULL;
+      if (FLAGS_use_numeric_diff) {
+        ceres::NumericDiffOptions options;
+        SetNumericDiffOptions(&options);
+        if (FLAGS_numeric_diff_method == "central") {
+          cost_function = new NumericDiffCostFunction<Model,
+                                                      ceres::CENTRAL,
+                                                      num_residuals,
+                                                      num_parameters>(
+              model, ceres::TAKE_OWNERSHIP, num_residuals, options);
+        } else if (FLAGS_numeric_diff_method == "forward") {
+          cost_function = new NumericDiffCostFunction<Model,
+                                                      ceres::FORWARD,
+                                                      num_residuals,
+                                                      num_parameters>(
+              model, ceres::TAKE_OWNERSHIP, num_residuals, options);
+        } else if (FLAGS_numeric_diff_method == "ridders") {
+          cost_function = new NumericDiffCostFunction<Model,
+                                                      ceres::RIDDERS,
+                                                      num_residuals,
+                                                      num_parameters>(
+              model, ceres::TAKE_OWNERSHIP, num_residuals, options);
+        } else {
+          LOG(ERROR) << "Invalid numeric diff method specified";
+          return 0;
+        }
+      } else {
+         cost_function =
+             new ceres::AutoDiffCostFunction<Model,
+                                             num_residuals,
+                                             num_parameters>(model);
+      }
+
+      problem.AddResidualBlock(cost_function,
+                               NULL,
+                               initial_parameters.data());
+    }
+
+    ceres::Solver::Summary summary;
+    Solve(options, &problem, &summary);
+
+    // Compute the LRE by comparing each component of the solution
+    // with the ground truth, and taking the minimum.
+    Matrix final_parameters = nist_problem.final_parameters();
+    const double kMaxNumSignificantDigits = 11;
+    double log_relative_error = kMaxNumSignificantDigits + 1;
+    for (int i = 0; i < num_parameters; ++i) {
+      const double tmp_lre =
+          -std::log10(std::fabs(final_parameters(i) - initial_parameters(i)) /
+                      std::fabs(final_parameters(i)));
+      // The maximum LRE is capped at 11 - the precision at which the
+      // ground truth is known.
+      //
+      // The minimum LRE is capped at 0 - no digits match between the
+      // computed solution and the ground truth.
+      log_relative_error =
+          std::min(log_relative_error,
+                   std::max(0.0, std::min(kMaxNumSignificantDigits, tmp_lre)));
+    }
+
+    const int kMinNumMatchingDigits = 4;
+    if (log_relative_error > kMinNumMatchingDigits) {
+      ++num_success;
+    }
+
+    printf("start: %d status: %s lre: %4.1f initial cost: %e final cost:%e "
+           "certified cost: %e total iterations: %d\n",
+           start + 1,
+           log_relative_error < kMinNumMatchingDigits ? "FAILURE" : "SUCCESS",
+           log_relative_error,
+           summary.initial_cost,
+           summary.final_cost,
+           nist_problem.certified_cost(),
+           (summary.num_successful_steps + summary.num_unsuccessful_steps));
+  }
+  return num_success;
+}
+
+void SetMinimizerOptions(ceres::Solver::Options* options) {
+  CHECK(ceres::StringToMinimizerType(FLAGS_minimizer,
+                                     &options->minimizer_type));
+  CHECK(ceres::StringToLinearSolverType(FLAGS_linear_solver,
+                                        &options->linear_solver_type));
+  CHECK(ceres::StringToPreconditionerType(FLAGS_preconditioner,
+                                          &options->preconditioner_type));
+  CHECK(ceres::StringToTrustRegionStrategyType(
+            FLAGS_trust_region_strategy,
+            &options->trust_region_strategy_type));
+  CHECK(ceres::StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));
+  CHECK(ceres::StringToLineSearchDirectionType(
+      FLAGS_line_search_direction,
+      &options->line_search_direction_type));
+  CHECK(ceres::StringToLineSearchType(FLAGS_line_search,
+                                      &options->line_search_type));
+  CHECK(ceres::StringToLineSearchInterpolationType(
+      FLAGS_line_search_interpolation,
+      &options->line_search_interpolation_type));
+
+  options->max_num_iterations = FLAGS_num_iterations;
+  options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
+  options->initial_trust_region_radius = FLAGS_initial_trust_region_radius;
+  options->max_lbfgs_rank = FLAGS_lbfgs_rank;
+  options->line_search_sufficient_function_decrease = FLAGS_sufficient_decrease;
+  options->line_search_sufficient_curvature_decrease =
+      FLAGS_sufficient_curvature_decrease;
+  options->max_num_line_search_step_size_iterations =
+      FLAGS_max_line_search_iterations;
+  options->max_num_line_search_direction_restarts =
+      FLAGS_max_line_search_restarts;
+  options->use_approximate_eigenvalue_bfgs_scaling =
+      FLAGS_approximate_eigenvalue_bfgs_scaling;
+  options->function_tolerance = std::numeric_limits<double>::epsilon();
+  options->gradient_tolerance = std::numeric_limits<double>::epsilon();
+  options->parameter_tolerance = std::numeric_limits<double>::epsilon();
+}
+
+void SolveNISTProblems() {
+  if (FLAGS_nist_data_dir.empty()) {
+    LOG(FATAL) << "Must specify the directory containing the NIST problems";
+  }
+
+  ceres::Solver::Options options;
+  SetMinimizerOptions(&options);
+
+  cout << "Lower Difficulty\n";
+  int easy_success = 0;
+  easy_success += RegressionDriver<Misra1a,  1, 2>("Misra1a.dat",  options);
+  easy_success += RegressionDriver<Chwirut,  1, 3>("Chwirut1.dat", options);
+  easy_success += RegressionDriver<Chwirut,  1, 3>("Chwirut2.dat", options);
+  easy_success += RegressionDriver<Lanczos,  1, 6>("Lanczos3.dat", options);
+  easy_success += RegressionDriver<Gauss,    1, 8>("Gauss1.dat",   options);
+  easy_success += RegressionDriver<Gauss,    1, 8>("Gauss2.dat",   options);
+  easy_success += RegressionDriver<DanWood,  1, 2>("DanWood.dat",  options);
+  easy_success += RegressionDriver<Misra1b,  1, 2>("Misra1b.dat",  options);
+
+  cout << "\nMedium Difficulty\n";
+  int medium_success = 0;
+  medium_success += RegressionDriver<Kirby2,   1, 5>("Kirby2.dat",   options);
+  medium_success += RegressionDriver<Hahn1,    1, 7>("Hahn1.dat",    options);
+  medium_success += RegressionDriver<Nelson,   1, 3>("Nelson.dat",   options);
+  medium_success += RegressionDriver<MGH17,    1, 5>("MGH17.dat",    options);
+  medium_success += RegressionDriver<Lanczos,  1, 6>("Lanczos1.dat", options);
+  medium_success += RegressionDriver<Lanczos,  1, 6>("Lanczos2.dat", options);
+  medium_success += RegressionDriver<Gauss,    1, 8>("Gauss3.dat",   options);
+  medium_success += RegressionDriver<Misra1c,  1, 2>("Misra1c.dat",  options);
+  medium_success += RegressionDriver<Misra1d,  1, 2>("Misra1d.dat",  options);
+  medium_success += RegressionDriver<Roszman1, 1, 4>("Roszman1.dat", options);
+  medium_success += RegressionDriver<ENSO,     1, 9>("ENSO.dat",     options);
+
+  cout << "\nHigher Difficulty\n";
+  int hard_success = 0;
+  hard_success += RegressionDriver<MGH09,    1, 4>("MGH09.dat",    options);
+  hard_success += RegressionDriver<Thurber,  1, 7>("Thurber.dat",  options);
+  hard_success += RegressionDriver<BoxBOD,   1, 2>("BoxBOD.dat",   options);
+  hard_success += RegressionDriver<Rat42,    1, 3>("Rat42.dat",    options);
+  hard_success += RegressionDriver<MGH10,    1, 3>("MGH10.dat",    options);
+
+  hard_success += RegressionDriver<Eckerle4, 1, 3>("Eckerle4.dat", options);
+  hard_success += RegressionDriver<Rat43,    1, 4>("Rat43.dat",    options);
+  hard_success += RegressionDriver<Bennet5,  1, 3>("Bennett5.dat", options);
+
+  cout << "\n";
+  cout << "Easy    : " << easy_success << "/16\n";
+  cout << "Medium  : " << medium_success << "/22\n";
+  cout << "Hard    : " << hard_success << "/16\n";
+  cout << "Total   : "
+       << easy_success + medium_success + hard_success << "/54\n";
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+int main(int argc, char** argv) {
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  google::InitGoogleLogging(argv[0]);
+  ceres::examples::SolveNISTProblems();
+  return 0;
+}
diff --git a/examples/pgm_image.h b/examples/pgm_image.h
new file mode 100644
index 0000000..1de8d67
--- /dev/null
+++ b/examples/pgm_image.h
@@ -0,0 +1,319 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Simple class for accessing PGM images.
+
+#ifndef CERES_EXAMPLES_PGM_IMAGE_H_
+#define CERES_EXAMPLES_PGM_IMAGE_H_
+
+#include <algorithm>
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "glog/logging.h"
+
+namespace ceres {
+namespace examples {
+
+template<typename Real>
+class PGMImage {
+ public:
+  // Create an empty image
+  PGMImage(int width, int height);
+  // Load an image from file
+  explicit PGMImage(std::string filename);
+  // Sets an image to a constant
+  void Set(double constant);
+
+  // Reading dimensions
+  int width() const;
+  int height() const;
+  int NumPixels() const;
+
+  // Get individual pixels
+  Real* MutablePixel(int x, int y);
+  Real  Pixel(int x, int y) const;
+  Real* MutablePixelFromLinearIndex(int index);
+  Real  PixelFromLinearIndex(int index) const;
+  int LinearIndex(int x, int y) const;
+
+  // Adds an image to another
+  void operator+=(const PGMImage& image);
+  // Adds a constant to an image
+  void operator+=(Real a);
+  // Multiplies an image by a constant
+  void operator*=(Real a);
+
+  // File access
+  bool WriteToFile(std::string filename) const;
+  bool ReadFromFile(std::string filename);
+
+  // Accessing the image data directly
+  bool SetData(const std::vector<Real>& new_data);
+  const std::vector<Real>& data() const;
+
+ protected:
+  int height_, width_;
+  std::vector<Real> data_;
+};
+
+// --- IMPLEMENTATION
+
+template<typename Real>
+PGMImage<Real>::PGMImage(int width, int height)
+  : height_(height), width_(width), data_(width*height, 0.0) {
+}
+
+template<typename Real>
+PGMImage<Real>::PGMImage(std::string filename) {
+  if (!ReadFromFile(filename)) {
+    height_ = 0;
+    width_  = 0;
+  }
+}
+
+template<typename Real>
+void PGMImage<Real>::Set(double constant) {
+  for (int i = 0; i < data_.size(); ++i) {
+    data_[i] = constant;
+  }
+}
+
+template<typename Real>
+int PGMImage<Real>::width() const {
+  return width_;
+}
+
+template<typename Real>
+int PGMImage<Real>::height() const {
+  return height_;
+}
+
+template<typename Real>
+int PGMImage<Real>::NumPixels() const {
+  return width_ * height_;
+}
+
+template<typename Real>
+Real* PGMImage<Real>::MutablePixel(int x, int y) {
+  return MutablePixelFromLinearIndex(LinearIndex(x, y));
+}
+
+template<typename Real>
+Real PGMImage<Real>::Pixel(int x, int y) const {
+  return PixelFromLinearIndex(LinearIndex(x, y));
+}
+
+template<typename Real>
+Real* PGMImage<Real>::MutablePixelFromLinearIndex(int index) {
+  CHECK(index >= 0);
+  CHECK(index < width_ * height_);
+  CHECK(index < data_.size());
+  return &data_[index];
+}
+
+template<typename Real>
+Real  PGMImage<Real>::PixelFromLinearIndex(int index) const {
+  CHECK(index >= 0);
+  CHECK(index < width_ * height_);
+  CHECK(index < data_.size());
+  return data_[index];
+}
+
+template<typename Real>
+int PGMImage<Real>::LinearIndex(int x, int y) const {
+  return x + width_*y;
+}
+
+// Adds an image to another
+template<typename Real>
+void PGMImage<Real>::operator+= (const PGMImage<Real>& image) {
+  CHECK(data_.size() == image.data_.size());
+  for (int i = 0; i < data_.size(); ++i) {
+    data_[i] += image.data_[i];
+  }
+}
+
+// Adds a constant to an image
+template<typename Real>
+void PGMImage<Real>::operator+= (Real a) {
+  for (int i = 0; i < data_.size(); ++i) {
+    data_[i] += a;
+  }
+}
+
+// Multiplies an image by a constant
+template<typename Real>
+void PGMImage<Real>::operator*= (Real a) {
+  for (int i = 0; i < data_.size(); ++i) {
+    data_[i] *= a;
+  }
+}
+
+template<typename Real>
+bool PGMImage<Real>::WriteToFile(std::string filename) const {
+  std::ofstream outputfile(filename.c_str());
+  outputfile << "P2" << std::endl;
+  outputfile << "# PGM format" << std::endl;
+  outputfile << " # <width> <height> <levels> " << std::endl;
+  outputfile << " # <data> ... " << std::endl;
+  outputfile << width_ << ' ' << height_ << " 255 " << std::endl;
+
+  // Write data
+  int num_pixels = width_*height_;
+  for (int i = 0; i < num_pixels; ++i) {
+    // Convert to integer by rounding when writing file
+    outputfile << static_cast<int>(data_[i] + 0.5) << ' ';
+  }
+
+  return bool(outputfile);  // Returns true/false
+}
+
+namespace  {
+
+// Helper function to read data from a text file, ignoring "#" comments.
+template<typename T>
+bool GetIgnoreComment(std::istream* in, T& t) {
+  std::string word;
+  bool ok;
+  do {
+    ok = true;
+    (*in) >> word;
+    if (word.length() > 0 && word[0] == '#') {
+      // Comment; read the whole line
+      ok = false;
+      std::getline(*in, word);
+    }
+  } while (!ok);
+
+  // Convert the string
+  std::stringstream sin(word);
+  sin >> t;
+
+  // Check for success
+  if (!in || !sin) {
+    return false;
+  }
+  return true;
+}
+}  // namespace
+
+template<typename Real>
+bool PGMImage<Real>::ReadFromFile(std::string filename) {
+  std::ifstream inputfile(filename.c_str());
+
+  // File must start with "P2"
+  char ch1, ch2;
+  inputfile >> ch1 >> ch2;
+  if (!inputfile || ch1 != 'P' || (ch2 != '2' && ch2 != '5')) {
+    return false;
+  }
+
+  // Read the image header
+  int two_fifty_five;
+  if (!GetIgnoreComment(&inputfile, width_)  ||
+      !GetIgnoreComment(&inputfile, height_) ||
+      !GetIgnoreComment(&inputfile, two_fifty_five) ) {
+    return false;
+  }
+  // Assert that the number of grey levels is 255.
+  if (two_fifty_five != 255) {
+    return false;
+  }
+
+  // Now read the data
+  int num_pixels = width_*height_;
+  data_.resize(num_pixels);
+  if (ch2 == '2') {
+    // Ascii file
+    for (int i = 0; i < num_pixels; ++i) {
+      int pixel_data;
+      bool res = GetIgnoreComment(&inputfile, pixel_data);
+      if (!res) {
+        return false;
+      }
+      data_[i] = pixel_data;
+    }
+    // There cannot be anything else in the file (except comments). Try reading
+    // another number and return failure if that succeeded.
+    int temp;
+    bool res = GetIgnoreComment(&inputfile, temp);
+    if (res) {
+      return false;
+    }
+  } else {
+    // Read the line feed character
+    if (inputfile.get() != '\n') {
+      return false;
+    }
+    // Binary file
+    // TODO(strandmark): Will not work on Windows (linebreak conversion).
+    for (int i = 0; i < num_pixels; ++i) {
+      unsigned char pixel_data = inputfile.get();
+      if (!inputfile) {
+        return false;
+      }
+      data_[i] = pixel_data;
+    }
+    // There cannot be anything else in the file. Try reading another byte
+    // and return failure if that succeeded.
+    inputfile.get();
+    if (inputfile) {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+template<typename Real>
+bool PGMImage<Real>::SetData(const std::vector<Real>& new_data) {
+  // This function cannot change the dimensions
+  if (new_data.size() != data_.size()) {
+    return false;
+  }
+  std::copy(new_data.begin(), new_data.end(), data_.begin());
+  return true;
+}
+
+template<typename Real>
+const std::vector<Real>& PGMImage<Real>::data() const {
+  return data_;
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+
+#endif  // CERES_EXAMPLES_PGM_IMAGE_H_
diff --git a/examples/powell.cc b/examples/powell.cc
new file mode 100644
index 0000000..e98f12f
--- /dev/null
+++ b/examples/powell.cc
@@ -0,0 +1,154 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An example program that minimizes Powell's singular function.
+//
+//   F = 1/2 (f1^2 + f2^2 + f3^2 + f4^2)
+//
+//   f1 = x1 + 10*x2;
+//   f2 = sqrt(5) * (x3 - x4)
+//   f3 = (x2 - 2*x3)^2
+//   f4 = sqrt(10) * (x1 - x4)^2
+//
+// The starting values are x1 = 3, x2 = -1, x3 = 0, x4 = 1.
+// The minimum is 0 at (x1, x2, x3, x4) = 0.
+//
+// From: Testing Unconstrained Optimization Software by Jorge J. More, Burton S.
+// Garbow and Kenneth E. Hillstrom in ACM Transactions on Mathematical Software,
+// Vol 7(1), March 1981.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+struct F1 {
+  template <typename T> bool operator()(const T* const x1,
+                                        const T* const x2,
+                                        T* residual) const {
+    // f1 = x1 + 10 * x2;
+    residual[0] = x1[0] + 10.0 * x2[0];
+    return true;
+  }
+};
+
+struct F2 {
+  template <typename T> bool operator()(const T* const x3,
+                                        const T* const x4,
+                                        T* residual) const {
+    // f2 = sqrt(5) (x3 - x4)
+    residual[0] = sqrt(5.0) * (x3[0] - x4[0]);
+    return true;
+  }
+};
+
+struct F3 {
+  template <typename T> bool operator()(const T* const x2,
+                                        const T* const x4,
+                                        T* residual) const {
+    // f3 = (x2 - 2 x3)^2
+    residual[0] = (x2[0] - 2.0 * x4[0]) * (x2[0] - 2.0 * x4[0]);
+    return true;
+  }
+};
+
+struct F4 {
+  template <typename T> bool operator()(const T* const x1,
+                                        const T* const x4,
+                                        T* residual) const {
+    // f4 = sqrt(10) (x1 - x4)^2
+    residual[0] = sqrt(10.0) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+    return true;
+  }
+};
+
+DEFINE_string(minimizer, "trust_region",
+              "Minimizer type to use, choices are: line_search & trust_region");
+
+int main(int argc, char** argv) {
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  google::InitGoogleLogging(argv[0]);
+
+  double x1 =  3.0;
+  double x2 = -1.0;
+  double x3 =  0.0;
+  double x4 =  1.0;
+
+  Problem problem;
+  // Add residual terms to the problem using the using the autodiff
+  // wrapper to get the derivatives automatically. The parameters, x1 through
+  // x4, are modified in place.
+  problem.AddResidualBlock(new AutoDiffCostFunction<F1, 1, 1, 1>(new F1),
+                           NULL,
+                           &x1, &x2);
+  problem.AddResidualBlock(new AutoDiffCostFunction<F2, 1, 1, 1>(new F2),
+                           NULL,
+                           &x3, &x4);
+  problem.AddResidualBlock(new AutoDiffCostFunction<F3, 1, 1, 1>(new F3),
+                           NULL,
+                           &x2, &x3);
+  problem.AddResidualBlock(new AutoDiffCostFunction<F4, 1, 1, 1>(new F4),
+                           NULL,
+                           &x1, &x4);
+
+  Solver::Options options;
+  LOG_IF(FATAL, !ceres::StringToMinimizerType(FLAGS_minimizer,
+                                              &options.minimizer_type))
+      << "Invalid minimizer: " << FLAGS_minimizer
+      << ", valid options are: trust_region and line_search.";
+
+  options.max_num_iterations = 100;
+  options.linear_solver_type = ceres::DENSE_QR;
+  options.minimizer_progress_to_stdout = true;
+
+  std::cout << "Initial x1 = " << x1
+            << ", x2 = " << x2
+            << ", x3 = " << x3
+            << ", x4 = " << x4
+            << "\n";
+
+  // Run the solver!
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+
+  std::cout << summary.FullReport() << "\n";
+  std::cout << "Final x1 = " << x1
+            << ", x2 = " << x2
+            << ", x3 = " << x3
+            << ", x4 = " << x4
+            << "\n";
+  return 0;
+}
diff --git a/examples/random.h b/examples/random.h
new file mode 100644
index 0000000..7b09b15
--- /dev/null
+++ b/examples/random.h
@@ -0,0 +1,64 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_EXAMPLES_RANDOM_H_
+#define CERES_EXAMPLES_RANDOM_H_
+
+#include <math.h>
+#include <stdlib.h>
+
+namespace ceres {
+namespace examples {
+
+// Return a random number sampled from a uniform distribution in the range
+// [0,1].
+inline double RandDouble() {
+  double r = static_cast<double>(rand());
+  return r / RAND_MAX;
+}
+
+// Marsaglia Polar method for generation standard normal (pseudo)
+// random numbers http://en.wikipedia.org/wiki/Marsaglia_polar_method
+inline double RandNormal() {
+  double x1, x2, w;
+  do {
+    x1 = 2.0 * RandDouble() - 1.0;
+    x2 = 2.0 * RandDouble() - 1.0;
+    w = x1 * x1 + x2 * x2;
+  } while ( w >= 1.0 || w == 0.0 );
+
+  w = sqrt((-2.0 * log(w)) / w);
+  return x1 * w;
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_RANDOM_H_
diff --git a/examples/robot_pose_mle.cc b/examples/robot_pose_mle.cc
new file mode 100644
index 0000000..1f5058a
--- /dev/null
+++ b/examples/robot_pose_mle.cc
@@ -0,0 +1,316 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: joydeepb@ri.cmu.edu (Joydeep Biswas)
+//
+// This example demonstrates how to use the DynamicAutoDiffCostFunction
+// variant of CostFunction. The DynamicAutoDiffCostFunction is meant to
+// be used in cases where the number of parameter blocks or the sizes are not
+// known at compile time.
+//
+// This example simulates a robot traversing down a 1-dimension hallway with
+// noise odometry readings and noisy range readings of the end of the hallway.
+// By fusing the noisy odometry and sensor readings this example demonstrates
+// how to compute the maximum likelihood estimate (MLE) of the robot's pose at
+// each timestep.
+//
+// The robot starts at the origin, and it is travels to the end of a corridor of
+// fixed length specified by the "--corridor_length" flag. It executes a series
+// of motion commands to move forward a fixed length, specified by the
+// "--pose_separation" flag, at which pose it receives relative odometry
+// measurements as well as a range reading of the distance to the end of the
+// hallway. The odometry readings are drawn with Gaussian noise and standard
+// deviation specified by the "--odometry_stddev" flag, and the range readings
+// similarly with standard deviation specified by the "--range-stddev" flag.
+//
+// There are two types of residuals in this problem:
+// 1) The OdometryConstraint residual, that accounts for the odometry readings
+//    between successive pose estimatess of the robot.
+// 2) The RangeConstraint residual, that accounts for the errors in the observed
+//    range readings from each pose.
+//
+// The OdometryConstraint residual is modeled as an AutoDiffCostFunction with
+// a fixed parameter block size of 1, which is the relative odometry being
+// solved for, between a pair of successive poses of the robot. Differences
+// between observed and computed relative odometry values are penalized weighted
+// by the known standard deviation of the odometry readings.
+//
+// The RangeConstraint residual is modeled as a DynamicAutoDiffCostFunction
+// which sums up the relative odometry estimates to compute the estimated
+// global pose of the robot, and then computes the expected range reading.
+// Differences between the observed and expected range readings are then
+// penalized weighted by the standard deviation of readings of the sensor.
+// Since the number of poses of the robot is not known at compile time, this
+// cost function is implemented as a DynamicAutoDiffCostFunction.
+//
+// The outputs of the example are the initial values of the odometry and range
+// readings, and the range and odometry errors for every pose of the robot.
+// After computing the MLE, the computed poses and corrected odometry values
+// are printed out, along with the corresponding range and odometry errors. Note
+// that as an MLE of a noisy system the errors will not be reduced to zero, but
+// the odometry estimates will be updated to maximize the joint likelihood of
+// all odometry and range readings of the robot.
+//
+// Mathematical Formulation
+// ======================================================
+//
+// Let p_0, .., p_N be (N+1) robot poses, where the robot moves down the
+// corridor starting from p_0 and ending at p_N. We assume that p_0 is the
+// origin of the coordinate system.
+// Odometry u_i is the observed relative odometry between pose p_(i-1) and p_i,
+// and range reading y_i is the range reading of the end of the corridor from
+// pose p_i. Both odometry as well as range readings are noisy, but we wish to
+// compute the maximum likelihood estimate (MLE) of corrected odometry values
+// u*_0 to u*_(N-1), such that the Belief is optimized:
+//
+// Belief(u*_(0:N-1) | u_(0:N-1), y_(0:N-1))                                  1.
+//   =        P(u*_(0:N-1) | u_(0:N-1), y_(0:N-1))                            2.
+//   \propto  P(y_(0:N-1) | u*_(0:N-1), u_(0:N-1)) P(u*_(0:N-1) | u_(0:N-1))  3.
+//   =       \prod_i{ P(y_i | u*_(0:i)) P(u*_i | u_i) }                       4.
+//
+// Here, the subscript "(0:i)" is used as shorthand to indicate entries from all
+// timesteps 0 to i for that variable, both inclusive.
+//
+// Bayes' rule is used to derive eq. 3 from 2, and the independence of
+// odometry observations and range readings is expolited to derive 4 from 3.
+//
+// Thus, the Belief, up to scale, is factored as a product of a number of
+// terms, two for each pose, where for each pose term there is one term for the
+// range reading, P(y_i | u*_(0:i) and one term for the odometry reading,
+// P(u*_i | u_i) . Note that the term for the range reading is dependent on all
+// odometry values u*_(0:i), while the odometry term, P(u*_i | u_i) depends only
+// on a single value, u_i. Both the range reading as well as odoemtry
+// probability terms are modeled as the Normal distribution, and have the form:
+//
+// p(x) \propto \exp{-((x - x_mean) / x_stddev)^2}
+//
+// where x refers to either the MLE odometry u* or range reading y, and x_mean
+// is the corresponding mean value, u for the odometry terms, and y_expected,
+// the expected range reading based on all the previous odometry terms.
+// The MLE is thus found by finding those values x* which minimize:
+//
+// x* = \arg\min{((x - x_mean) / x_stddev)^2}
+//
+// which is in the nonlinear least-square form, suited to being solved by Ceres.
+// The non-linear component arise from the computation of x_mean. The residuals
+// ((x - x_mean) / x_stddev) for the residuals that Ceres will optimize. As
+// mentioned earlier, the odometry term for each pose depends only on one
+// variable, and will be computed by an AutoDiffCostFunction, while the term
+// for the range reading will depend on all previous odometry observations, and
+// will be computed by a DynamicAutoDiffCostFunction since the number of
+// odoemtry observations will only be known at run time.
+
+#include <cstdio>
+#include <math.h>
+#include <vector>
+
+#include "ceres/ceres.h"
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "random.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::DynamicAutoDiffCostFunction;
+using ceres::CauchyLoss;
+using ceres::CostFunction;
+using ceres::LossFunction;
+using ceres::Problem;
+using ceres::Solve;
+using ceres::Solver;
+using ceres::examples::RandNormal;
+using std::min;
+using std::vector;
+
+DEFINE_double(corridor_length, 30.0, "Length of the corridor that the robot is "
+              "travelling down.");
+
+DEFINE_double(pose_separation, 0.5, "The distance that the robot traverses "
+              "between successive odometry updates.");
+
+DEFINE_double(odometry_stddev, 0.1, "The standard deviation of "
+              "odometry error of the robot.");
+
+DEFINE_double(range_stddev, 0.01, "The standard deviation of range readings of "
+              "the robot.");
+
+// The stride length of the dynamic_autodiff_cost_function evaluator.
+static const int kStride = 10;
+
+struct OdometryConstraint {
+  typedef AutoDiffCostFunction<OdometryConstraint, 1, 1> OdometryCostFunction;
+
+  OdometryConstraint(double odometry_mean, double odometry_stddev) :
+      odometry_mean(odometry_mean), odometry_stddev(odometry_stddev) {}
+
+  template <typename T>
+  bool operator()(const T* const odometry, T* residual) const {
+    *residual = (*odometry - odometry_mean) / odometry_stddev;
+    return true;
+  }
+
+  static OdometryCostFunction* Create(const double odometry_value) {
+    return new OdometryCostFunction(
+        new OdometryConstraint(odometry_value, FLAGS_odometry_stddev));
+  }
+
+  const double odometry_mean;
+  const double odometry_stddev;
+};
+
+struct RangeConstraint {
+  typedef DynamicAutoDiffCostFunction<RangeConstraint, kStride>
+      RangeCostFunction;
+
+  RangeConstraint(
+      int pose_index,
+      double range_reading,
+      double range_stddev,
+      double corridor_length) :
+      pose_index(pose_index), range_reading(range_reading),
+      range_stddev(range_stddev), corridor_length(corridor_length) {}
+
+  template <typename T>
+  bool operator()(T const* const* relative_poses, T* residuals) const {
+    T global_pose(0);
+    for (int i = 0; i <= pose_index; ++i) {
+      global_pose += relative_poses[i][0];
+    }
+    residuals[0] = (global_pose + range_reading - corridor_length) /
+        range_stddev;
+    return true;
+  }
+
+  // Factory method to create a CostFunction from a RangeConstraint to
+  // conveniently add to a ceres problem.
+  static RangeCostFunction* Create(const int pose_index,
+                                   const double range_reading,
+                                   vector<double>* odometry_values,
+                                   vector<double*>* parameter_blocks) {
+    RangeConstraint* constraint = new RangeConstraint(
+        pose_index, range_reading, FLAGS_range_stddev, FLAGS_corridor_length);
+    RangeCostFunction* cost_function = new RangeCostFunction(constraint);
+    // Add all the parameter blocks that affect this constraint.
+    parameter_blocks->clear();
+    for (int i = 0; i <= pose_index; ++i) {
+      parameter_blocks->push_back(&((*odometry_values)[i]));
+      cost_function->AddParameterBlock(1);
+    }
+    cost_function->SetNumResiduals(1);
+    return (cost_function);
+  }
+
+  const int pose_index;
+  const double range_reading;
+  const double range_stddev;
+  const double corridor_length;
+};
+
+void SimulateRobot(vector<double>* odometry_values,
+                   vector<double>* range_readings) {
+  const int num_steps = static_cast<int>(
+      ceil(FLAGS_corridor_length / FLAGS_pose_separation));
+
+  // The robot starts out at the origin.
+  double robot_location = 0.0;
+  for (int i = 0; i < num_steps; ++i) {
+    const double actual_odometry_value = min(
+        FLAGS_pose_separation, FLAGS_corridor_length - robot_location);
+    robot_location += actual_odometry_value;
+    const double actual_range = FLAGS_corridor_length - robot_location;
+    const double observed_odometry =
+        RandNormal() * FLAGS_odometry_stddev + actual_odometry_value;
+    const double observed_range =
+        RandNormal() * FLAGS_range_stddev + actual_range;
+    odometry_values->push_back(observed_odometry);
+    range_readings->push_back(observed_range);
+  }
+}
+
+void PrintState(const vector<double>& odometry_readings,
+                const vector<double>& range_readings) {
+  CHECK_EQ(odometry_readings.size(), range_readings.size());
+  double robot_location = 0.0;
+  printf("pose: location     odom    range  r.error  o.error\n");
+  for (int i = 0; i < odometry_readings.size(); ++i) {
+    robot_location += odometry_readings[i];
+    const double range_error =
+        robot_location + range_readings[i] - FLAGS_corridor_length;
+    const double odometry_error =
+        FLAGS_pose_separation - odometry_readings[i];
+    printf("%4d: %8.3f %8.3f %8.3f %8.3f %8.3f\n",
+           static_cast<int>(i), robot_location, odometry_readings[i],
+           range_readings[i], range_error, odometry_error);
+  }
+}
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  // Make sure that the arguments parsed are all positive.
+  CHECK_GT(FLAGS_corridor_length, 0.0);
+  CHECK_GT(FLAGS_pose_separation, 0.0);
+  CHECK_GT(FLAGS_odometry_stddev, 0.0);
+  CHECK_GT(FLAGS_range_stddev, 0.0);
+
+  vector<double> odometry_values;
+  vector<double> range_readings;
+  SimulateRobot(&odometry_values, &range_readings);
+
+  printf("Initial values:\n");
+  PrintState(odometry_values, range_readings);
+  ceres::Problem problem;
+
+  for (int i = 0; i < odometry_values.size(); ++i) {
+    // Create and add a DynamicAutoDiffCostFunction for the RangeConstraint from
+    // pose i.
+    vector<double*> parameter_blocks;
+    RangeConstraint::RangeCostFunction* range_cost_function =
+        RangeConstraint::Create(
+            i, range_readings[i], &odometry_values, &parameter_blocks);
+    problem.AddResidualBlock(range_cost_function, NULL, parameter_blocks);
+
+    // Create and add an AutoDiffCostFunction for the OdometryConstraint for
+    // pose i.
+    problem.AddResidualBlock(OdometryConstraint::Create(odometry_values[i]),
+                             NULL,
+                             &(odometry_values[i]));
+  }
+
+  ceres::Solver::Options solver_options;
+  solver_options.minimizer_progress_to_stdout = true;
+
+  Solver::Summary summary;
+  printf("Solving...\n");
+  Solve(solver_options, &problem, &summary);
+  printf("Done.\n");
+  std::cout << summary.FullReport() << "\n";
+  printf("Final values:\n");
+  PrintState(odometry_values, range_readings);
+  return 0;
+}
diff --git a/examples/robust_curve_fitting.cc b/examples/robust_curve_fitting.cc
new file mode 100644
index 0000000..6186aa1
--- /dev/null
+++ b/examples/robust_curve_fitting.cc
@@ -0,0 +1,165 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+// Data generated using the following octave code.
+//   randn('seed', 23497);
+//   m = 0.3;
+//   c = 0.1;
+//   x=[0:0.075:5];
+//   y = exp(m * x + c);
+//   noise = randn(size(x)) * 0.2;
+//   outlier_noise = rand(size(x)) < 0.05;
+//   y_observed = y + noise + outlier_noise;
+//   data = [x', y_observed'];
+
+const int kNumObservations = 67;
+const double data[] = {
+0.000000e+00, 1.133898e+00,
+7.500000e-02, 1.334902e+00,
+1.500000e-01, 1.213546e+00,
+2.250000e-01, 1.252016e+00,
+3.000000e-01, 1.392265e+00,
+3.750000e-01, 1.314458e+00,
+4.500000e-01, 1.472541e+00,
+5.250000e-01, 1.536218e+00,
+6.000000e-01, 1.355679e+00,
+6.750000e-01, 1.463566e+00,
+7.500000e-01, 1.490201e+00,
+8.250000e-01, 1.658699e+00,
+9.000000e-01, 1.067574e+00,
+9.750000e-01, 1.464629e+00,
+1.050000e+00, 1.402653e+00,
+1.125000e+00, 1.713141e+00,
+1.200000e+00, 1.527021e+00,
+1.275000e+00, 1.702632e+00,
+1.350000e+00, 1.423899e+00,
+1.425000e+00, 5.543078e+00, // Outlier point
+1.500000e+00, 5.664015e+00, // Outlier point
+1.575000e+00, 1.732484e+00,
+1.650000e+00, 1.543296e+00,
+1.725000e+00, 1.959523e+00,
+1.800000e+00, 1.685132e+00,
+1.875000e+00, 1.951791e+00,
+1.950000e+00, 2.095346e+00,
+2.025000e+00, 2.361460e+00,
+2.100000e+00, 2.169119e+00,
+2.175000e+00, 2.061745e+00,
+2.250000e+00, 2.178641e+00,
+2.325000e+00, 2.104346e+00,
+2.400000e+00, 2.584470e+00,
+2.475000e+00, 1.914158e+00,
+2.550000e+00, 2.368375e+00,
+2.625000e+00, 2.686125e+00,
+2.700000e+00, 2.712395e+00,
+2.775000e+00, 2.499511e+00,
+2.850000e+00, 2.558897e+00,
+2.925000e+00, 2.309154e+00,
+3.000000e+00, 2.869503e+00,
+3.075000e+00, 3.116645e+00,
+3.150000e+00, 3.094907e+00,
+3.225000e+00, 2.471759e+00,
+3.300000e+00, 3.017131e+00,
+3.375000e+00, 3.232381e+00,
+3.450000e+00, 2.944596e+00,
+3.525000e+00, 3.385343e+00,
+3.600000e+00, 3.199826e+00,
+3.675000e+00, 3.423039e+00,
+3.750000e+00, 3.621552e+00,
+3.825000e+00, 3.559255e+00,
+3.900000e+00, 3.530713e+00,
+3.975000e+00, 3.561766e+00,
+4.050000e+00, 3.544574e+00,
+4.125000e+00, 3.867945e+00,
+4.200000e+00, 4.049776e+00,
+4.275000e+00, 3.885601e+00,
+4.350000e+00, 4.110505e+00,
+4.425000e+00, 4.345320e+00,
+4.500000e+00, 4.161241e+00,
+4.575000e+00, 4.363407e+00,
+4.650000e+00, 4.161576e+00,
+4.725000e+00, 4.619728e+00,
+4.800000e+00, 4.737410e+00,
+4.875000e+00, 4.727863e+00,
+4.950000e+00, 4.669206e+00
+};
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::CauchyLoss;
+using ceres::Problem;
+using ceres::Solve;
+using ceres::Solver;
+
+struct ExponentialResidual {
+  ExponentialResidual(double x, double y)
+      : x_(x), y_(y) {}
+
+  template <typename T> bool operator()(const T* const m,
+                                        const T* const c,
+                                        T* residual) const {
+    residual[0] = y_ - exp(m[0] * x_ + c[0]);
+    return true;
+  }
+
+ private:
+  const double x_;
+  const double y_;
+};
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  double m = 0.0;
+  double c = 0.0;
+
+  Problem problem;
+  for (int i = 0; i < kNumObservations; ++i) {
+    CostFunction* cost_function =
+        new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+            new ExponentialResidual(data[2 * i], data[2 * i + 1]));
+    problem.AddResidualBlock(cost_function,
+                             new CauchyLoss(0.5),
+                             &m, &c);
+  }
+
+  Solver::Options options;
+  options.linear_solver_type = ceres::DENSE_QR;
+  options.minimizer_progress_to_stdout = true;
+
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
+  std::cout << "Final   m: " << m << " c: " << c << "\n";
+  return 0;
+}
diff --git a/examples/rosenbrock.cc b/examples/rosenbrock.cc
new file mode 100644
index 0000000..3f64f1c
--- /dev/null
+++ b/examples/rosenbrock.cc
@@ -0,0 +1,74 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+
+// f(x,y) = (1-x)^2 + 100(y - x^2)^2;
+class Rosenbrock : public ceres::FirstOrderFunction {
+ public:
+  virtual ~Rosenbrock() {}
+
+  virtual bool Evaluate(const double* parameters,
+                        double* cost,
+                        double* gradient) const {
+    const double x = parameters[0];
+    const double y = parameters[1];
+
+    cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+    if (gradient != NULL) {
+      gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+      gradient[1] = 200.0 * (y - x * x);
+    }
+    return true;
+  }
+
+  virtual int NumParameters() const { return 2; }
+};
+
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  double parameters[2] = {-1.2, 1.0};
+
+  ceres::GradientProblemSolver::Options options;
+  options.minimizer_progress_to_stdout = true;
+
+  ceres::GradientProblemSolver::Summary summary;
+  ceres::GradientProblem problem(new Rosenbrock());
+  ceres::Solve(options, problem, parameters, &summary);
+
+  std::cout << summary.FullReport() << "\n";
+  std::cout << "Initial x: " << -1.2 << " y: " << 1.0 << "\n";
+  std::cout << "Final   x: " << parameters[0]
+            << " y: " << parameters[1] << "\n";
+  return 0;
+}
diff --git a/examples/sampled_function/CMakeLists.txt b/examples/sampled_function/CMakeLists.txt
new file mode 100644
index 0000000..57f31d1
--- /dev/null
+++ b/examples/sampled_function/CMakeLists.txt
@@ -0,0 +1,32 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: vitus@google.com (Michael Vitus)
+
+add_executable(sampled_function sampled_function.cc)
+target_link_libraries(sampled_function ceres)
diff --git a/examples/sampled_function/README.md b/examples/sampled_function/README.md
new file mode 100644
index 0000000..77ce365
--- /dev/null
+++ b/examples/sampled_function/README.md
@@ -0,0 +1,42 @@
+Sampled Functions
+--
+
+It is common to not have an analytical representation of the optimization
+problem but rather a table of values at specific inputs. This commonly occurs
+when working with images or when the functions in the problem are expensive to
+evaluate. To use this data in an optimization problem we can use interpolation
+to evaluate the function and derivatives at intermediate input values.
+
+There are many libraries that implement a variety of interpolation schemes, but
+it is difficult to use them in Ceres' automatic differentiation framework.
+Instead, Ceres provides the ability to interpolate one and two dimensional data.
+
+The one dimensional interpolation is based on the Cubic Hermite Spline. This
+interpolation method requires knowledge of the function derivatives at the
+control points, however we only know the function values. Consequently, we will
+use the data to estimate derivatives at the control points. The choice of how to
+compute the derivatives is not unique and Ceres uses the Catmull–Rom Spline
+variant which uses `0.5 * (p_{k+1} - p_{k-1})` as the derivative for control
+point `p_k.` This produces a first order differentiable interpolating
+function. The two dimensional interpolation scheme is a generalization of the
+one dimensional scheme where the interpolating function is assumed to be
+separable in the two dimensions.
+
+This example shows how to use interpolation schemes within the Ceres automatic
+differentiation framework. This is a one dimensional example and the objective
+function is to minimize `0.5 * f(x)^2` where `f(x) = (x - 4.5)^2`.
+
+It is also possible to use analytical derivatives with the provided
+interpolation schemes by using a `SizedCostFunction` and defining the
+``Evaluate` function. For this example, the evaluate function would be:
+
+```c++
+bool Evaluate(double const* const* parameters, double* residuals, double** jacobians) const {
+  if (jacobians == NULL || jacobians[0] == NULL)
+    interpolator_.Evaluate(parameters[0][0], residuals);
+  else
+    interpolator_.Evaluate(parameters[0][0], residuals, jacobians[0]);
+
+  return true;
+}
+```
diff --git a/examples/sampled_function/sampled_function.cc b/examples/sampled_function/sampled_function.cc
new file mode 100644
index 0000000..093276a
--- /dev/null
+++ b/examples/sampled_function/sampled_function.cc
@@ -0,0 +1,94 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A simple example of optimizing a sampled function by using cubic
+// interpolation.
+
+#include "ceres/ceres.h"
+#include "ceres/cubic_interpolation.h"
+#include "glog/logging.h"
+
+using ceres::Grid1D;
+using ceres::CubicInterpolator;
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A simple cost functor that interfaces an interpolated table of
+// values with automatic differentiation.
+struct InterpolatedCostFunctor {
+  explicit InterpolatedCostFunctor(
+      const CubicInterpolator<Grid1D<double> >& interpolator)
+      : interpolator_(interpolator) {
+  }
+
+  template<typename T> bool operator()(const T* x, T* residuals) const {
+    interpolator_.Evaluate(*x, residuals);
+    return true;
+  }
+
+  static CostFunction* Create(
+      const CubicInterpolator<Grid1D<double> >& interpolator) {
+    return new AutoDiffCostFunction<InterpolatedCostFunctor, 1, 1>(
+        new InterpolatedCostFunctor(interpolator));
+  }
+
+ private:
+  const CubicInterpolator<Grid1D<double> >& interpolator_;
+};
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+
+  // Evaluate the function f(x) = (x - 4.5)^2;
+  const int kNumSamples = 10;
+  double values[kNumSamples];
+  for (int i = 0; i < kNumSamples; ++i) {
+    values[i] = (i - 4.5) * (i - 4.5);
+  }
+
+  Grid1D<double> array(values, 0, kNumSamples);
+  CubicInterpolator<Grid1D<double> > interpolator(array);
+
+  double x = 1.0;
+  Problem problem;
+  CostFunction* cost_function = InterpolatedCostFunctor::Create(interpolator);
+  problem.AddResidualBlock(cost_function, NULL, &x);
+
+  Solver::Options options;
+  options.minimizer_progress_to_stdout = true;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "Expected x: 4.5. Actual x : " << x << std::endl;
+  return 0;
+}
diff --git a/examples/simple_bundle_adjuster.cc b/examples/simple_bundle_adjuster.cc
new file mode 100644
index 0000000..dec6cd6
--- /dev/null
+++ b/examples/simple_bundle_adjuster.cc
@@ -0,0 +1,218 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A minimal, self-contained bundle adjuster using Ceres, that reads
+// files from University of Washington' Bundle Adjustment in the Large dataset:
+// http://grail.cs.washington.edu/projects/bal
+//
+// This does not use the best configuration for solving; see the more involved
+// bundle_adjuster.cc file for details.
+
+#include <cmath>
+#include <cstdio>
+#include <iostream>
+
+#include "ceres/ceres.h"
+#include "ceres/rotation.h"
+
+// Read a Bundle Adjustment in the Large dataset.
+class BALProblem {
+ public:
+  ~BALProblem() {
+    delete[] point_index_;
+    delete[] camera_index_;
+    delete[] observations_;
+    delete[] parameters_;
+  }
+
+  int num_observations()       const { return num_observations_;               }
+  const double* observations() const { return observations_;                   }
+  double* mutable_cameras()          { return parameters_;                     }
+  double* mutable_points()           { return parameters_  + 9 * num_cameras_; }
+
+  double* mutable_camera_for_observation(int i) {
+    return mutable_cameras() + camera_index_[i] * 9;
+  }
+  double* mutable_point_for_observation(int i) {
+    return mutable_points() + point_index_[i] * 3;
+  }
+
+  bool LoadFile(const char* filename) {
+    FILE* fptr = fopen(filename, "r");
+    if (fptr == NULL) {
+      return false;
+    };
+
+    FscanfOrDie(fptr, "%d", &num_cameras_);
+    FscanfOrDie(fptr, "%d", &num_points_);
+    FscanfOrDie(fptr, "%d", &num_observations_);
+
+    point_index_ = new int[num_observations_];
+    camera_index_ = new int[num_observations_];
+    observations_ = new double[2 * num_observations_];
+
+    num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+    parameters_ = new double[num_parameters_];
+
+    for (int i = 0; i < num_observations_; ++i) {
+      FscanfOrDie(fptr, "%d", camera_index_ + i);
+      FscanfOrDie(fptr, "%d", point_index_ + i);
+      for (int j = 0; j < 2; ++j) {
+        FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+      }
+    }
+
+    for (int i = 0; i < num_parameters_; ++i) {
+      FscanfOrDie(fptr, "%lf", parameters_ + i);
+    }
+    return true;
+  }
+
+ private:
+  template<typename T>
+  void FscanfOrDie(FILE *fptr, const char *format, T *value) {
+    int num_scanned = fscanf(fptr, format, value);
+    if (num_scanned != 1) {
+      LOG(FATAL) << "Invalid UW data file.";
+    }
+  }
+
+  int num_cameras_;
+  int num_points_;
+  int num_observations_;
+  int num_parameters_;
+
+  int* point_index_;
+  int* camera_index_;
+  double* observations_;
+  double* parameters_;
+};
+
+// Templated pinhole camera model for used with Ceres.  The camera is
+// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
+// focal length and 2 for radial distortion. The principal point is not modeled
+// (i.e. it is assumed be located at the image center).
+struct SnavelyReprojectionError {
+  SnavelyReprojectionError(double observed_x, double observed_y)
+      : observed_x(observed_x), observed_y(observed_y) {}
+
+  template <typename T>
+  bool operator()(const T* const camera,
+                  const T* const point,
+                  T* residuals) const {
+    // camera[0,1,2] are the angle-axis rotation.
+    T p[3];
+    ceres::AngleAxisRotatePoint(camera, point, p);
+
+    // camera[3,4,5] are the translation.
+    p[0] += camera[3];
+    p[1] += camera[4];
+    p[2] += camera[5];
+
+    // Compute the center of distortion. The sign change comes from
+    // the camera model that Noah Snavely's Bundler assumes, whereby
+    // the camera coordinate system has a negative z axis.
+    T xp = - p[0] / p[2];
+    T yp = - p[1] / p[2];
+
+    // Apply second and fourth order radial distortion.
+    const T& l1 = camera[7];
+    const T& l2 = camera[8];
+    T r2 = xp*xp + yp*yp;
+    T distortion = 1.0 + r2  * (l1 + l2  * r2);
+
+    // Compute final projected point position.
+    const T& focal = camera[6];
+    T predicted_x = focal * distortion * xp;
+    T predicted_y = focal * distortion * yp;
+
+    // The error is the difference between the predicted and observed position.
+    residuals[0] = predicted_x - observed_x;
+    residuals[1] = predicted_y - observed_y;
+
+    return true;
+  }
+
+  // Factory to hide the construction of the CostFunction object from
+  // the client code.
+  static ceres::CostFunction* Create(const double observed_x,
+                                     const double observed_y) {
+    return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+                new SnavelyReprojectionError(observed_x, observed_y)));
+  }
+
+  double observed_x;
+  double observed_y;
+};
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+  if (argc != 2) {
+    std::cerr << "usage: simple_bundle_adjuster <bal_problem>\n";
+    return 1;
+  }
+
+  BALProblem bal_problem;
+  if (!bal_problem.LoadFile(argv[1])) {
+    std::cerr << "ERROR: unable to open file " << argv[1] << "\n";
+    return 1;
+  }
+
+  const double* observations = bal_problem.observations();
+
+  // Create residuals for each observation in the bundle adjustment problem. The
+  // parameters for cameras and points are added automatically.
+  ceres::Problem problem;
+  for (int i = 0; i < bal_problem.num_observations(); ++i) {
+    // Each Residual block takes a point and a camera as input and outputs a 2
+    // dimensional residual. Internally, the cost function stores the observed
+    // image location and compares the reprojection against the observation.
+
+    ceres::CostFunction* cost_function =
+        SnavelyReprojectionError::Create(observations[2 * i + 0],
+                                         observations[2 * i + 1]);
+    problem.AddResidualBlock(cost_function,
+                             NULL /* squared loss */,
+                             bal_problem.mutable_camera_for_observation(i),
+                             bal_problem.mutable_point_for_observation(i));
+  }
+
+  // Make Ceres automatically detect the bundle structure. Note that the
+  // standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower
+  // for standard bundle adjustment problems.
+  ceres::Solver::Options options;
+  options.linear_solver_type = ceres::DENSE_SCHUR;
+  options.minimizer_progress_to_stdout = true;
+
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, &problem, &summary);
+  std::cout << summary.FullReport() << "\n";
+  return 0;
+}
diff --git a/examples/slam/CMakeLists.txt b/examples/slam/CMakeLists.txt
new file mode 100644
index 0000000..c72aa16
--- /dev/null
+++ b/examples/slam/CMakeLists.txt
@@ -0,0 +1,33 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: vitus@google.com (Michael Vitus)
+include_directories(./)
+
+add_subdirectory(pose_graph_2d)
+add_subdirectory(pose_graph_3d)
diff --git a/examples/slam/common/read_g2o.h b/examples/slam/common/read_g2o.h
new file mode 100644
index 0000000..71b071c
--- /dev/null
+++ b/examples/slam/common/read_g2o.h
@@ -0,0 +1,141 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+//
+// Reads a file in the g2o filename format that describes a pose graph problem.
+
+#ifndef EXAMPLES_CERES_READ_G2O_H_
+#define EXAMPLES_CERES_READ_G2O_H_
+
+#include <fstream>
+#include <string>
+
+#include "glog/logging.h"
+
+namespace ceres {
+namespace examples {
+
+// Reads a single pose from the input and inserts it into the map. Returns false
+// if there is a duplicate entry.
+template <typename Pose, typename Allocator>
+bool ReadVertex(std::ifstream* infile,
+                std::map<int, Pose, std::less<int>, Allocator>* poses) {
+  int id;
+  Pose pose;
+  *infile >> id >> pose;
+
+  // Ensure we don't have duplicate poses.
+  if (poses->find(id) != poses->end()) {
+    LOG(ERROR) << "Duplicate vertex with ID: " << id;
+    return false;
+  }
+  (*poses)[id] = pose;
+
+  return true;
+}
+
+// Reads the contraints between two vertices in the pose graph
+template <typename Constraint, typename Allocator>
+void ReadConstraint(std::ifstream* infile,
+                    std::vector<Constraint, Allocator>* constraints) {
+  Constraint constraint;
+  *infile >> constraint;
+
+  constraints->push_back(constraint);
+}
+
+// Reads a file in the g2o filename format that describes a pose graph
+// problem. The g2o format consists of two entries, vertices and constraints.
+//
+// In 2D, a vertex is defined as follows:
+//
+// VERTEX_SE2 ID x_meters y_meters yaw_radians
+//
+// A constraint is defined as follows:
+//
+// EDGE_SE2 ID_A ID_B A_x_B A_y_B A_yaw_B I_11 I_12 I_13 I_22 I_23 I_33
+//
+// where I_ij is the (i, j)-th entry of the information matrix for the
+// measurement.
+//
+//
+// In 3D, a vertex is defined as follows:
+//
+// VERTEX_SE3:QUAT ID x y z q_x q_y q_z q_w
+//
+// where the quaternion is in Hamilton form.
+// A constraint is defined as follows:
+//
+// EDGE_SE3:QUAT ID_a ID_b x_ab y_ab z_ab q_x_ab q_y_ab q_z_ab q_w_ab I_11 I_12 I_13 ... I_16 I_22 I_23 ... I_26 ... I_66 // NOLINT
+//
+// where I_ij is the (i, j)-th entry of the information matrix for the
+// measurement. Only the upper-triangular part is stored. The measurement order
+// is the delta position followed by the delta orientation.
+template <typename Pose, typename Constraint, typename MapAllocator,
+          typename VectorAllocator>
+bool ReadG2oFile(const std::string& filename,
+                 std::map<int, Pose, std::less<int>, MapAllocator>* poses,
+                 std::vector<Constraint, VectorAllocator>* constraints) {
+  CHECK(poses != NULL);
+  CHECK(constraints != NULL);
+
+  poses->clear();
+  constraints->clear();
+
+  std::ifstream infile(filename.c_str());
+  if (!infile) {
+    return false;
+  }
+
+  std::string data_type;
+  while (infile.good()) {
+    // Read whether the type is a node or a constraint.
+    infile >> data_type;
+    if (data_type == Pose::name()) {
+      if (!ReadVertex(&infile, poses)) {
+        return false;
+      }
+    } else if (data_type == Constraint::name()) {
+      ReadConstraint(&infile, constraints);
+    } else {
+      LOG(ERROR) << "Unknown data type: " << data_type;
+      return false;
+    }
+
+    // Clear any trailing whitespace from the line.
+    infile >> std::ws;
+  }
+
+  return true;
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // EXAMPLES_CERES_READ_G2O_H_
diff --git a/examples/slam/pose_graph_2d/CMakeLists.txt b/examples/slam/pose_graph_2d/CMakeLists.txt
new file mode 100644
index 0000000..d654e8c
--- /dev/null
+++ b/examples/slam/pose_graph_2d/CMakeLists.txt
@@ -0,0 +1,39 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: vitus@google.com (Michael Vitus)
+
+if (GFLAGS)
+  add_executable(pose_graph_2d
+    angle_local_parameterization.h
+    normalize_angle.h
+    pose_graph_2d.cc
+    pose_graph_2d_error_term.h
+    types.h)
+  target_link_libraries(pose_graph_2d ceres ${GFLAGS_LIBRARIES})
+endif (GFLAGS)
\ No newline at end of file
diff --git a/examples/slam/pose_graph_2d/README.md b/examples/slam/pose_graph_2d/README.md
new file mode 100644
index 0000000..fed51a6
--- /dev/null
+++ b/examples/slam/pose_graph_2d/README.md
@@ -0,0 +1,46 @@
+Pose Graph 2D
+----------------
+
+The Simultaneous Localization and Mapping (SLAM) problem consists of building a
+map of an unknown environment while simultaneously localizing against this
+map. The main difficulty of this problem stems from not having any additional
+external aiding information such as GPS. SLAM has been considered one of the
+fundamental challenges of robotics. A pose graph optimization problem is one
+example of a SLAM problem.
+
+This package defines the necessary Ceres cost functions needed to model the
+2-dimensional pose graph optimization problem as well as a binary to build and
+solve the problem. The cost functions are shown for instruction purposes and can
+be speed up by using analytical derivatives which take longer to implement.
+
+Running
+-----------
+This package includes an executable `pose_graph_2d` that will read a problem
+definition file. This executable can work with any 2D problem definition that
+uses the g2o format. It would be relatively straightforward to implement a new
+reader for a different format such as TORO or others. `pose_graph_2d` will print
+the Ceres solver full summary and then output to disk the original and optimized
+poses (`poses_original.txt` and `poses_optimized.txt`, respectively) of the
+robot in the following format:
+
+```
+pose_id x y yaw_radians
+pose_id x y yaw_radians
+pose_id x y yaw_radians
+...
+```
+
+where `pose_id` is the corresponding integer ID from the file definition. Note,
+the file will be sorted in ascending order for the `pose_id`.
+
+The executable `pose_graph_2d` expects the first argument to be the path to the
+problem definition. To run the executable,
+
+```
+/path/to/bin/pose_graph_2d /path/to/dataset/dataset.g2o
+```
+
+A python script is provided to visualize the resulting output files.
+```
+/path/to/repo/examples/slam/pose_graph_2d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+```
diff --git a/examples/slam/pose_graph_2d/angle_local_parameterization.h b/examples/slam/pose_graph_2d/angle_local_parameterization.h
new file mode 100644
index 0000000..428cccc
--- /dev/null
+++ b/examples/slam/pose_graph_2d/angle_local_parameterization.h
@@ -0,0 +1,63 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
+
+#include "ceres/local_parameterization.h"
+#include "normalize_angle.h"
+
+namespace ceres {
+namespace examples {
+
+// Defines a local parameterization for updating the angle to be constrained in
+// [-pi to pi).
+class AngleLocalParameterization {
+ public:
+
+  template <typename T>
+  bool operator()(const T* theta_radians, const T* delta_theta_radians,
+                  T* theta_radians_plus_delta) const {
+    *theta_radians_plus_delta =
+        NormalizeAngle(*theta_radians + *delta_theta_radians);
+
+    return true;
+  }
+
+  static ceres::LocalParameterization* Create() {
+    return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
+                                                     1, 1>);
+  }
+};
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
diff --git a/examples/slam/pose_graph_2d/normalize_angle.h b/examples/slam/pose_graph_2d/normalize_angle.h
new file mode 100644
index 0000000..afd5df4
--- /dev/null
+++ b/examples/slam/pose_graph_2d/normalize_angle.h
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
+
+#include <cmath>
+
+#include "ceres/ceres.h"
+
+namespace ceres {
+namespace examples {
+
+// Normalizes the angle in radians between [-pi and pi).
+template <typename T>
+inline T NormalizeAngle(const T& angle_radians) {
+  // Use ceres::floor because it is specialized for double and Jet types.
+  T two_pi(2.0 * M_PI);
+  return angle_radians -
+      two_pi * ceres::floor((angle_radians + T(M_PI)) / two_pi);
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_POSE_GRAPH_2D_NORMALIZE_ANGLE_H_
diff --git a/examples/slam/pose_graph_2d/plot_results.py b/examples/slam/pose_graph_2d/plot_results.py
new file mode 100755
index 0000000..2c4d16e
--- /dev/null
+++ b/examples/slam/pose_graph_2d/plot_results.py
@@ -0,0 +1,45 @@
+#!/usr/bin/python
+#
+# Plots the results from the 2D pose graph optimization. It will draw a line
+# between consecutive vertices.  The commandline expects two optional filenames:
+#
+#   ./plot_results.py --initial_poses optional --optimized_poses optional
+#
+# The files have the following format:
+#   ID x y yaw_radians
+
+import matplotlib.pyplot as plot
+import numpy
+import sys
+from optparse import OptionParser
+
+parser = OptionParser()
+parser.add_option("--initial_poses", dest="initial_poses",
+                  default="", help="The filename that contains the original poses.")
+parser.add_option("--optimized_poses", dest="optimized_poses",
+                  default="", help="The filename that contains the optimized poses.")
+(options, args) = parser.parse_args()
+
+# Read the original and optimized poses files.
+poses_original = None
+if options.initial_poses != '':
+  poses_original = numpy.genfromtxt(options.initial_poses, usecols = (1, 2))
+
+poses_optimized = None
+if options.optimized_poses != '':
+  poses_optimized = numpy.genfromtxt(options.optimized_poses, usecols = (1, 2))
+
+# Plots the results for the specified poses.
+plot.figure()
+if poses_original is not None:
+  plot.plot(poses_original[:, 0], poses_original[:, 1], '-', label="Original",
+            alpha=0.5, color="green")
+
+if poses_optimized is not None:
+  plot.plot(poses_optimized[:, 0], poses_optimized[:, 1], '-', label="Optimized",
+            alpha=0.5, color="blue")
+
+plot.axis('equal')
+plot.legend()
+# Show the plot and wait for the user to close.
+plot.show()
diff --git a/examples/slam/pose_graph_2d/pose_graph_2d.cc b/examples/slam/pose_graph_2d/pose_graph_2d.cc
new file mode 100644
index 0000000..b9374db
--- /dev/null
+++ b/examples/slam/pose_graph_2d/pose_graph_2d.cc
@@ -0,0 +1,182 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+//
+// An example of solving a graph-based formulation of Simultaneous Localization
+// and Mapping (SLAM). It reads a 2D pose graph problem definition file in the
+// g2o format, formulates and solves the Ceres optimization problem, and outputs
+// the original and optimized poses to file for plotting.
+
+#include <fstream>
+#include <iostream>
+#include <map>
+#include <string>
+#include <vector>
+
+#include "angle_local_parameterization.h"
+#include "ceres/ceres.h"
+#include "common/read_g2o.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "pose_graph_2d_error_term.h"
+#include "types.h"
+
+DEFINE_string(input, "", "The pose graph definition filename in g2o format.");
+
+namespace ceres {
+namespace examples {
+
+// Constructs the nonlinear least squares optimization problem from the pose
+// graph constraints.
+void BuildOptimizationProblem(const std::vector<Constraint2d>& constraints,
+                              std::map<int, Pose2d>* poses,
+                              ceres::Problem* problem) {
+  CHECK(poses != NULL);
+  CHECK(problem != NULL);
+  if (constraints.empty()) {
+    LOG(INFO) << "No constraints, no problem to optimize.";
+    return;
+  }
+
+  ceres::LossFunction* loss_function = NULL;
+  ceres::LocalParameterization* angle_local_parameterization =
+      AngleLocalParameterization::Create();
+
+  for (std::vector<Constraint2d>::const_iterator constraints_iter =
+           constraints.begin();
+       constraints_iter != constraints.end(); ++constraints_iter) {
+    const Constraint2d& constraint = *constraints_iter;
+
+    std::map<int, Pose2d>::iterator pose_begin_iter =
+        poses->find(constraint.id_begin);
+    CHECK(pose_begin_iter != poses->end())
+        << "Pose with ID: " << constraint.id_begin << " not found.";
+    std::map<int, Pose2d>::iterator pose_end_iter =
+        poses->find(constraint.id_end);
+    CHECK(pose_end_iter != poses->end())
+        << "Pose with ID: " << constraint.id_end << " not found.";
+
+    const Eigen::Matrix3d sqrt_information =
+        constraint.information.llt().matrixL();
+    // Ceres will take ownership of the pointer.
+    ceres::CostFunction* cost_function = PoseGraph2dErrorTerm::Create(
+        constraint.x, constraint.y, constraint.yaw_radians, sqrt_information);
+    problem->AddResidualBlock(
+        cost_function, loss_function, &pose_begin_iter->second.x,
+        &pose_begin_iter->second.y, &pose_begin_iter->second.yaw_radians,
+        &pose_end_iter->second.x, &pose_end_iter->second.y,
+        &pose_end_iter->second.yaw_radians);
+
+    problem->SetParameterization(&pose_begin_iter->second.yaw_radians,
+                                angle_local_parameterization);
+    problem->SetParameterization(&pose_end_iter->second.yaw_radians,
+                                angle_local_parameterization);
+  }
+
+  // The pose graph optimization problem has three DOFs that are not fully
+  // constrained. This is typically referred to as gauge freedom. You can apply
+  // a rigid body transformation to all the nodes and the optimization problem
+  // will still have the exact same cost. The Levenberg-Marquardt algorithm has
+  // internal damping which mitigate this issue, but it is better to properly
+  // constrain the gauge freedom. This can be done by setting one of the poses
+  // as constant so the optimizer cannot change it.
+  std::map<int, Pose2d>::iterator pose_start_iter =
+      poses->begin();
+  CHECK(pose_start_iter != poses->end()) << "There are no poses.";
+  problem->SetParameterBlockConstant(&pose_start_iter->second.x);
+  problem->SetParameterBlockConstant(&pose_start_iter->second.y);
+  problem->SetParameterBlockConstant(&pose_start_iter->second.yaw_radians);
+}
+
+// Returns true if the solve was successful.
+bool SolveOptimizationProblem(ceres::Problem* problem) {
+  CHECK(problem != NULL);
+
+  ceres::Solver::Options options;
+  options.max_num_iterations = 100;
+  options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, problem, &summary);
+
+  std::cout << summary.FullReport() << '\n';
+
+  return summary.IsSolutionUsable();
+}
+
+// Output the poses to the file with format: ID x y yaw_radians.
+bool OutputPoses(const std::string& filename,
+                 const std::map<int, Pose2d>& poses) {
+  std::fstream outfile;
+  outfile.open(filename.c_str(), std::istream::out);
+  if (!outfile) {
+    std::cerr << "Error opening the file: " << filename << '\n';
+    return false;
+  }
+  for (std::map<int, Pose2d>::const_iterator poses_iter = poses.begin();
+       poses_iter != poses.end(); ++poses_iter) {
+    const std::map<int, Pose2d>::value_type& pair = *poses_iter;
+    outfile <<  pair.first << " " << pair.second.x << " " << pair.second.y
+            << ' ' << pair.second.yaw_radians << '\n';
+  }
+  return true;
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+
+  CHECK(FLAGS_input != "") << "Need to specify the filename to read.";
+
+  std::map<int, ceres::examples::Pose2d> poses;
+  std::vector<ceres::examples::Constraint2d> constraints;
+
+  CHECK(ceres::examples::ReadG2oFile(FLAGS_input, &poses, &constraints))
+      << "Error reading the file: " << FLAGS_input;
+
+  std::cout << "Number of poses: " << poses.size() << '\n';
+  std::cout << "Number of constraints: " << constraints.size() << '\n';
+
+  CHECK(ceres::examples::OutputPoses("poses_original.txt", poses))
+      << "Error outputting to poses_original.txt";
+
+  ceres::Problem problem;
+  ceres::examples::BuildOptimizationProblem(constraints, &poses, &problem);
+
+  CHECK(ceres::examples::SolveOptimizationProblem(&problem))
+      << "The solve was not successful, exiting.";
+
+  CHECK(ceres::examples::OutputPoses("poses_optimized.txt", poses))
+      << "Error outputting to poses_original.txt";
+
+  return 0;
+}
diff --git a/examples/slam/pose_graph_2d/pose_graph_2d_error_term.h b/examples/slam/pose_graph_2d/pose_graph_2d_error_term.h
new file mode 100644
index 0000000..20656d2
--- /dev/null
+++ b/examples/slam/pose_graph_2d/pose_graph_2d_error_term.h
@@ -0,0 +1,112 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+//
+// Cost function for a 2D pose graph formulation.
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_POSE_GRAPH_2D_ERROR_TERM_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_POSE_GRAPH_2D_ERROR_TERM_H_
+
+#include "Eigen/Core"
+
+namespace ceres {
+namespace examples {
+
+template <typename T>
+Eigen::Matrix<T, 2, 2> RotationMatrix2D(T yaw_radians) {
+  const T cos_yaw = ceres::cos(yaw_radians);
+  const T sin_yaw = ceres::sin(yaw_radians);
+
+  Eigen::Matrix<T, 2, 2> rotation;
+  rotation << cos_yaw, -sin_yaw, sin_yaw, cos_yaw;
+  return rotation;
+}
+
+// Computes the error term for two poses that have a relative pose measurement
+// between them. Let the hat variables be the measurement.
+//
+// residual =  information^{1/2} * [  r_a^T * (p_b - p_a) - \hat{p_ab}   ]
+//                                 [ Normalize(yaw_b - yaw_a - \hat{yaw_ab}) ]
+//
+// where r_a is the rotation matrix that rotates a vector represented in frame A
+// into the global frame, and Normalize(*) ensures the angles are in the range
+// [-pi, pi).
+class PoseGraph2dErrorTerm {
+ public:
+  PoseGraph2dErrorTerm(double x_ab, double y_ab, double yaw_ab_radians,
+                       const Eigen::Matrix3d& sqrt_information)
+      : p_ab_(x_ab, y_ab),
+        yaw_ab_radians_(yaw_ab_radians),
+        sqrt_information_(sqrt_information) {}
+
+  template <typename T>
+  bool operator()(const T* const x_a, const T* const y_a, const T* const yaw_a,
+                  const T* const x_b, const T* const y_b, const T* const yaw_b,
+                  T* residuals_ptr) const {
+    const Eigen::Matrix<T, 2, 1> p_a(*x_a, *y_a);
+    const Eigen::Matrix<T, 2, 1> p_b(*x_b, *y_b);
+
+    Eigen::Map<Eigen::Matrix<T, 3, 1> > residuals_map(residuals_ptr);
+
+    residuals_map.template head<2>() =
+        RotationMatrix2D(*yaw_a).transpose() * (p_b - p_a) -
+        p_ab_.cast<T>();
+    residuals_map(2) = ceres::examples::NormalizeAngle(
+        (*yaw_b - *yaw_a) - static_cast<T>(yaw_ab_radians_));
+
+    // Scale the residuals by the square root information matrix to account for
+    // the measurement uncertainty.
+    residuals_map = sqrt_information_.template cast<T>() * residuals_map;
+
+    return true;
+  }
+
+  static ceres::CostFunction* Create(double x_ab, double y_ab,
+                                     double yaw_ab_radians,
+                                     const Eigen::Matrix3d& sqrt_information) {
+    return (new ceres::AutoDiffCostFunction<PoseGraph2dErrorTerm, 3, 1, 1, 1, 1,
+                                            1, 1>(new PoseGraph2dErrorTerm(
+        x_ab, y_ab, yaw_ab_radians, sqrt_information)));
+  }
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ private:
+  // The position of B relative to A in the A frame.
+  const Eigen::Vector2d p_ab_;
+  // The orientation of frame B relative to frame A.
+  const double yaw_ab_radians_;
+  // The inverse square root of the measurement covariance matrix.
+  const Eigen::Matrix3d sqrt_information_;
+};
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_POSE_GRAPH_2D_POSE_GRAPH_2D_ERROR_TERM_H_
diff --git a/examples/slam/pose_graph_2d/types.h b/examples/slam/pose_graph_2d/types.h
new file mode 100644
index 0000000..a54d9bf
--- /dev/null
+++ b/examples/slam/pose_graph_2d/types.h
@@ -0,0 +1,105 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+//
+// Defines the types used in the 2D pose graph SLAM formulation. Each vertex of
+// the graph has a unique integer ID with a position and orientation. There are
+// delta transformation constraints between two vertices.
+
+#ifndef CERES_EXAMPLES_POSE_GRAPH_2D_TYPES_H_
+#define CERES_EXAMPLES_POSE_GRAPH_2D_TYPES_H_
+
+#include <fstream>
+
+#include "Eigen/Core"
+#include "normalize_angle.h"
+
+namespace ceres {
+namespace examples {
+
+// The state for each vertex in the pose graph.
+struct Pose2d {
+  double x;
+  double y;
+  double yaw_radians;
+
+  // The name of the data type in the g2o file format.
+  static std::string name() {
+    return "VERTEX_SE2";
+  }
+};
+
+std::istream& operator>>(std::istream& input, Pose2d& pose) {
+  input >> pose.x >> pose.y >> pose.yaw_radians;
+  // Normalize the angle between -pi to pi.
+  pose.yaw_radians = NormalizeAngle(pose.yaw_radians);
+  return input;
+}
+
+// The constraint between two vertices in the pose graph. The constraint is the
+// transformation from vertex id_begin to vertex id_end.
+struct Constraint2d {
+  int id_begin;
+  int id_end;
+
+  double x;
+  double y;
+  double yaw_radians;
+
+  // The inverse of the covariance matrix for the measurement. The order of the
+  // entries are x, y, and yaw.
+  Eigen::Matrix3d information;
+
+  // The name of the data type in the g2o file format.
+  static std::string name() {
+    return "EDGE_SE2";
+  }
+};
+
+std::istream& operator>>(std::istream& input, Constraint2d& constraint) {
+  input >> constraint.id_begin >> constraint.id_end >> constraint.x >>
+      constraint.y >> constraint.yaw_radians >>
+      constraint.information(0, 0) >> constraint.information(0, 1) >>
+      constraint.information(0, 2) >> constraint.information(1, 1) >>
+      constraint.information(1, 2) >> constraint.information(2, 2);
+
+  // Set the lower triangular part of the information matrix.
+  constraint.information(1, 0) = constraint.information(0, 1);
+  constraint.information(2, 0) = constraint.information(0, 2);
+  constraint.information(2, 1) = constraint.information(1, 2);
+
+  // Normalize the angle between -pi to pi.
+  constraint.yaw_radians = NormalizeAngle(constraint.yaw_radians);
+  return input;
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_POSE_GRAPH_2D_TYPES_H_
diff --git a/examples/slam/pose_graph_3d/CMakeLists.txt b/examples/slam/pose_graph_3d/CMakeLists.txt
new file mode 100644
index 0000000..2c5fdc3
--- /dev/null
+++ b/examples/slam/pose_graph_3d/CMakeLists.txt
@@ -0,0 +1,34 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2016 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: vitus@google.com (Michael Vitus)
+
+if (GFLAGS)
+  add_executable(pose_graph_3d pose_graph_3d.cc)
+  target_link_libraries(pose_graph_3d ceres ${GFLAGS_LIBRARIES})
+endif (GFLAGS)
\ No newline at end of file
diff --git a/examples/slam/pose_graph_3d/README.md b/examples/slam/pose_graph_3d/README.md
new file mode 100644
index 0000000..a16aa09
--- /dev/null
+++ b/examples/slam/pose_graph_3d/README.md
@@ -0,0 +1,54 @@
+Pose Graph 3D
+----------------
+
+The Simultaneous Localization and Mapping (SLAM) problem consists of building a
+map of an unknown environment while simultaneously localizing against this
+map. The main difficulty of this problem stems from not having any additional
+external aiding information such as GPS. SLAM has been considered one of the
+fundamental challenges of robotics. A pose graph optimization problem is one
+example of a SLAM problem.
+
+The example also illustrates how to use Eigen's geometry module with Ceres'
+automatic differentiation functionality. To represent the orientation, we will
+use Eigen's quaternion which uses the Hamiltonian convention but has different
+element ordering as compared with Ceres's rotation representation. Specifically
+they differ by whether the scalar component q_w is first or last; the element
+order for Ceres's quaternion is [q_w, q_x, q_y, q_z] where as Eigen's quaternion
+is [q_x, q_y, q_z, q_w].
+
+This package defines the necessary Ceres cost functions needed to model the
+3-dimensional pose graph optimization problem as well as a binary to build and
+solve the problem. The cost functions are shown for instruction purposes and can
+be speed up by using analytical derivatives which take longer to implement.
+
+
+Running
+-----------
+This package includes an executable `pose_graph_3d` that will read a problem
+definition file. This executable can work with any 3D problem definition that
+uses the g2o format with quaternions used for the orientation representation. It
+would be relatively straightforward to implement a new reader for a different
+format such as TORO or others. `pose_graph_3d` will print the Ceres solver full
+summary and then output to disk the original and optimized poses
+(`poses_original.txt` and `poses_optimized.txt`, respectively) of the robot in
+the following format:
+```
+pose_id x y z q_x q_y q_z q_w
+pose_id x y z q_x q_y q_z q_w
+pose_id x y z q_x q_y q_z q_w
+...
+```
+where `pose_id` is the corresponding integer ID from the file definition. Note,
+the file will be sorted in ascending order for the ```pose_id```.
+
+The executable `pose_graph_3d` expects the first argument to be the path to the
+problem definition. To run the executable,
+```
+/path/to/bin/pose_graph_3d /path/to/dataset/dataset.g2o
+```
+
+A script is provided to visualize the resulting output files. There is also an
+option to enable equal axes using ```--axes_equal```.
+```
+/path/to/repo/examples/slam/pose_graph_3d/plot_results.py --optimized_poses ./poses_optimized.txt --initial_poses ./poses_original.txt
+```
diff --git a/examples/slam/pose_graph_3d/plot_results.py b/examples/slam/pose_graph_3d/plot_results.py
new file mode 100755
index 0000000..defb9e6
--- /dev/null
+++ b/examples/slam/pose_graph_3d/plot_results.py
@@ -0,0 +1,80 @@
+#!/usr/bin/python
+#
+# Plots the results from the 3D pose graph optimization. It will draw a line
+# between consecutive vertices.  The commandline expects two optional filenames:
+#
+#   ./plot_results.py --initial_poses filename  --optimized_poses filename
+#
+# The files have the following format:
+#   ID x y z q_x q_y q_z q_w
+
+from mpl_toolkits.mplot3d import Axes3D
+import matplotlib.pyplot as plot
+import numpy
+import sys
+from optparse import OptionParser
+
+def set_axes_equal(axes):
+    ''' Sets the axes of a 3D plot to have equal scale. '''
+    x_limits = axes.get_xlim3d()
+    y_limits = axes.get_ylim3d()
+    z_limits = axes.get_zlim3d()
+
+    x_range = abs(x_limits[1] - x_limits[0])
+    x_middle = numpy.mean(x_limits)
+    y_range = abs(y_limits[1] - y_limits[0])
+    y_middle = numpy.mean(y_limits)
+    z_range = abs(z_limits[1] - z_limits[0])
+    z_middle = numpy.mean(z_limits)
+
+    length = 0.5 * max([x_range, y_range, z_range])
+
+    axes.set_xlim3d([x_middle - length, x_middle + length])
+    axes.set_ylim3d([y_middle - length, y_middle + length])
+    axes.set_zlim3d([z_middle - length, z_middle + length])
+
+parser = OptionParser()
+parser.add_option("--initial_poses", dest="initial_poses",
+                  default="", help="The filename that contains the original poses.")
+parser.add_option("--optimized_poses", dest="optimized_poses",
+                  default="", help="The filename that contains the optimized poses.")
+parser.add_option("-e", "--axes_equal", action="store_true", dest="axes_equal",
+                  default="", help="Make the plot axes equal.")
+(options, args) = parser.parse_args()
+
+# Read the original and optimized poses files.
+poses_original = None
+if options.initial_poses != '':
+  poses_original = numpy.genfromtxt(options.initial_poses,
+                                    usecols = (1, 2, 3))
+
+poses_optimized = None
+if options.optimized_poses != '':
+  poses_optimized = numpy.genfromtxt(options.optimized_poses,
+                                     usecols = (1, 2, 3))
+
+# Plots the results for the specified poses.
+figure = plot.figure()
+
+if poses_original is not None:
+  axes = plot.subplot(1, 2, 1, projection='3d')
+  plot.plot(poses_original[:, 0], poses_original[:, 1], poses_original[:, 2],
+            '-', alpha=0.5, color="green")
+  plot.title('Original')
+  if options.axes_equal:
+    axes.set_aspect('equal')
+    set_axes_equal(axes)
+
+
+if poses_optimized is not None:
+  axes = plot.subplot(1, 2, 2, projection='3d')
+  plot.plot(poses_optimized[:, 0], poses_optimized[:, 1], poses_optimized[:, 2],
+            '-', alpha=0.5, color="blue")
+  plot.title('Optimized')
+  if options.axes_equal:
+    axes.set_aspect('equal')
+    set_axes_equal(plot.gca())
+
+
+# Show the plot and wait for the user to close.
+plot.show()
diff --git a/examples/slam/pose_graph_3d/pose_graph_3d.cc b/examples/slam/pose_graph_3d/pose_graph_3d.cc
new file mode 100644
index 0000000..dcc85af
--- /dev/null
+++ b/examples/slam/pose_graph_3d/pose_graph_3d.cc
@@ -0,0 +1,174 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#include <iostream>
+#include <fstream>
+#include <string>
+
+#include "ceres/ceres.h"
+#include "common/read_g2o.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "pose_graph_3d_error_term.h"
+#include "types.h"
+
+DEFINE_string(input, "", "The pose graph definition filename in g2o format.");
+
+namespace ceres {
+namespace examples {
+
+// Constructs the nonlinear least squares optimization problem from the pose
+// graph constraints.
+void BuildOptimizationProblem(const VectorOfConstraints& constraints,
+                              MapOfPoses* poses, ceres::Problem* problem) {
+  CHECK(poses != NULL);
+  CHECK(problem != NULL);
+  if (constraints.empty()) {
+    LOG(INFO) << "No constraints, no problem to optimize.";
+    return;
+  }
+
+  ceres::LossFunction* loss_function = NULL;
+  ceres::LocalParameterization* quaternion_local_parameterization =
+      new EigenQuaternionParameterization;
+
+  for (VectorOfConstraints::const_iterator constraints_iter =
+           constraints.begin();
+       constraints_iter != constraints.end(); ++constraints_iter) {
+    const Constraint3d& constraint = *constraints_iter;
+
+    MapOfPoses::iterator pose_begin_iter = poses->find(constraint.id_begin);
+    CHECK(pose_begin_iter != poses->end())
+        << "Pose with ID: " << constraint.id_begin << " not found.";
+    MapOfPoses::iterator pose_end_iter = poses->find(constraint.id_end);
+    CHECK(pose_end_iter != poses->end())
+        << "Pose with ID: " << constraint.id_end << " not found.";
+
+    const Eigen::Matrix<double, 6, 6> sqrt_information =
+        constraint.information.llt().matrixL();
+    // Ceres will take ownership of the pointer.
+    ceres::CostFunction* cost_function =
+        PoseGraph3dErrorTerm::Create(constraint.t_be, sqrt_information);
+
+    problem->AddResidualBlock(cost_function, loss_function,
+                              pose_begin_iter->second.p.data(),
+                              pose_begin_iter->second.q.coeffs().data(),
+                              pose_end_iter->second.p.data(),
+                              pose_end_iter->second.q.coeffs().data());
+
+    problem->SetParameterization(pose_begin_iter->second.q.coeffs().data(),
+                                 quaternion_local_parameterization);
+    problem->SetParameterization(pose_end_iter->second.q.coeffs().data(),
+                                 quaternion_local_parameterization);
+  }
+
+  // The pose graph optimization problem has six DOFs that are not fully
+  // constrained. This is typically referred to as gauge freedom. You can apply
+  // a rigid body transformation to all the nodes and the optimization problem
+  // will still have the exact same cost. The Levenberg-Marquardt algorithm has
+  // internal damping which mitigates this issue, but it is better to properly
+  // constrain the gauge freedom. This can be done by setting one of the poses
+  // as constant so the optimizer cannot change it.
+  MapOfPoses::iterator pose_start_iter = poses->begin();
+  CHECK(pose_start_iter != poses->end()) << "There are no poses.";
+  problem->SetParameterBlockConstant(pose_start_iter->second.p.data());
+  problem->SetParameterBlockConstant(pose_start_iter->second.q.coeffs().data());
+}
+
+// Returns true if the solve was successful.
+bool SolveOptimizationProblem(ceres::Problem* problem) {
+  CHECK(problem != NULL);
+
+  ceres::Solver::Options options;
+  options.max_num_iterations = 200;
+  options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, problem, &summary);
+
+  std::cout << summary.FullReport() << '\n';
+
+  return summary.IsSolutionUsable();
+}
+
+// Output the poses to the file with format: id x y z q_x q_y q_z q_w.
+bool OutputPoses(const std::string& filename, const MapOfPoses& poses) {
+  std::fstream outfile;
+  outfile.open(filename.c_str(), std::istream::out);
+  if (!outfile) {
+    LOG(ERROR) << "Error opening the file: " << filename;
+    return false;
+  }
+  for (std::map<int, Pose3d, std::less<int>,
+                Eigen::aligned_allocator<std::pair<const int, Pose3d> > >::
+           const_iterator poses_iter = poses.begin();
+       poses_iter != poses.end(); ++poses_iter) {
+    const std::map<int, Pose3d, std::less<int>,
+                   Eigen::aligned_allocator<std::pair<const int, Pose3d> > >::
+        value_type& pair = *poses_iter;
+    outfile << pair.first << " " << pair.second.p.transpose() << " "
+            << pair.second.q.x() << " " << pair.second.q.y() << " "
+            << pair.second.q.z() << " " << pair.second.q.w() << '\n';
+  }
+  return true;
+}
+
+}  // namespace examples
+}  // namespace ceres
+
+int main(int argc, char** argv) {
+  google::InitGoogleLogging(argv[0]);
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+
+  CHECK(FLAGS_input != "") << "Need to specify the filename to read.";
+
+  ceres::examples::MapOfPoses poses;
+  ceres::examples::VectorOfConstraints constraints;
+
+  CHECK(ceres::examples::ReadG2oFile(FLAGS_input, &poses, &constraints))
+      << "Error reading the file: " << FLAGS_input;
+
+  std::cout << "Number of poses: " << poses.size() << '\n';
+  std::cout << "Number of constraints: " << constraints.size() << '\n';
+
+  CHECK(ceres::examples::OutputPoses("poses_original.txt", poses))
+      << "Error outputting to poses_original.txt";
+
+  ceres::Problem problem;
+  ceres::examples::BuildOptimizationProblem(constraints, &poses, &problem);
+
+  CHECK(ceres::examples::SolveOptimizationProblem(&problem))
+      << "The solve was not successful, exiting.";
+
+  CHECK(ceres::examples::OutputPoses("poses_optimized.txt", poses))
+      << "Error outputting to poses_original.txt";
+
+  return 0;
+}
diff --git a/examples/slam/pose_graph_3d/pose_graph_3d_error_term.h b/examples/slam/pose_graph_3d/pose_graph_3d_error_term.h
new file mode 100644
index 0000000..aca819e
--- /dev/null
+++ b/examples/slam/pose_graph_3d/pose_graph_3d_error_term.h
@@ -0,0 +1,131 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#ifndef EXAMPLES_CERES_POSE_GRAPH_3D_ERROR_TERM_H_
+#define EXAMPLES_CERES_POSE_GRAPH_3D_ERROR_TERM_H_
+
+#include "Eigen/Core"
+#include "ceres/autodiff_cost_function.h"
+
+#include "types.h"
+
+namespace ceres {
+namespace examples {
+
+// Computes the error term for two poses that have a relative pose measurement
+// between them. Let the hat variables be the measurement. We have two poses x_a
+// and x_b. Through sensor measurements we can measure the transformation of
+// frame B w.r.t frame A denoted as t_ab_hat. We can compute an error metric
+// between the current estimate of the poses and the measurement.
+//
+// In this formulation, we have chosen to represent the rigid transformation as
+// a Hamiltonian quaternion, q, and position, p. The quaternion ordering is
+// [x, y, z, w].
+
+// The estimated measurement is:
+//      t_ab = [ p_ab ]  = [ R(q_a)^T * (p_b - p_a) ]
+//             [ q_ab ]    [ q_a^{-1] * q_b         ]
+//
+// where ^{-1} denotes the inverse and R(q) is the rotation matrix for the
+// quaternion. Now we can compute an error metric between the estimated and
+// measurement transformation. For the orientation error, we will use the
+// standard multiplicative error resulting in:
+//
+//   error = [ p_ab - \hat{p}_ab                 ]
+//           [ 2.0 * Vec(q_ab * \hat{q}_ab^{-1}) ]
+//
+// where Vec(*) returns the vector (imaginary) part of the quaternion. Since
+// the measurement has an uncertainty associated with how accurate it is, we
+// will weight the errors by the square root of the measurement information
+// matrix:
+//
+//   residuals = I^{1/2) * error
+// where I is the information matrix which is the inverse of the covariance.
+class PoseGraph3dErrorTerm {
+ public:
+  PoseGraph3dErrorTerm(const Pose3d& t_ab_measured,
+                       const Eigen::Matrix<double, 6, 6>& sqrt_information)
+      : t_ab_measured_(t_ab_measured), sqrt_information_(sqrt_information) {}
+
+  template <typename T>
+  bool operator()(const T* const p_a_ptr, const T* const q_a_ptr,
+                  const T* const p_b_ptr, const T* const q_b_ptr,
+                  T* residuals_ptr) const {
+    Eigen::Map<const Eigen::Matrix<T, 3, 1> > p_a(p_a_ptr);
+    Eigen::Map<const Eigen::Quaternion<T> > q_a(q_a_ptr);
+
+    Eigen::Map<const Eigen::Matrix<T, 3, 1> > p_b(p_b_ptr);
+    Eigen::Map<const Eigen::Quaternion<T> > q_b(q_b_ptr);
+
+    // Compute the relative transformation between the two frames.
+    Eigen::Quaternion<T> q_a_inverse = q_a.conjugate();
+    Eigen::Quaternion<T> q_ab_estimated = q_a_inverse * q_b;
+
+    // Represent the displacement between the two frames in the A frame.
+    Eigen::Matrix<T, 3, 1> p_ab_estimated = q_a_inverse * (p_b - p_a);
+
+    // Compute the error between the two orientation estimates.
+    Eigen::Quaternion<T> delta_q =
+        t_ab_measured_.q.template cast<T>() * q_ab_estimated.conjugate();
+
+    // Compute the residuals.
+    // [ position         ]   [ delta_p          ]
+    // [ orientation (3x1)] = [ 2 * delta_q(0:2) ]
+    Eigen::Map<Eigen::Matrix<T, 6, 1> > residuals(residuals_ptr);
+    residuals.template block<3, 1>(0, 0) =
+        p_ab_estimated - t_ab_measured_.p.template cast<T>();
+    residuals.template block<3, 1>(3, 0) = T(2.0) * delta_q.vec();
+
+    // Scale the residuals by the measurement uncertainty.
+    residuals.applyOnTheLeft(sqrt_information_.template cast<T>());
+
+    return true;
+  }
+
+  static ceres::CostFunction* Create(
+      const Pose3d& t_ab_measured,
+      const Eigen::Matrix<double, 6, 6>& sqrt_information) {
+    return new ceres::AutoDiffCostFunction<PoseGraph3dErrorTerm, 6, 3, 4, 3, 4>(
+        new PoseGraph3dErrorTerm(t_ab_measured, sqrt_information));
+  }
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ private:
+  // The measurement for the position of B relative to A in the A frame.
+  const Pose3d t_ab_measured_;
+  // The square root of the measurement information matrix.
+  const Eigen::Matrix<double, 6, 6> sqrt_information_;
+};
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // EXAMPLES_CERES_POSE_GRAPH_3D_ERROR_TERM_H_
diff --git a/examples/slam/pose_graph_3d/types.h b/examples/slam/pose_graph_3d/types.h
new file mode 100644
index 0000000..2f12501
--- /dev/null
+++ b/examples/slam/pose_graph_3d/types.h
@@ -0,0 +1,114 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#ifndef EXAMPLES_CERES_TYPES_H_
+#define EXAMPLES_CERES_TYPES_H_
+
+#include <istream>
+#include <map>
+#include <string>
+#include <vector>
+
+#include "Eigen/Core"
+#include "Eigen/Geometry"
+
+namespace ceres {
+namespace examples {
+
+struct Pose3d {
+  Eigen::Vector3d p;
+  Eigen::Quaterniond q;
+
+  // The name of the data type in the g2o file format.
+  static std::string name() {
+    return "VERTEX_SE3:QUAT";
+  }
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+std::istream& operator>>(std::istream& input, Pose3d& pose) {
+  input >> pose.p.x() >> pose.p.y() >> pose.p.z() >> pose.q.x() >>
+      pose.q.y() >> pose.q.z() >> pose.q.w();
+  // Normalize the quaternion to account for precision loss due to
+  // serialization.
+  pose.q.normalize();
+  return input;
+}
+
+typedef std::map<int, Pose3d, std::less<int>,
+                 Eigen::aligned_allocator<std::pair<const int, Pose3d> > >
+    MapOfPoses;
+
+// The constraint between two vertices in the pose graph. The constraint is the
+// transformation from vertex id_begin to vertex id_end.
+struct Constraint3d {
+  int id_begin;
+  int id_end;
+
+  // The transformation that represents the pose of the end frame E w.r.t. the
+  // begin frame B. In other words, it transforms a vector in the E frame to
+  // the B frame.
+  Pose3d t_be;
+
+  // The inverse of the covariance matrix for the measurement. The order of the
+  // entries are x, y, z, delta orientation.
+  Eigen::Matrix<double, 6, 6> information;
+
+  // The name of the data type in the g2o file format.
+  static std::string name() {
+    return "EDGE_SE3:QUAT";
+  }
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+std::istream& operator>>(std::istream& input, Constraint3d& constraint) {
+  Pose3d& t_be = constraint.t_be;
+  input >> constraint.id_begin >> constraint.id_end >> t_be;
+
+  for (int i = 0; i < 6 && input.good(); ++i) {
+    for (int j = i; j < 6 && input.good(); ++j) {
+      input >> constraint.information(i, j);
+      if (i != j) {
+        constraint.information(j, i) = constraint.information(i, j);
+      }
+    }
+  }
+  return input;
+}
+
+typedef std::vector<Constraint3d, Eigen::aligned_allocator<Constraint3d> >
+    VectorOfConstraints;
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // EXAMPLES_CERES_TYPES_H_
diff --git a/examples/snavely_reprojection_error.h b/examples/snavely_reprojection_error.h
new file mode 100644
index 0000000..5e51eb4
--- /dev/null
+++ b/examples/snavely_reprojection_error.h
@@ -0,0 +1,177 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Templated struct implementing the camera model and residual
+// computation for bundle adjustment used by Noah Snavely's Bundler
+// SfM system. This is also the camera model/residual for the bundle
+// adjustment problems in the BAL dataset. It is templated so that we
+// can use Ceres's automatic differentiation to compute analytic
+// jacobians.
+//
+// For details see: http://phototour.cs.washington.edu/bundler/
+// and http://grail.cs.washington.edu/projects/bal/
+
+#ifndef CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
+#define CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
+
+#include "ceres/rotation.h"
+
+namespace ceres {
+namespace examples {
+
+// Templated pinhole camera model for used with Ceres.  The camera is
+// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
+// focal length and 2 for radial distortion. The principal point is not modeled
+// (i.e. it is assumed be located at the image center).
+struct SnavelyReprojectionError {
+  SnavelyReprojectionError(double observed_x, double observed_y)
+      : observed_x(observed_x), observed_y(observed_y) {}
+
+  template <typename T>
+  bool operator()(const T* const camera,
+                  const T* const point,
+                  T* residuals) const {
+    // camera[0,1,2] are the angle-axis rotation.
+    T p[3];
+    AngleAxisRotatePoint(camera, point, p);
+
+    // camera[3,4,5] are the translation.
+    p[0] += camera[3];
+    p[1] += camera[4];
+    p[2] += camera[5];
+
+    // Compute the center of distortion. The sign change comes from
+    // the camera model that Noah Snavely's Bundler assumes, whereby
+    // the camera coordinate system has a negative z axis.
+    const T xp = - p[0] / p[2];
+    const T yp = - p[1] / p[2];
+
+    // Apply second and fourth order radial distortion.
+    const T& l1 = camera[7];
+    const T& l2 = camera[8];
+    const T r2 = xp*xp + yp*yp;
+    const T distortion = 1.0 + r2  * (l1 + l2  * r2);
+
+
+    // Compute final projected point position.
+    const T& focal = camera[6];
+    const T predicted_x = focal * distortion * xp;
+    const T predicted_y = focal * distortion * yp;
+
+    // The error is the difference between the predicted and observed position.
+    residuals[0] = predicted_x - observed_x;
+    residuals[1] = predicted_y - observed_y;
+
+    return true;
+  }
+
+  // Factory to hide the construction of the CostFunction object from
+  // the client code.
+  static ceres::CostFunction* Create(const double observed_x,
+                                     const double observed_y) {
+    return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+                new SnavelyReprojectionError(observed_x, observed_y)));
+  }
+
+  double observed_x;
+  double observed_y;
+};
+
+// Templated pinhole camera model for used with Ceres.  The camera is
+// parameterized using 10 parameters. 4 for rotation, 3 for
+// translation, 1 for focal length and 2 for radial distortion. The
+// principal point is not modeled (i.e. it is assumed be located at
+// the image center).
+struct SnavelyReprojectionErrorWithQuaternions {
+  // (u, v): the position of the observation with respect to the image
+  // center point.
+  SnavelyReprojectionErrorWithQuaternions(double observed_x, double observed_y)
+      : observed_x(observed_x), observed_y(observed_y) {}
+
+  template <typename T>
+  bool operator()(const T* const camera,
+                  const T* const point,
+                  T* residuals) const {
+    // camera[0,1,2,3] is are the rotation of the camera as a quaternion.
+    //
+    // We use QuaternionRotatePoint as it does not assume that the
+    // quaternion is normalized, since one of the ways to run the
+    // bundle adjuster is to let Ceres optimize all 4 quaternion
+    // parameters without a local parameterization.
+    T p[3];
+    QuaternionRotatePoint(camera, point, p);
+
+    p[0] += camera[4];
+    p[1] += camera[5];
+    p[2] += camera[6];
+
+    // Compute the center of distortion. The sign change comes from
+    // the camera model that Noah Snavely's Bundler assumes, whereby
+    // the camera coordinate system has a negative z axis.
+    const T xp = - p[0] / p[2];
+    const T yp = - p[1] / p[2];
+
+    // Apply second and fourth order radial distortion.
+    const T& l1 = camera[8];
+    const T& l2 = camera[9];
+
+    const T r2 = xp*xp + yp*yp;
+    const T distortion = 1.0 + r2  * (l1 + l2  * r2);
+
+    // Compute final projected point position.
+    const T& focal = camera[7];
+    const T predicted_x = focal * distortion * xp;
+    const T predicted_y = focal * distortion * yp;
+
+    // The error is the difference between the predicted and observed position.
+    residuals[0] = predicted_x - observed_x;
+    residuals[1] = predicted_y - observed_y;
+
+    return true;
+  }
+
+  // Factory to hide the construction of the CostFunction object from
+  // the client code.
+  static ceres::CostFunction* Create(const double observed_x,
+                                     const double observed_y) {
+    return (new ceres::AutoDiffCostFunction<
+            SnavelyReprojectionErrorWithQuaternions, 2, 10, 3>(
+                new SnavelyReprojectionErrorWithQuaternions(observed_x,
+                                                            observed_y)));
+  }
+
+  double observed_x;
+  double observed_y;
+};
+
+}  // namespace examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
diff --git a/include/ceres/autodiff_cost_function.h b/include/ceres/autodiff_cost_function.h
new file mode 100644
index 0000000..e7893e4
--- /dev/null
+++ b/include/ceres/autodiff_cost_function.h
@@ -0,0 +1,227 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Create CostFunctions as needed by the least squares framework, with
+// Jacobians computed via automatic differentiation. For more
+// information on automatic differentation, see the wikipedia article
+// at http://en.wikipedia.org/wiki/Automatic_differentiation
+//
+// To get an auto differentiated cost function, you must define a class with a
+// templated operator() (a functor) that computes the cost function in terms of
+// the template parameter T. The autodiff framework substitutes appropriate
+// "jet" objects for T in order to compute the derivative when necessary, but
+// this is hidden, and you should write the function as if T were a scalar type
+// (e.g. a double-precision floating point number).
+//
+// The function must write the computed value in the last argument
+// (the only non-const one) and return true to indicate
+// success. Please see cost_function.h for details on how the return
+// value maybe used to impose simple constraints on the parameter
+// block.
+//
+// For example, consider a scalar error e = k - x'y, where both x and y are
+// two-dimensional column vector parameters, the prime sign indicates
+// transposition, and k is a constant. The form of this error, which is the
+// difference between a constant and an expression, is a common pattern in least
+// squares problems. For example, the value x'y might be the model expectation
+// for a series of measurements, where there is an instance of the cost function
+// for each measurement k.
+//
+// The actual cost added to the total problem is e^2, or (k - x'k)^2; however,
+// the squaring is implicitly done by the optimization framework.
+//
+// To write an auto-differentiable cost function for the above model, first
+// define the object
+//
+//   class MyScalarCostFunctor {
+//     MyScalarCostFunctor(double k): k_(k) {}
+//
+//     template <typename T>
+//     bool operator()(const T* const x , const T* const y, T* e) const {
+//       e[0] = T(k_) - x[0] * y[0] + x[1] * y[1];
+//       return true;
+//     }
+//
+//    private:
+//     double k_;
+//   };
+//
+// Note that in the declaration of operator() the input parameters x and y come
+// first, and are passed as const pointers to arrays of T. If there were three
+// input parameters, then the third input parameter would come after y. The
+// output is always the last parameter, and is also a pointer to an array. In
+// the example above, e is a scalar, so only e[0] is set.
+//
+// Then given this class definition, the auto differentiated cost function for
+// it can be constructed as follows.
+//
+//   CostFunction* cost_function
+//       = new AutoDiffCostFunction<MyScalarCostFunctor, 1, 2, 2>(
+//            new MyScalarCostFunctor(1.0));             ^  ^  ^
+//                                                       |  |  |
+//                            Dimension of residual -----+  |  |
+//                            Dimension of x ---------------+  |
+//                            Dimension of y ------------------+
+//
+// In this example, there is usually an instance for each measumerent of k.
+//
+// In the instantiation above, the template parameters following
+// "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing a
+// 1-dimensional output from two arguments, both 2-dimensional.
+//
+// AutoDiffCostFunction also supports cost functions with a
+// runtime-determined number of residuals. For example:
+//
+//   CostFunction* cost_function
+//       = new AutoDiffCostFunction<MyScalarCostFunctor, DYNAMIC, 2, 2>(
+//           new CostFunctorWithDynamicNumResiduals(1.0),   ^     ^  ^
+//           runtime_number_of_residuals); <----+           |     |  |
+//                                              |           |     |  |
+//                                              |           |     |  |
+//             Actual number of residuals ------+           |     |  |
+//             Indicate dynamic number of residuals --------+     |  |
+//             Dimension of x ------------------------------------+  |
+//             Dimension of y ---------------------------------------+
+//
+// The framework can currently accommodate cost functions of up to 10
+// independent variables, and there is no limit on the dimensionality
+// of each of them.
+//
+// WARNING #1: Since the functor will get instantiated with different types for
+// T, you must to convert from other numeric types to T before mixing
+// computations with other variables of type T. In the example above, this is
+// seen where instead of using k_ directly, k_ is wrapped with T(k_).
+//
+// WARNING #2: A common beginner's error when first using autodiff cost
+// functions is to get the sizing wrong. In particular, there is a tendency to
+// set the template parameters to (dimension of residual, number of parameters)
+// instead of passing a dimension parameter for *every parameter*. In the
+// example above, that would be <MyScalarCostFunctor, 1, 2>, which is missing
+// the last '2' argument. Please be careful when setting the size parameters.
+
+#ifndef CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
+
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// A cost function which computes the derivative of the cost with respect to
+// the parameters (a.k.a. the jacobian) using an autodifferentiation framework.
+// The first template argument is the functor object, described in the header
+// comment. The second argument is the dimension of the residual (or
+// ceres::DYNAMIC to indicate it will be set at runtime), and subsequent
+// arguments describe the size of the Nth parameter, one per parameter.
+//
+// The constructors take ownership of the cost functor.
+//
+// If the number of residuals (argument kNumResiduals below) is
+// ceres::DYNAMIC, then the two-argument constructor must be used. The
+// second constructor takes a number of residuals (in addition to the
+// templated number of residuals). This allows for varying the number
+// of residuals for a single autodiff cost function at runtime.
+template <typename CostFunctor,
+          int kNumResiduals,  // Number of residuals, or ceres::DYNAMIC.
+          int N0,       // Number of parameters in block 0.
+          int N1 = 0,   // Number of parameters in block 1.
+          int N2 = 0,   // Number of parameters in block 2.
+          int N3 = 0,   // Number of parameters in block 3.
+          int N4 = 0,   // Number of parameters in block 4.
+          int N5 = 0,   // Number of parameters in block 5.
+          int N6 = 0,   // Number of parameters in block 6.
+          int N7 = 0,   // Number of parameters in block 7.
+          int N8 = 0,   // Number of parameters in block 8.
+          int N9 = 0>   // Number of parameters in block 9.
+class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
+                                                      N0, N1, N2, N3, N4,
+                                                      N5, N6, N7, N8, N9> {
+ public:
+  // Takes ownership of functor. Uses the template-provided value for the
+  // number of residuals ("kNumResiduals").
+  explicit AutoDiffCostFunction(CostFunctor* functor)
+      : functor_(functor) {
+    CHECK_NE(kNumResiduals, DYNAMIC)
+        << "Can't run the fixed-size constructor if the "
+        << "number of residuals is set to ceres::DYNAMIC.";
+  }
+
+  // Takes ownership of functor. Ignores the template-provided
+  // kNumResiduals in favor of the "num_residuals" argument provided.
+  //
+  // This allows for having autodiff cost functions which return varying
+  // numbers of residuals at runtime.
+  AutoDiffCostFunction(CostFunctor* functor, int num_residuals)
+      : functor_(functor) {
+    CHECK_EQ(kNumResiduals, DYNAMIC)
+        << "Can't run the dynamic-size constructor if the "
+        << "number of residuals is not ceres::DYNAMIC.";
+    SizedCostFunction<kNumResiduals,
+                      N0, N1, N2, N3, N4,
+                      N5, N6, N7, N8, N9>
+        ::set_num_residuals(num_residuals);
+  }
+
+  virtual ~AutoDiffCostFunction() {}
+
+  // Implementation details follow; clients of the autodiff cost function should
+  // not have to examine below here.
+  //
+  // To handle varardic cost functions, some template magic is needed. It's
+  // mostly hidden inside autodiff.h.
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    if (!jacobians) {
+      return internal::VariadicEvaluate<
+          CostFunctor, double, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+          ::Call(*functor_, parameters, residuals);
+    }
+    return internal::AutoDiff<CostFunctor, double,
+           N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
+               *functor_,
+               parameters,
+               SizedCostFunction<kNumResiduals,
+                                 N0, N1, N2, N3, N4,
+                                 N5, N6, N7, N8, N9>::num_residuals(),
+               residuals,
+               jacobians);
+  }
+
+ private:
+  internal::scoped_ptr<CostFunctor> functor_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
diff --git a/include/ceres/autodiff_local_parameterization.h b/include/ceres/autodiff_local_parameterization.h
new file mode 100644
index 0000000..27397e2
--- /dev/null
+++ b/include/ceres/autodiff_local_parameterization.h
@@ -0,0 +1,154 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sergey.vfx@gmail.com (Sergey Sharybin)
+//         mierle@gmail.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
+#define CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
+
+#include "ceres/local_parameterization.h"
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+
+// Create local parameterization with Jacobians computed via automatic
+// differentiation. For more information on local parameterizations,
+// see include/ceres/local_parameterization.h
+//
+// To get an auto differentiated local parameterization, you must define
+// a class with a templated operator() (a functor) that computes
+//
+//   x_plus_delta = Plus(x, delta);
+//
+// the template parameter T. The autodiff framework substitutes appropriate
+// "Jet" objects for T in order to compute the derivative when necessary, but
+// this is hidden, and you should write the function as if T were a scalar type
+// (e.g. a double-precision floating point number).
+//
+// The function must write the computed value in the last argument (the only
+// non-const one) and return true to indicate success.
+//
+// For example, Quaternions have a three dimensional local
+// parameterization. It's plus operation can be implemented as (taken
+// from internal/ceres/auto_diff_local_parameterization_test.cc)
+//
+//   struct QuaternionPlus {
+//     template<typename T>
+//     bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+//       const T squared_norm_delta =
+//           delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+//
+//       T q_delta[4];
+//       if (squared_norm_delta > T(0.0)) {
+//         T norm_delta = sqrt(squared_norm_delta);
+//         const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+//         q_delta[0] = cos(norm_delta);
+//         q_delta[1] = sin_delta_by_delta * delta[0];
+//         q_delta[2] = sin_delta_by_delta * delta[1];
+//         q_delta[3] = sin_delta_by_delta * delta[2];
+//       } else {
+//         // We do not just use q_delta = [1,0,0,0] here because that is a
+//         // constant and when used for automatic differentiation will
+//         // lead to a zero derivative. Instead we take a first order
+//         // approximation and evaluate it at zero.
+//         q_delta[0] = T(1.0);
+//         q_delta[1] = delta[0];
+//         q_delta[2] = delta[1];
+//         q_delta[3] = delta[2];
+//       }
+//
+//       QuaternionProduct(q_delta, x, x_plus_delta);
+//       return true;
+//     }
+//   };
+//
+// Then given this struct, the auto differentiated local
+// parameterization can now be constructed as
+//
+//   LocalParameterization* local_parameterization =
+//     new AutoDiffLocalParameterization<QuaternionPlus, 4, 3>;
+//                                                       |  |
+//                            Global Size ---------------+  |
+//                            Local Size -------------------+
+//
+// WARNING: Since the functor will get instantiated with different types for
+// T, you must to convert from other numeric types to T before mixing
+// computations with other variables of type T. In the example above, this is
+// seen where instead of using k_ directly, k_ is wrapped with T(k_).
+
+template <typename Functor, int kGlobalSize, int kLocalSize>
+class AutoDiffLocalParameterization : public LocalParameterization {
+ public:
+  AutoDiffLocalParameterization() :
+      functor_(new Functor()) {}
+
+  // Takes ownership of functor.
+  explicit AutoDiffLocalParameterization(Functor* functor) :
+      functor_(functor) {}
+
+  virtual ~AutoDiffLocalParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const {
+    return (*functor_)(x, delta, x_plus_delta);
+  }
+
+  virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+    double zero_delta[kLocalSize];
+    for (int i = 0; i < kLocalSize; ++i) {
+      zero_delta[i] = 0.0;
+    }
+
+    double x_plus_delta[kGlobalSize];
+    for (int i = 0; i < kGlobalSize; ++i) {
+      x_plus_delta[i] = 0.0;
+    }
+
+    const double* parameter_ptrs[2] = {x, zero_delta};
+    double* jacobian_ptrs[2] = { NULL, jacobian };
+    return internal::AutoDiff<Functor, double, kGlobalSize, kLocalSize>
+        ::Differentiate(*functor_,
+                        parameter_ptrs,
+                        kGlobalSize,
+                        x_plus_delta,
+                        jacobian_ptrs);
+  }
+
+  virtual int GlobalSize() const { return kGlobalSize; }
+  virtual int LocalSize() const { return kLocalSize; }
+
+ private:
+  internal::scoped_ptr<Functor> functor_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
diff --git a/include/ceres/c_api.h b/include/ceres/c_api.h
new file mode 100644
index 0000000..df7c9b6
--- /dev/null
+++ b/include/ceres/c_api.h
@@ -0,0 +1,146 @@
+/* Ceres Solver - A fast non-linear least squares minimizer
+ * Copyright 2015 Google Inc. All rights reserved.
+ * http://ceres-solver.org/
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * - Redistributions of source code must retain the above copyright notice,
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of Google Inc. nor the names of its contributors may be
+ *   used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: mierle@gmail.com (Keir Mierle)
+ *
+ * A minimal C API for Ceres. Not all functionality is included. This API is
+ * not intended for clients of Ceres, but is instead intended for easing the
+ * process of binding Ceres to other languages.
+ *
+ * Currently this is a work in progress.
+ */
+
+#ifndef CERES_PUBLIC_C_API_H_
+#define CERES_PUBLIC_C_API_H_
+
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Init the Ceres private data. Must be called before anything else. */
+CERES_EXPORT void ceres_init();
+
+/* Equivalent to CostFunction::Evaluate() in the C++ API.
+ *
+ * The user may keep private information inside the opaque user_data object.
+ * The pointer here is the same one passed in the ceres_add_residual_block().
+ */
+typedef int (*ceres_cost_function_t)(void* user_data,
+                                     double** parameters,
+                                     double* residuals,
+                                     double** jacobians);
+
+/* Equivalent to LossFunction::Evaluate() from the C++ API. */
+typedef void (*ceres_loss_function_t)(void* user_data,
+                                      double squared_norm,
+                                      double out[3]);
+
+/* Create callback data for Ceres' stock loss functions.
+ *
+ * Ceres has several loss functions available by default, and these functions
+ * expose those to the C API. To use the stock loss functions, call
+ * ceres_create_*_loss_data(), which internally creates an instance of one of
+ * the stock loss functions (for example ceres::CauchyLoss), and pass the
+ * returned "loss_function_data" along with the ceres_stock_loss_function to
+ * ceres_add_residual_block().
+ *
+ * For example:
+ *
+ *   void* cauchy_loss_function_data =
+ *       ceres_create_cauchy_loss_function_data(1.2, 0.0);
+ *   ceres_problem_add_residual_block(
+ *       problem,
+ *       my_cost_function,
+ *       my_cost_function_data,
+ *       ceres_stock_loss_function,
+ *       cauchy_loss_function_data,
+ *       1,
+ *       2,
+ *       parameter_sizes,
+ *       parameter_pointers);
+ *    ...
+ *    ceres_free_stock_loss_function_data(cauchy_loss_function_data);
+ *
+ * See loss_function.h for the details of each loss function.
+ */
+CERES_EXPORT void* ceres_create_huber_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_softl1_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_cauchy_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_arctan_loss_function_data(double a);
+CERES_EXPORT void* ceres_create_tolerant_loss_function_data(double a, double b);
+
+/* Free the given stock loss function data. */
+CERES_EXPORT void ceres_free_stock_loss_function_data(void* loss_function_data);
+
+/* This is an implementation of ceres_loss_function_t contained within Ceres
+ * itself, intended as a way to access the various stock Ceres loss functions
+ * from the C API. This should be passed to ceres_add_residual() below, in
+ * combination with a user_data pointer generated by
+ * ceres_create_stock_loss_function() above. */
+CERES_EXPORT void ceres_stock_loss_function(void* user_data,
+                                            double squared_norm,
+                                            double out[3]);
+
+/* Equivalent to Problem from the C++ API. */
+struct ceres_problem_s;
+typedef struct ceres_problem_s ceres_problem_t;
+
+struct ceres_residual_block_id_s;
+typedef struct ceres_residual_block_id_s ceres_residual_block_id_t;
+
+/* Create and destroy a problem */
+/* TODO(keir): Add options for the problem. */
+CERES_EXPORT ceres_problem_t* ceres_create_problem();
+CERES_EXPORT void ceres_free_problem(ceres_problem_t* problem);
+
+/* Add a residual block. */
+CERES_EXPORT ceres_residual_block_id_t* ceres_problem_add_residual_block(
+    ceres_problem_t* problem,
+    ceres_cost_function_t cost_function,
+    void* cost_function_data,
+    ceres_loss_function_t loss_function,
+    void* loss_function_data,
+    int num_residuals,
+    int num_parameter_blocks,
+    int* parameter_block_sizes,
+    double** parameters);
+
+CERES_EXPORT void ceres_solve(ceres_problem_t* problem);
+
+/* TODO(keir): Figure out a way to pass a config in. */
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  /* CERES_PUBLIC_C_API_H_ */
diff --git a/include/ceres/ceres.h b/include/ceres/ceres.h
new file mode 100644
index 0000000..64ffb99
--- /dev/null
+++ b/include/ceres/ceres.h
@@ -0,0 +1,59 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// This is a forwarding header containing the public symbols exported from
+// Ceres. Anything in the "ceres" namespace is available for use.
+
+#ifndef CERES_PUBLIC_CERES_H_
+#define CERES_PUBLIC_CERES_H_
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/autodiff_local_parameterization.h"
+#include "ceres/cost_function.h"
+#include "ceres/cost_function_to_functor.h"
+#include "ceres/covariance.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/gradient_problem.h"
+#include "ceres/gradient_problem_solver.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/jet.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/numeric_diff_cost_function.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/problem.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+#include "ceres/types.h"
+#include "ceres/version.h"
+
+#endif  // CERES_PUBLIC_CERES_H_
diff --git a/include/ceres/conditioned_cost_function.h b/include/ceres/conditioned_cost_function.h
new file mode 100644
index 0000000..29597d9
--- /dev/null
+++ b/include/ceres/conditioned_cost_function.h
@@ -0,0 +1,99 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// This file contains a cost function that can apply a transformation to
+// each residual value before they are square-summed.
+
+#ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
+#define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
+
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// This class allows you to apply different conditioning to the residual
+// values of a wrapped cost function. An example where this is useful is
+// where you have an existing cost function that produces N values, but you
+// want the total cost to be something other than just the sum of these
+// squared values - maybe you want to apply a different scaling to some
+// values, to change their contribution to the cost.
+//
+// Usage:
+//
+//   // my_cost_function produces N residuals
+//   CostFunction* my_cost_function = ...
+//   CHECK_EQ(N, my_cost_function->num_residuals());
+//   vector<CostFunction*> conditioners;
+//
+//   // Make N 1x1 cost functions (1 parameter, 1 residual)
+//   CostFunction* f_1 = ...
+//   conditioners.push_back(f_1);
+//   ...
+//   CostFunction* f_N = ...
+//   conditioners.push_back(f_N);
+//   ConditionedCostFunction* ccf =
+//     new ConditionedCostFunction(my_cost_function, conditioners);
+//
+// Now ccf's residual i (i=0..N-1) will be passed though the i'th conditioner.
+//
+//   ccf_residual[i] = f_i(my_cost_function_residual[i])
+//
+// and the Jacobian will be affected appropriately.
+class CERES_EXPORT ConditionedCostFunction : public CostFunction {
+ public:
+  // Builds a cost function based on a wrapped cost function, and a
+  // per-residual conditioner. Takes ownership of all of the wrapped cost
+  // functions, or not, depending on the ownership parameter. Conditioners
+  // may be NULL, in which case the corresponding residual is not modified.
+  ConditionedCostFunction(CostFunction* wrapped_cost_function,
+                          const std::vector<CostFunction*>& conditioners,
+                          Ownership ownership);
+  virtual ~ConditionedCostFunction();
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const;
+
+ private:
+  internal::scoped_ptr<CostFunction> wrapped_cost_function_;
+  std::vector<CostFunction*> conditioners_;
+  Ownership ownership_;
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
diff --git a/include/ceres/cost_function.h b/include/ceres/cost_function.h
new file mode 100644
index 0000000..f051a89
--- /dev/null
+++ b/include/ceres/cost_function.h
@@ -0,0 +1,147 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         keir@google.m (Keir Mierle)
+//
+// This is the interface through which the least squares solver accesses the
+// residual and Jacobian of the least squares problem. Users are expected to
+// subclass CostFunction to define their own terms in the least squares problem.
+//
+// It is recommended that users define templated residual functors for use as
+// arguments for AutoDiffCostFunction (see autodiff_cost_function.h), instead of
+// directly implementing the CostFunction interface. This often results in both
+// shorter code and faster execution than hand-coded derivatives. However,
+// specialized cases may demand direct implementation of the lower-level
+// CostFunction interface; for example, this is true when calling legacy code
+// which is not templated on numeric types.
+
+#ifndef CERES_PUBLIC_COST_FUNCTION_H_
+#define CERES_PUBLIC_COST_FUNCTION_H_
+
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// This class implements the computation of the cost (a.k.a. residual) terms as
+// a function of the input (control) variables, and is the interface for users
+// to describe their least squares problem to Ceres. In other words, this is the
+// modelling layer between users and the Ceres optimizer. The signature of the
+// function (number and sizes of input parameter blocks and number of outputs)
+// is stored in parameter_block_sizes_ and num_residuals_ respectively. User
+// code inheriting from this class is expected to set these two members with the
+// corresponding accessors. This information will be verified by the Problem
+// when added with AddResidualBlock().
+class CERES_EXPORT CostFunction {
+ public:
+  CostFunction() : num_residuals_(0) {}
+
+  virtual ~CostFunction() {}
+
+  // Inputs:
+  //
+  // parameters is an array of pointers to arrays containing the
+  // various parameter blocks. parameters has the same number of
+  // elements as parameter_block_sizes_.  Parameter blocks are in the
+  // same order as parameter_block_sizes_.i.e.,
+  //
+  //   parameters_[i] = double[parameter_block_sizes_[i]]
+  //
+  // Outputs:
+  //
+  // residuals is an array of size num_residuals_.
+  //
+  // jacobians is an array of size parameter_block_sizes_ containing
+  // pointers to storage for jacobian blocks corresponding to each
+  // parameter block. Jacobian blocks are in the same order as
+  // parameter_block_sizes, i.e. jacobians[i], is an
+  // array that contains num_residuals_* parameter_block_sizes_[i]
+  // elements. Each jacobian block is stored in row-major order, i.e.,
+  //
+  //   jacobians[i][r*parameter_block_size_[i] + c] =
+  //                              d residual[r] / d parameters[i][c]
+  //
+  // If jacobians is NULL, then no derivatives are returned; this is
+  // the case when computing cost only. If jacobians[i] is NULL, then
+  // the jacobian block corresponding to the i'th parameter block must
+  // not to be returned.
+  //
+  // The return value indicates whether the computation of the
+  // residuals and/or jacobians was successful or not.
+  //
+  // This can be used to communicate numerical failures in jacobian
+  // computations for instance.
+  //
+  // A more interesting and common use is to impose constraints on the
+  // parameters. If the initial values of the parameter blocks satisfy
+  // the constraints, then returning false whenever the constraints
+  // are not satisfied will prevent the solver from moving into the
+  // infeasible region. This is not a very sophisticated mechanism for
+  // enforcing constraints, but is often good enough.
+  //
+  // Note that it is important that the initial values of the
+  // parameter block must be feasible, otherwise the solver will
+  // declare a numerical problem at iteration 0.
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const = 0;
+
+  const std::vector<int32>& parameter_block_sizes() const {
+    return parameter_block_sizes_;
+  }
+
+  int num_residuals() const {
+    return num_residuals_;
+  }
+
+ protected:
+  std::vector<int32>* mutable_parameter_block_sizes() {
+    return &parameter_block_sizes_;
+  }
+
+  void set_num_residuals(int num_residuals) {
+    num_residuals_ = num_residuals;
+  }
+
+ private:
+  // Cost function signature metadata: number of inputs & their sizes,
+  // number of outputs (residuals).
+  std::vector<int32> parameter_block_sizes_;
+  int num_residuals_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(CostFunction);
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_COST_FUNCTION_H_
diff --git a/include/ceres/cost_function_to_functor.h b/include/ceres/cost_function_to_functor.h
new file mode 100644
index 0000000..d2dc947
--- /dev/null
+++ b/include/ceres/cost_function_to_functor.h
@@ -0,0 +1,683 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// CostFunctionToFunctor is an adapter class that allows users to use
+// SizedCostFunction objects in templated functors which are to be used for
+// automatic differentiation.  This allows the user to seamlessly mix
+// analytic, numeric and automatic differentiation.
+//
+// For example, let us assume that
+//
+//  class IntrinsicProjection : public SizedCostFunction<2, 5, 3> {
+//    public:
+//      IntrinsicProjection(const double* observation);
+//      virtual bool Evaluate(double const* const* parameters,
+//                            double* residuals,
+//                            double** jacobians) const;
+//  };
+//
+// is a cost function that implements the projection of a point in its
+// local coordinate system onto its image plane and subtracts it from
+// the observed point projection. It can compute its residual and
+// either via analytic or numerical differentiation can compute its
+// jacobians.
+//
+// Now we would like to compose the action of this CostFunction with
+// the action of camera extrinsics, i.e., rotation and
+// translation. Say we have a templated function
+//
+//   template<typename T>
+//   void RotateAndTranslatePoint(const T* rotation,
+//                                const T* translation,
+//                                const T* point,
+//                                T* result);
+//
+// Then we can now do the following,
+//
+// struct CameraProjection {
+//   CameraProjection(const double* observation)
+//       : intrinsic_projection_(new IntrinsicProjection(observation)) {
+//   }
+//   template <typename T>
+//   bool operator()(const T* rotation,
+//                   const T* translation,
+//                   const T* intrinsics,
+//                   const T* point,
+//                   T* residual) const {
+//     T transformed_point[3];
+//     RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+//
+//     // Note that we call intrinsic_projection_, just like it was
+//     // any other templated functor.
+//
+//     return intrinsic_projection_(intrinsics, transformed_point, residual);
+//   }
+//
+//  private:
+//   CostFunctionToFunctor<2,5,3> intrinsic_projection_;
+// };
+
+#ifndef CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
+#define CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
+
+#include <numeric>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/dynamic_cost_function_to_functor.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+
+template <int kNumResiduals,
+          int N0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+          int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+class CostFunctionToFunctor {
+ public:
+  // Takes ownership of cost_function.
+  explicit CostFunctionToFunctor(CostFunction* cost_function)
+      : cost_functor_(cost_function) {
+    CHECK_NOTNULL(cost_function);
+    CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC);
+
+    // This block breaks the 80 column rule to keep it somewhat readable.
+    CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+          ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+          ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                                    // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                               // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||                          // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||                     // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||                // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||           // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||      // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))   // NOLINT
+        << "Zero block cannot precede a non-zero block. Block sizes are "
+        << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+        << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+        << N8 << ", " << N9;
+
+    const std::vector<int32>& parameter_block_sizes =
+        cost_function->parameter_block_sizes();
+    const int num_parameter_blocks =
+        (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
+        (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
+    CHECK_EQ(static_cast<int>(parameter_block_sizes.size()),
+             num_parameter_blocks);
+
+    CHECK_EQ(N0, parameter_block_sizes[0]);
+    if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]);  // NOLINT
+    if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]);  // NOLINT
+    if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]);  // NOLINT
+    if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]);  // NOLINT
+    if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]);  // NOLINT
+    if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]);  // NOLINT
+    if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]);  // NOLINT
+    if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]);  // NOLINT
+    if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]);  // NOLINT
+
+    CHECK_EQ(accumulate(parameter_block_sizes.begin(),
+                        parameter_block_sizes.end(), 0),
+             N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9);
+  }
+
+  bool operator()(const double* x0, double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_EQ(N1, 0);
+    CHECK_EQ(N2, 0);
+    CHECK_EQ(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+
+    return cost_functor_(&x0, residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_EQ(N2, 0);
+    CHECK_EQ(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(2);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_EQ(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(3);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  const double* x3,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(4);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    parameter_blocks[3] = x3;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  const double* x3,
+                  const double* x4,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(5);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    parameter_blocks[3] = x3;
+    parameter_blocks[4] = x4;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  const double* x3,
+                  const double* x4,
+                  const double* x5,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(6);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    parameter_blocks[3] = x3;
+    parameter_blocks[4] = x4;
+    parameter_blocks[5] = x5;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  const double* x3,
+                  const double* x4,
+                  const double* x5,
+                  const double* x6,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(7);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    parameter_blocks[3] = x3;
+    parameter_blocks[4] = x4;
+    parameter_blocks[5] = x5;
+    parameter_blocks[6] = x6;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  const double* x3,
+                  const double* x4,
+                  const double* x5,
+                  const double* x6,
+                  const double* x7,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_NE(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(8);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    parameter_blocks[3] = x3;
+    parameter_blocks[4] = x4;
+    parameter_blocks[5] = x5;
+    parameter_blocks[6] = x6;
+    parameter_blocks[7] = x7;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  const double* x3,
+                  const double* x4,
+                  const double* x5,
+                  const double* x6,
+                  const double* x7,
+                  const double* x8,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_NE(N7, 0);
+    CHECK_NE(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(9);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    parameter_blocks[3] = x3;
+    parameter_blocks[4] = x4;
+    parameter_blocks[5] = x5;
+    parameter_blocks[6] = x6;
+    parameter_blocks[7] = x7;
+    parameter_blocks[8] = x8;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  bool operator()(const double* x0,
+                  const double* x1,
+                  const double* x2,
+                  const double* x3,
+                  const double* x4,
+                  const double* x5,
+                  const double* x6,
+                  const double* x7,
+                  const double* x8,
+                  const double* x9,
+                  double* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_NE(N7, 0);
+    CHECK_NE(N8, 0);
+    CHECK_NE(N9, 0);
+    internal::FixedArray<const double*> parameter_blocks(10);
+    parameter_blocks[0] = x0;
+    parameter_blocks[1] = x1;
+    parameter_blocks[2] = x2;
+    parameter_blocks[3] = x3;
+    parameter_blocks[4] = x4;
+    parameter_blocks[5] = x5;
+    parameter_blocks[6] = x6;
+    parameter_blocks[7] = x7;
+    parameter_blocks[8] = x8;
+    parameter_blocks[9] = x9;
+    return cost_functor_(parameter_blocks.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0, JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_EQ(N1, 0);
+    CHECK_EQ(N2, 0);
+    CHECK_EQ(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    return cost_functor_(&x0, residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_EQ(N2, 0);
+    CHECK_EQ(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(2);
+    jets[0] = x0;
+    jets[1] = x1;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_EQ(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(3);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  const JetT* x3,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_EQ(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(4);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    jets[3] = x3;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  const JetT* x3,
+                  const JetT* x4,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_EQ(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(5);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    jets[3] = x3;
+    jets[4] = x4;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  const JetT* x3,
+                  const JetT* x4,
+                  const JetT* x5,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_EQ(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(6);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    jets[3] = x3;
+    jets[4] = x4;
+    jets[5] = x5;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  const JetT* x3,
+                  const JetT* x4,
+                  const JetT* x5,
+                  const JetT* x6,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_EQ(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(7);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    jets[3] = x3;
+    jets[4] = x4;
+    jets[5] = x5;
+    jets[6] = x6;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  const JetT* x3,
+                  const JetT* x4,
+                  const JetT* x5,
+                  const JetT* x6,
+                  const JetT* x7,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_NE(N7, 0);
+    CHECK_EQ(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(8);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    jets[3] = x3;
+    jets[4] = x4;
+    jets[5] = x5;
+    jets[6] = x6;
+    jets[7] = x7;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  const JetT* x3,
+                  const JetT* x4,
+                  const JetT* x5,
+                  const JetT* x6,
+                  const JetT* x7,
+                  const JetT* x8,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_NE(N7, 0);
+    CHECK_NE(N8, 0);
+    CHECK_EQ(N9, 0);
+    internal::FixedArray<const JetT*> jets(9);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    jets[3] = x3;
+    jets[4] = x4;
+    jets[5] = x5;
+    jets[6] = x6;
+    jets[7] = x7;
+    jets[8] = x8;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+  template <typename JetT>
+  bool operator()(const JetT* x0,
+                  const JetT* x1,
+                  const JetT* x2,
+                  const JetT* x3,
+                  const JetT* x4,
+                  const JetT* x5,
+                  const JetT* x6,
+                  const JetT* x7,
+                  const JetT* x8,
+                  const JetT* x9,
+                  JetT* residuals) const {
+    CHECK_NE(N0, 0);
+    CHECK_NE(N1, 0);
+    CHECK_NE(N2, 0);
+    CHECK_NE(N3, 0);
+    CHECK_NE(N4, 0);
+    CHECK_NE(N5, 0);
+    CHECK_NE(N6, 0);
+    CHECK_NE(N7, 0);
+    CHECK_NE(N8, 0);
+    CHECK_NE(N9, 0);
+    internal::FixedArray<const JetT*> jets(10);
+    jets[0] = x0;
+    jets[1] = x1;
+    jets[2] = x2;
+    jets[3] = x3;
+    jets[4] = x4;
+    jets[5] = x5;
+    jets[6] = x6;
+    jets[7] = x7;
+    jets[8] = x8;
+    jets[9] = x9;
+    return cost_functor_(jets.get(), residuals);
+  }
+
+ private:
+  DynamicCostFunctionToFunctor cost_functor_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
diff --git a/include/ceres/covariance.h b/include/ceres/covariance.h
new file mode 100644
index 0000000..0538522
--- /dev/null
+++ b/include/ceres/covariance.h
@@ -0,0 +1,467 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_COVARIANCE_H_
+#define CERES_PUBLIC_COVARIANCE_H_
+
+#include <utility>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class Problem;
+
+namespace internal {
+class CovarianceImpl;
+}  // namespace internal
+
+// WARNING
+// =======
+// It is very easy to use this class incorrectly without understanding
+// the underlying mathematics. Please read and understand the
+// documentation completely before attempting to use this class.
+//
+//
+// This class allows the user to evaluate the covariance for a
+// non-linear least squares problem and provides random access to its
+// blocks
+//
+// Background
+// ==========
+// One way to assess the quality of the solution returned by a
+// non-linear least squares solve is to analyze the covariance of the
+// solution.
+//
+// Let us consider the non-linear regression problem
+//
+//   y = f(x) + N(0, I)
+//
+// i.e., the observation y is a random non-linear function of the
+// independent variable x with mean f(x) and identity covariance. Then
+// the maximum likelihood estimate of x given observations y is the
+// solution to the non-linear least squares problem:
+//
+//  x* = arg min_x |f(x)|^2
+//
+// And the covariance of x* is given by
+//
+//  C(x*) = inverse[J'(x*)J(x*)]
+//
+// Here J(x*) is the Jacobian of f at x*. The above formula assumes
+// that J(x*) has full column rank.
+//
+// If J(x*) is rank deficient, then the covariance matrix C(x*) is
+// also rank deficient and is given by
+//
+//  C(x*) =  pseudoinverse[J'(x*)J(x*)]
+//
+// Note that in the above, we assumed that the covariance
+// matrix for y was identity. This is an important assumption. If this
+// is not the case and we have
+//
+//  y = f(x) + N(0, S)
+//
+// Where S is a positive semi-definite matrix denoting the covariance
+// of y, then the maximum likelihood problem to be solved is
+//
+//  x* = arg min_x f'(x) inverse[S] f(x)
+//
+// and the corresponding covariance estimate of x* is given by
+//
+//  C(x*) = inverse[J'(x*) inverse[S] J(x*)]
+//
+// So, if it is the case that the observations being fitted to have a
+// covariance matrix not equal to identity, then it is the user's
+// responsibility that the corresponding cost functions are correctly
+// scaled, e.g. in the above case the cost function for this problem
+// should evaluate S^{-1/2} f(x) instead of just f(x), where S^{-1/2}
+// is the inverse square root of the covariance matrix S.
+//
+// This class allows the user to evaluate the covariance for a
+// non-linear least squares problem and provides random access to its
+// blocks. The computation assumes that the CostFunctions compute
+// residuals such that their covariance is identity.
+//
+// Since the computation of the covariance matrix requires computing
+// the inverse of a potentially large matrix, this can involve a
+// rather large amount of time and memory. However, it is usually the
+// case that the user is only interested in a small part of the
+// covariance matrix. Quite often just the block diagonal. This class
+// allows the user to specify the parts of the covariance matrix that
+// she is interested in and then uses this information to only compute
+// and store those parts of the covariance matrix.
+//
+// Rank of the Jacobian
+// --------------------
+// As we noted above, if the jacobian is rank deficient, then the
+// inverse of J'J is not defined and instead a pseudo inverse needs to
+// be computed.
+//
+// The rank deficiency in J can be structural -- columns which are
+// always known to be zero or numerical -- depending on the exact
+// values in the Jacobian.
+//
+// Structural rank deficiency occurs when the problem contains
+// parameter blocks that are constant. This class correctly handles
+// structural rank deficiency like that.
+//
+// Numerical rank deficiency, where the rank of the matrix cannot be
+// predicted by its sparsity structure and requires looking at its
+// numerical values is more complicated. Here again there are two
+// cases.
+//
+//   a. The rank deficiency arises from overparameterization. e.g., a
+//   four dimensional quaternion used to parameterize SO(3), which is
+//   a three dimensional manifold. In cases like this, the user should
+//   use an appropriate LocalParameterization. Not only will this lead
+//   to better numerical behaviour of the Solver, it will also expose
+//   the rank deficiency to the Covariance object so that it can
+//   handle it correctly.
+//
+//   b. More general numerical rank deficiency in the Jacobian
+//   requires the computation of the so called Singular Value
+//   Decomposition (SVD) of J'J. We do not know how to do this for
+//   large sparse matrices efficiently. For small and moderate sized
+//   problems this is done using dense linear algebra.
+//
+// Gauge Invariance
+// ----------------
+// In structure from motion (3D reconstruction) problems, the
+// reconstruction is ambiguous upto a similarity transform. This is
+// known as a Gauge Ambiguity. Handling Gauges correctly requires the
+// use of SVD or custom inversion algorithms. For small problems the
+// user can use the dense algorithm. For more details see
+//
+// Ken-ichi Kanatani, Daniel D. Morris: Gauges and gauge
+// transformations for uncertainty description of geometric structure
+// with indeterminacy. IEEE Transactions on Information Theory 47(5):
+// 2017-2028 (2001)
+//
+// Example Usage
+// =============
+//
+//  double x[3];
+//  double y[2];
+//
+//  Problem problem;
+//  problem.AddParameterBlock(x, 3);
+//  problem.AddParameterBlock(y, 2);
+//  <Build Problem>
+//  <Solve Problem>
+//
+//  Covariance::Options options;
+//  Covariance covariance(options);
+//
+//  std::vector<std::pair<const double*, const double*> > covariance_blocks;
+//  covariance_blocks.push_back(make_pair(x, x));
+//  covariance_blocks.push_back(make_pair(y, y));
+//  covariance_blocks.push_back(make_pair(x, y));
+//
+//  CHECK(covariance.Compute(covariance_blocks, &problem));
+//
+//  double covariance_xx[3 * 3];
+//  double covariance_yy[2 * 2];
+//  double covariance_xy[3 * 2];
+//  covariance.GetCovarianceBlock(x, x, covariance_xx)
+//  covariance.GetCovarianceBlock(y, y, covariance_yy)
+//  covariance.GetCovarianceBlock(x, y, covariance_xy)
+//
+class CERES_EXPORT Covariance {
+ public:
+  struct CERES_EXPORT Options {
+    Options() {
+      algorithm_type = SPARSE_QR;
+
+      // Eigen's QR factorization is always available.
+      sparse_linear_algebra_library_type = EIGEN_SPARSE;
+#if !defined(CERES_NO_SUITESPARSE)
+      sparse_linear_algebra_library_type = SUITE_SPARSE;
+#endif
+
+      min_reciprocal_condition_number = 1e-14;
+      null_space_rank = 0;
+      num_threads = 1;
+      apply_loss_function = true;
+    }
+
+    // Sparse linear algebra library to use when a sparse matrix
+    // factorization is being used to compute the covariance matrix.
+    //
+    // Currently this only applies to SPARSE_QR.
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+    // Ceres supports two different algorithms for covariance
+    // estimation, which represent different tradeoffs in speed,
+    // accuracy and reliability.
+    //
+    // 1. DENSE_SVD uses Eigen's JacobiSVD to perform the
+    //    computations. It computes the singular value decomposition
+    //
+    //      U * S * V' = J
+    //
+    //    and then uses it to compute the pseudo inverse of J'J as
+    //
+    //      pseudoinverse[J'J]^ = V * pseudoinverse[S] * V'
+    //
+    //    It is an accurate but slow method and should only be used
+    //    for small to moderate sized problems. It can handle
+    //    full-rank as well as rank deficient Jacobians.
+    //
+    // 2. SPARSE_QR uses the sparse QR factorization algorithm
+    //    to compute the decomposition
+    //
+    //      Q * R = J
+    //
+    //    [J'J]^-1 = [R*R']^-1
+    //
+    // SPARSE_QR is not capable of computing the covariance if the
+    // Jacobian is rank deficient. Depending on the value of
+    // Covariance::Options::sparse_linear_algebra_library_type, either
+    // Eigen's Sparse QR factorization algorithm will be used or
+    // SuiteSparse's high performance SuiteSparseQR algorithm will be
+    // used.
+    CovarianceAlgorithmType algorithm_type;
+
+    // If the Jacobian matrix is near singular, then inverting J'J
+    // will result in unreliable results, e.g, if
+    //
+    //   J = [1.0 1.0         ]
+    //       [1.0 1.0000001   ]
+    //
+    // which is essentially a rank deficient matrix, we have
+    //
+    //   inv(J'J) = [ 2.0471e+14  -2.0471e+14]
+    //              [-2.0471e+14   2.0471e+14]
+    //
+    // This is not a useful result. Therefore, by default
+    // Covariance::Compute will return false if a rank deficient
+    // Jacobian is encountered. How rank deficiency is detected
+    // depends on the algorithm being used.
+    //
+    // 1. DENSE_SVD
+    //
+    //      min_sigma / max_sigma < sqrt(min_reciprocal_condition_number)
+    //
+    //    where min_sigma and max_sigma are the minimum and maxiumum
+    //    singular values of J respectively.
+    //
+    // 2. SPARSE_QR
+    //
+    //      rank(J) < num_col(J)
+    //
+    //   Here rank(J) is the estimate of the rank of J returned by the
+    //   sparse QR factorization algorithm. It is a fairly reliable
+    //   indication of rank deficiency.
+    //
+    double min_reciprocal_condition_number;
+
+    // When using DENSE_SVD, the user has more control in dealing with
+    // singular and near singular covariance matrices.
+    //
+    // As mentioned above, when the covariance matrix is near
+    // singular, instead of computing the inverse of J'J, the
+    // Moore-Penrose pseudoinverse of J'J should be computed.
+    //
+    // If J'J has the eigen decomposition (lambda_i, e_i), where
+    // lambda_i is the i^th eigenvalue and e_i is the corresponding
+    // eigenvector, then the inverse of J'J is
+    //
+    //   inverse[J'J] = sum_i e_i e_i' / lambda_i
+    //
+    // and computing the pseudo inverse involves dropping terms from
+    // this sum that correspond to small eigenvalues.
+    //
+    // How terms are dropped is controlled by
+    // min_reciprocal_condition_number and null_space_rank.
+    //
+    // If null_space_rank is non-negative, then the smallest
+    // null_space_rank eigenvalue/eigenvectors are dropped
+    // irrespective of the magnitude of lambda_i. If the ratio of the
+    // smallest non-zero eigenvalue to the largest eigenvalue in the
+    // truncated matrix is still below
+    // min_reciprocal_condition_number, then the Covariance::Compute()
+    // will fail and return false.
+    //
+    // Setting null_space_rank = -1 drops all terms for which
+    //
+    //   lambda_i / lambda_max < min_reciprocal_condition_number.
+    //
+    // This option has no effect on the SUITE_SPARSE_QR and
+    // EIGEN_SPARSE_QR algorithms.
+    int null_space_rank;
+
+    int num_threads;
+
+    // Even though the residual blocks in the problem may contain loss
+    // functions, setting apply_loss_function to false will turn off
+    // the application of the loss function to the output of the cost
+    // function and in turn its effect on the covariance.
+    //
+    // TODO(sameergaarwal): Expand this based on Jim's experiments.
+    bool apply_loss_function;
+  };
+
+  explicit Covariance(const Options& options);
+  ~Covariance();
+
+  // Compute a part of the covariance matrix.
+  //
+  // The vector covariance_blocks, indexes into the covariance matrix
+  // block-wise using pairs of parameter blocks. This allows the
+  // covariance estimation algorithm to only compute and store these
+  // blocks.
+  //
+  // Since the covariance matrix is symmetric, if the user passes
+  // (block1, block2), then GetCovarianceBlock can be called with
+  // block1, block2 as well as block2, block1.
+  //
+  // covariance_blocks cannot contain duplicates. Bad things will
+  // happen if they do.
+  //
+  // Note that the list of covariance_blocks is only used to determine
+  // what parts of the covariance matrix are computed. The full
+  // Jacobian is used to do the computation, i.e. they do not have an
+  // impact on what part of the Jacobian is used for computation.
+  //
+  // The return value indicates the success or failure of the
+  // covariance computation. Please see the documentation for
+  // Covariance::Options for more on the conditions under which this
+  // function returns false.
+  bool Compute(
+      const std::vector<std::pair<const double*,
+                                  const double*> >& covariance_blocks,
+      Problem* problem);
+
+  // Compute a part of the covariance matrix.
+  //
+  // The vector parameter_blocks contains the parameter blocks that
+  // are used for computing the covariance matrix. From this vector
+  // all covariance pairs are generated. This allows the covariance
+  // estimation algorithm to only compute and store these blocks.
+  //
+  // parameter_blocks cannot contain duplicates. Bad things will
+  // happen if they do.
+  //
+  // Note that the list of covariance_blocks is only used to determine
+  // what parts of the covariance matrix are computed. The full
+  // Jacobian is used to do the computation, i.e. they do not have an
+  // impact on what part of the Jacobian is used for computation.
+  //
+  // The return value indicates the success or failure of the
+  // covariance computation. Please see the documentation for
+  // Covariance::Options for more on the conditions under which this
+  // function returns false.
+  bool Compute(const std::vector<const double*>& parameter_blocks,
+               Problem* problem);
+
+  // Return the block of the cross-covariance matrix corresponding to
+  // parameter_block1 and parameter_block2.
+  //
+  // Compute must be called before the first call to
+  // GetCovarianceBlock and the pair <parameter_block1,
+  // parameter_block2> OR the pair <parameter_block2,
+  // parameter_block1> must have been present in the vector
+  // covariance_blocks when Compute was called. Otherwise
+  // GetCovarianceBlock will return false.
+  //
+  // covariance_block must point to a memory location that can store a
+  // parameter_block1_size x parameter_block2_size matrix. The
+  // returned covariance will be a row-major matrix.
+  bool GetCovarianceBlock(const double* parameter_block1,
+                          const double* parameter_block2,
+                          double* covariance_block) const;
+
+  // Return the block of the cross-covariance matrix corresponding to
+  // parameter_block1 and parameter_block2.
+  // Returns cross-covariance in the tangent space if a local
+  // parameterization is associated with either parameter block;
+  // else returns cross-covariance in the ambient space.
+  //
+  // Compute must be called before the first call to
+  // GetCovarianceBlock and the pair <parameter_block1,
+  // parameter_block2> OR the pair <parameter_block2,
+  // parameter_block1> must have been present in the vector
+  // covariance_blocks when Compute was called. Otherwise
+  // GetCovarianceBlock will return false.
+  //
+  // covariance_block must point to a memory location that can store a
+  // parameter_block1_local_size x parameter_block2_local_size matrix. The
+  // returned covariance will be a row-major matrix.
+  bool GetCovarianceBlockInTangentSpace(const double* parameter_block1,
+                                        const double* parameter_block2,
+                                        double* covariance_block) const;
+
+  // Return the covariance matrix corresponding to all parameter_blocks.
+  //
+  // Compute must be called before calling GetCovarianceMatrix and all
+  // parameter_blocks must have been present in the vector
+  // parameter_blocks when Compute was called. Otherwise
+  // GetCovarianceMatrix returns false.
+  //
+  // covariance_matrix must point to a memory location that can store
+  // the size of the covariance matrix. The covariance matrix will be
+  // a square matrix whose row and column count is equal to the sum of
+  // the sizes of the individual parameter blocks. The covariance
+  // matrix will be a row-major matrix.
+  bool GetCovarianceMatrix(const std::vector<const double *> &parameter_blocks,
+                           double *covariance_matrix);
+
+  // Return the covariance matrix corresponding to parameter_blocks
+  // in the tangent space if a local parameterization is associated
+  // with one of the parameter blocks else returns the covariance
+  // matrix in the ambient space.
+  //
+  // Compute must be called before calling GetCovarianceMatrix and all
+  // parameter_blocks must have been present in the vector
+  // parameters_blocks when Compute was called. Otherwise
+  // GetCovarianceMatrix returns false.
+  //
+  // covariance_matrix must point to a memory location that can store
+  // the size of the covariance matrix. The covariance matrix will be
+  // a square matrix whose row and column count is equal to the sum of
+  // the sizes of the tangent spaces of the individual parameter
+  // blocks. The covariance matrix will be a row-major matrix.
+  bool GetCovarianceMatrixInTangentSpace(
+      const std::vector<const double*>& parameter_blocks,
+      double* covariance_matrix);
+
+ private:
+  internal::scoped_ptr<internal::CovarianceImpl> impl_;
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_COVARIANCE_H_
diff --git a/include/ceres/crs_matrix.h b/include/ceres/crs_matrix.h
new file mode 100644
index 0000000..23687c4
--- /dev/null
+++ b/include/ceres/crs_matrix.h
@@ -0,0 +1,86 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_CRS_MATRIX_H_
+#define CERES_PUBLIC_CRS_MATRIX_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// A compressed row sparse matrix used primarily for communicating the
+// Jacobian matrix to the user.
+struct CERES_EXPORT CRSMatrix {
+  CRSMatrix() : num_rows(0), num_cols(0) {}
+
+  int num_rows;
+  int num_cols;
+
+  // A compressed row matrix stores its contents in three arrays,
+  // rows, cols and values.
+  //
+  // rows is a num_rows + 1 sized array that points into the cols and
+  // values array. For each row i:
+  //
+  // cols[rows[i]] ... cols[rows[i + 1] - 1] are the indices of the
+  // non-zero columns of row i.
+  //
+  // values[rows[i]] .. values[rows[i + 1] - 1] are the values of the
+  // corresponding entries.
+  //
+  // cols and values contain as many entries as there are non-zeros in
+  // the matrix.
+  //
+  // e.g, consider the 3x4 sparse matrix
+  //
+  //  [ 0 10  0  4 ]
+  //  [ 0  2 -3  2 ]
+  //  [ 1  2  0  0 ]
+  //
+  // The three arrays will be:
+  //
+  //
+  //            -row0-  ---row1---  -row2-
+  //  rows   = [ 0,      2,          5,     7]
+  //  cols   = [ 1,  3,  1,  2,  3,  0,  1]
+  //  values = [10,  4,  2, -3,  2,  1,  2]
+
+  std::vector<int> cols;
+  std::vector<int> rows;
+  std::vector<double> values;
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_CRS_MATRIX_H_
diff --git a/include/ceres/cubic_interpolation.h b/include/ceres/cubic_interpolation.h
new file mode 100644
index 0000000..9804a33
--- /dev/null
+++ b/include/ceres/cubic_interpolation.h
@@ -0,0 +1,439 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_CUBIC_INTERPOLATION_H_
+#define CERES_PUBLIC_CUBIC_INTERPOLATION_H_
+
+#include "ceres/internal/port.h"
+#include "Eigen/Core"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// Given samples from a function sampled at four equally spaced points,
+//
+//   p0 = f(-1)
+//   p1 = f(0)
+//   p2 = f(1)
+//   p3 = f(2)
+//
+// Evaluate the cubic Hermite spline (also known as the Catmull-Rom
+// spline) at a point x that lies in the interval [0, 1].
+//
+// This is also the interpolation kernel (for the case of a = 0.5) as
+// proposed by R. Keys, in:
+//
+// "Cubic convolution interpolation for digital image processing".
+// IEEE Transactions on Acoustics, Speech, and Signal Processing
+// 29 (6): 1153–1160.
+//
+// For more details see
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+// http://en.wikipedia.org/wiki/Bicubic_interpolation
+//
+// f if not NULL will contain the interpolated function values.
+// dfdx if not NULL will contain the interpolated derivative values.
+template <int kDataDimension>
+void CubicHermiteSpline(const Eigen::Matrix<double, kDataDimension, 1>& p0,
+                        const Eigen::Matrix<double, kDataDimension, 1>& p1,
+                        const Eigen::Matrix<double, kDataDimension, 1>& p2,
+                        const Eigen::Matrix<double, kDataDimension, 1>& p3,
+                        const double x,
+                        double* f,
+                        double* dfdx) {
+  typedef Eigen::Matrix<double, kDataDimension, 1> VType;
+  const VType a = 0.5 * (-p0 + 3.0 * p1 - 3.0 * p2 + p3);
+  const VType b = 0.5 * (2.0 * p0 - 5.0 * p1 + 4.0 * p2 - p3);
+  const VType c = 0.5 * (-p0 + p2);
+  const VType d = p1;
+
+  // Use Horner's rule to evaluate the function value and its
+  // derivative.
+
+  // f = ax^3 + bx^2 + cx + d
+  if (f != NULL) {
+    Eigen::Map<VType>(f, kDataDimension) = d + x * (c + x * (b + x * a));
+  }
+
+  // dfdx = 3ax^2 + 2bx + c
+  if (dfdx != NULL) {
+    Eigen::Map<VType>(dfdx, kDataDimension) = c + x * (2.0 * b + 3.0 * a * x);
+  }
+}
+
+// Given as input an infinite one dimensional grid, which provides the
+// following interface.
+//
+//   class Grid {
+//    public:
+//     enum { DATA_DIMENSION = 2; };
+//     void GetValue(int n, double* f) const;
+//   };
+//
+// Here, GetValue gives the value of a function f (possibly vector
+// valued) for any integer n.
+//
+// The enum DATA_DIMENSION indicates the dimensionality of the
+// function being interpolated. For example if you are interpolating
+// rotations in axis-angle format over time, then DATA_DIMENSION = 3.
+//
+// CubicInterpolator uses cubic Hermite splines to produce a smooth
+// approximation to it that can be used to evaluate the f(x) and f'(x)
+// at any point on the real number line.
+//
+// For more details on cubic interpolation see
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+//
+// Example usage:
+//
+//  const double data[] = {1.0, 2.0, 5.0, 6.0};
+//  Grid1D<double, 1> grid(x, 0, 4);
+//  CubicInterpolator<Grid1D<double, 1> > interpolator(grid);
+//  double f, dfdx;
+//  interpolator.Evaluator(1.5, &f, &dfdx);
+template<typename Grid>
+class CubicInterpolator {
+ public:
+  explicit CubicInterpolator(const Grid& grid)
+      : grid_(grid) {
+    // The + casts the enum into an int before doing the
+    // comparison. It is needed to prevent
+    // "-Wunnamed-type-template-args" related errors.
+    CHECK_GE(+Grid::DATA_DIMENSION, 1);
+  }
+
+  void Evaluate(double x, double* f, double* dfdx) const {
+    const int n = std::floor(x);
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> p0, p1, p2, p3;
+    grid_.GetValue(n - 1, p0.data());
+    grid_.GetValue(n,     p1.data());
+    grid_.GetValue(n + 1, p2.data());
+    grid_.GetValue(n + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, x - n, f, dfdx);
+  }
+
+  // The following two Evaluate overloads are needed for interfacing
+  // with automatic differentiation. The first is for when a scalar
+  // evaluation is done, and the second one is for when Jets are used.
+  void Evaluate(const double& x, double* f) const {
+    Evaluate(x, f, NULL);
+  }
+
+  template<typename JetT> void Evaluate(const JetT& x, JetT* f) const {
+    double fx[Grid::DATA_DIMENSION], dfdx[Grid::DATA_DIMENSION];
+    Evaluate(x.a, fx, dfdx);
+    for (int i = 0; i < Grid::DATA_DIMENSION; ++i) {
+      f[i].a = fx[i];
+      f[i].v = dfdx[i] * x.v;
+    }
+  }
+
+ private:
+  const Grid& grid_;
+};
+
+// An object that implements an infinite one dimensional grid needed
+// by the CubicInterpolator where the source of the function values is
+// an array of type T on the interval
+//
+//   [begin, ..., end - 1]
+//
+// Since the input array is finite and the grid is infinite, values
+// outside this interval needs to be computed. Grid1D uses the value
+// from the nearest edge.
+//
+// The function being provided can be vector valued, in which case
+// kDataDimension > 1. The dimensional slices of the function maybe
+// interleaved, or they maybe stacked, i.e, if the function has
+// kDataDimension = 2, if kInterleaved = true, then it is stored as
+//
+//   f01, f02, f11, f12 ....
+//
+// and if kInterleaved = false, then it is stored as
+//
+//  f01, f11, .. fn1, f02, f12, .. , fn2
+//
+template <typename T,
+          int kDataDimension = 1,
+          bool kInterleaved = true>
+struct Grid1D {
+ public:
+  enum { DATA_DIMENSION = kDataDimension };
+
+  Grid1D(const T* data, const int begin, const int end)
+      : data_(data), begin_(begin), end_(end), num_values_(end - begin) {
+    CHECK_LT(begin, end);
+  }
+
+  EIGEN_STRONG_INLINE void GetValue(const int n, double* f) const {
+    const int idx = std::min(std::max(begin_, n), end_ - 1) - begin_;
+    if (kInterleaved) {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[kDataDimension * idx + i]);
+      }
+    } else {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[i * num_values_ + idx]);
+      }
+    }
+  }
+
+ private:
+  const T* data_;
+  const int begin_;
+  const int end_;
+  const int num_values_;
+};
+
+// Given as input an infinite two dimensional grid like object, which
+// provides the following interface:
+//
+//   struct Grid {
+//     enum { DATA_DIMENSION = 1 };
+//     void GetValue(int row, int col, double* f) const;
+//   };
+//
+// Where, GetValue gives us the value of a function f (possibly vector
+// valued) for any pairs of integers (row, col), and the enum
+// DATA_DIMENSION indicates the dimensionality of the function being
+// interpolated. For example if you are interpolating a color image
+// with three channels (Red, Green & Blue), then DATA_DIMENSION = 3.
+//
+// BiCubicInterpolator uses the cubic convolution interpolation
+// algorithm of R. Keys, to produce a smooth approximation to it that
+// can be used to evaluate the f(r,c), df(r, c)/dr and df(r,c)/dc at
+// any point in the real plane.
+//
+// For more details on the algorithm used here see:
+//
+// "Cubic convolution interpolation for digital image processing".
+// Robert G. Keys, IEEE Trans. on Acoustics, Speech, and Signal
+// Processing 29 (6): 1153–1160, 1981.
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+// http://en.wikipedia.org/wiki/Bicubic_interpolation
+//
+// Example usage:
+//
+// const double data[] = {1.0, 3.0, -1.0, 4.0,
+//                         3.6, 2.1,  4.2, 2.0,
+//                        2.0, 1.0,  3.1, 5.2};
+//  Grid2D<double, 1>  grid(data, 3, 4);
+//  BiCubicInterpolator<Grid2D<double, 1> > interpolator(grid);
+//  double f, dfdr, dfdc;
+//  interpolator.Evaluate(1.2, 2.5, &f, &dfdr, &dfdc);
+
+template<typename Grid>
+class BiCubicInterpolator {
+ public:
+  explicit BiCubicInterpolator(const Grid& grid)
+      : grid_(grid) {
+    // The + casts the enum into an int before doing the
+    // comparison. It is needed to prevent
+    // "-Wunnamed-type-template-args" related errors.
+    CHECK_GE(+Grid::DATA_DIMENSION, 1);
+  }
+
+  // Evaluate the interpolated function value and/or its
+  // derivative. Returns false if r or c is out of bounds.
+  void Evaluate(double r, double c,
+                double* f, double* dfdr, double* dfdc) const {
+    // BiCubic interpolation requires 16 values around the point being
+    // evaluated.  We will use pij, to indicate the elements of the
+    // 4x4 grid of values.
+    //
+    //          col
+    //      p00 p01 p02 p03
+    // row  p10 p11 p12 p13
+    //      p20 p21 p22 p23
+    //      p30 p31 p32 p33
+    //
+    // The point (r,c) being evaluated is assumed to lie in the square
+    // defined by p11, p12, p22 and p21.
+
+    const int row = std::floor(r);
+    const int col = std::floor(c);
+
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> p0, p1, p2, p3;
+
+    // Interpolate along each of the four rows, evaluating the function
+    // value and the horizontal derivative in each row.
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> f0, f1, f2, f3;
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> df0dc, df1dc, df2dc, df3dc;
+
+    grid_.GetValue(row - 1, col - 1, p0.data());
+    grid_.GetValue(row - 1, col    , p1.data());
+    grid_.GetValue(row - 1, col + 1, p2.data());
+    grid_.GetValue(row - 1, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+                                             f0.data(), df0dc.data());
+
+    grid_.GetValue(row, col - 1, p0.data());
+    grid_.GetValue(row, col    , p1.data());
+    grid_.GetValue(row, col + 1, p2.data());
+    grid_.GetValue(row, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+                                             f1.data(), df1dc.data());
+
+    grid_.GetValue(row + 1, col - 1, p0.data());
+    grid_.GetValue(row + 1, col    , p1.data());
+    grid_.GetValue(row + 1, col + 1, p2.data());
+    grid_.GetValue(row + 1, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+                                             f2.data(), df2dc.data());
+
+    grid_.GetValue(row + 2, col - 1, p0.data());
+    grid_.GetValue(row + 2, col    , p1.data());
+    grid_.GetValue(row + 2, col + 1, p2.data());
+    grid_.GetValue(row + 2, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, c - col,
+                                             f3.data(), df3dc.data());
+
+    // Interpolate vertically the interpolated value from each row and
+    // compute the derivative along the columns.
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(f0, f1, f2, f3, r - row, f, dfdr);
+    if (dfdc != NULL) {
+      // Interpolate vertically the derivative along the columns.
+      CubicHermiteSpline<Grid::DATA_DIMENSION>(df0dc, df1dc, df2dc, df3dc,
+                                               r - row, dfdc, NULL);
+    }
+  }
+
+  // The following two Evaluate overloads are needed for interfacing
+  // with automatic differentiation. The first is for when a scalar
+  // evaluation is done, and the second one is for when Jets are used.
+  void Evaluate(const double& r, const double& c, double* f) const {
+    Evaluate(r, c, f, NULL, NULL);
+  }
+
+  template<typename JetT> void Evaluate(const JetT& r,
+                                        const JetT& c,
+                                        JetT* f) const {
+    double frc[Grid::DATA_DIMENSION];
+    double dfdr[Grid::DATA_DIMENSION];
+    double dfdc[Grid::DATA_DIMENSION];
+    Evaluate(r.a, c.a, frc, dfdr, dfdc);
+    for (int i = 0; i < Grid::DATA_DIMENSION; ++i) {
+      f[i].a = frc[i];
+      f[i].v = dfdr[i] * r.v + dfdc[i] * c.v;
+    }
+  }
+
+ private:
+  const Grid& grid_;
+};
+
+// An object that implements an infinite two dimensional grid needed
+// by the BiCubicInterpolator where the source of the function values
+// is an grid of type T on the grid
+//
+//   [(row_start,   col_start), ..., (row_start,   col_end - 1)]
+//   [                          ...                            ]
+//   [(row_end - 1, col_start), ..., (row_end - 1, col_end - 1)]
+//
+// Since the input grid is finite and the grid is infinite, values
+// outside this interval needs to be computed. Grid2D uses the value
+// from the nearest edge.
+//
+// The function being provided can be vector valued, in which case
+// kDataDimension > 1. The data maybe stored in row or column major
+// format and the various dimensional slices of the function maybe
+// interleaved, or they maybe stacked, i.e, if the function has
+// kDataDimension = 2, is stored in row-major format and if
+// kInterleaved = true, then it is stored as
+//
+//   f001, f002, f011, f012, ...
+//
+// A commonly occuring example are color images (RGB) where the three
+// channels are stored interleaved.
+//
+// If kInterleaved = false, then it is stored as
+//
+//  f001, f011, ..., fnm1, f002, f012, ...
+template <typename T,
+          int kDataDimension = 1,
+          bool kRowMajor = true,
+          bool kInterleaved = true>
+struct Grid2D {
+ public:
+  enum { DATA_DIMENSION = kDataDimension };
+
+  Grid2D(const T* data,
+         const int row_begin, const int row_end,
+         const int col_begin, const int col_end)
+      : data_(data),
+        row_begin_(row_begin), row_end_(row_end),
+        col_begin_(col_begin), col_end_(col_end),
+        num_rows_(row_end - row_begin), num_cols_(col_end - col_begin),
+        num_values_(num_rows_ * num_cols_) {
+    CHECK_GE(kDataDimension, 1);
+    CHECK_LT(row_begin, row_end);
+    CHECK_LT(col_begin, col_end);
+  }
+
+  EIGEN_STRONG_INLINE void GetValue(const int r, const int c, double* f) const {
+    const int row_idx =
+        std::min(std::max(row_begin_, r), row_end_ - 1) - row_begin_;
+    const int col_idx =
+        std::min(std::max(col_begin_, c), col_end_ - 1) - col_begin_;
+
+    const int n =
+        (kRowMajor)
+        ? num_cols_ * row_idx + col_idx
+        : num_rows_ * col_idx + row_idx;
+
+
+    if (kInterleaved) {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[kDataDimension * n + i]);
+      }
+    } else {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[i * num_values_ + n]);
+      }
+    }
+  }
+
+ private:
+  const T* data_;
+  const int row_begin_;
+  const int row_end_;
+  const int col_begin_;
+  const int col_end_;
+  const int num_rows_;
+  const int num_cols_;
+  const int num_values_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_CUBIC_INTERPOLATOR_H_
diff --git a/include/ceres/dynamic_autodiff_cost_function.h b/include/ceres/dynamic_autodiff_cost_function.h
new file mode 100644
index 0000000..1cece2c
--- /dev/null
+++ b/include/ceres/dynamic_autodiff_cost_function.h
@@ -0,0 +1,251 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/jet.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This autodiff implementation differs from the one found in
+// autodiff_cost_function.h by supporting autodiff on cost functions
+// with variable numbers of parameters with variable sizes. With the
+// other implementation, all the sizes (both the number of parameter
+// blocks and the size of each block) must be fixed at compile time.
+//
+// The functor API differs slightly from the API for fixed size
+// autodiff; the expected interface for the cost functors is:
+//
+//   struct MyCostFunctor {
+//     template<typename T>
+//     bool operator()(T const* const* parameters, T* residuals) const {
+//       // Use parameters[i] to access the i'th parameter block.
+//     }
+//   }
+//
+// Since the sizing of the parameters is done at runtime, you must
+// also specify the sizes after creating the dynamic autodiff cost
+// function. For example:
+//
+//   DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+//       new MyCostFunctor());
+//   cost_function.AddParameterBlock(5);
+//   cost_function.AddParameterBlock(10);
+//   cost_function.SetNumResiduals(21);
+//
+// Under the hood, the implementation evaluates the cost function
+// multiple times, computing a small set of the derivatives (four by
+// default, controlled by the Stride template parameter) with each
+// pass. There is a tradeoff with the size of the passes; you may want
+// to experiment with the stride.
+template <typename CostFunctor, int Stride = 4>
+class DynamicAutoDiffCostFunction : public DynamicCostFunction {
+ public:
+  explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
+    : functor_(functor) {}
+
+  virtual ~DynamicAutoDiffCostFunction() {}
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    CHECK_GT(num_residuals(), 0)
+        << "You must call DynamicAutoDiffCostFunction::SetNumResiduals() "
+        << "before DynamicAutoDiffCostFunction::Evaluate().";
+
+    if (jacobians == NULL) {
+      return (*functor_)(parameters, residuals);
+    }
+
+    // The difficulty with Jets, as implemented in Ceres, is that they were
+    // originally designed for strictly compile-sized use. At this point, there
+    // is a large body of code that assumes inside a cost functor it is
+    // acceptable to do e.g. T(1.5) and get an appropriately sized jet back.
+    //
+    // Unfortunately, it is impossible to communicate the expected size of a
+    // dynamically sized jet to the static instantiations that existing code
+    // depends on.
+    //
+    // To work around this issue, the solution here is to evaluate the
+    // jacobians in a series of passes, each one computing Stripe *
+    // num_residuals() derivatives. This is done with small, fixed-size jets.
+    const int num_parameter_blocks = parameter_block_sizes().size();
+    const int num_parameters = std::accumulate(parameter_block_sizes().begin(),
+                                               parameter_block_sizes().end(),
+                                               0);
+
+    // Allocate scratch space for the strided evaluation.
+    std::vector<Jet<double, Stride> > input_jets(num_parameters);
+    std::vector<Jet<double, Stride> > output_jets(num_residuals());
+
+    // Make the parameter pack that is sent to the functor (reused).
+    std::vector<Jet<double, Stride>* > jet_parameters(num_parameter_blocks,
+        static_cast<Jet<double, Stride>* >(NULL));
+    int num_active_parameters = 0;
+
+    // To handle constant parameters between non-constant parameter blocks, the
+    // start position --- a raw parameter index --- of each contiguous block of
+    // non-constant parameters is recorded in start_derivative_section.
+    std::vector<int> start_derivative_section;
+    bool in_derivative_section = false;
+    int parameter_cursor = 0;
+
+    // Discover the derivative sections and set the parameter values.
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      jet_parameters[i] = &input_jets[parameter_cursor];
+
+      const int parameter_block_size = parameter_block_sizes()[i];
+      if (jacobians[i] != NULL) {
+        if (!in_derivative_section) {
+          start_derivative_section.push_back(parameter_cursor);
+          in_derivative_section = true;
+        }
+
+        num_active_parameters += parameter_block_size;
+      } else {
+        in_derivative_section = false;
+      }
+
+      for (int j = 0; j < parameter_block_size; ++j, parameter_cursor++) {
+        input_jets[parameter_cursor].a = parameters[i][j];
+      }
+    }
+
+    // When `num_active_parameters % Stride != 0` then it can be the case
+    // that `active_parameter_count < Stride` while parameter_cursor is less
+    // than the total number of parameters and with no remaining non-constant
+    // parameter blocks. Pushing parameter_cursor (the total number of
+    // parameters) as a final entry to start_derivative_section is required
+    // because if a constant parameter block is encountered after the
+    // last non-constant block then current_derivative_section is incremented
+    // and would otherwise index an invalid position in
+    // start_derivative_section. Setting the final element to the total number
+    // of parameters means that this can only happen at most once in the loop
+    // below.
+    start_derivative_section.push_back(parameter_cursor);
+
+    // Evaluate all of the strides. Each stride is a chunk of the derivative to
+    // evaluate, typically some size proportional to the size of the SIMD
+    // registers of the CPU.
+    int num_strides = static_cast<int>(ceil(num_active_parameters /
+                                            static_cast<float>(Stride)));
+
+    int current_derivative_section = 0;
+    int current_derivative_section_cursor = 0;
+
+    for (int pass = 0; pass < num_strides; ++pass) {
+      // Set most of the jet components to zero, except for
+      // non-constant #Stride parameters.
+      const int initial_derivative_section = current_derivative_section;
+      const int initial_derivative_section_cursor =
+        current_derivative_section_cursor;
+
+      int active_parameter_count = 0;
+      parameter_cursor = 0;
+
+      for (int i = 0; i < num_parameter_blocks; ++i) {
+        for (int j = 0; j < parameter_block_sizes()[i];
+             ++j, parameter_cursor++) {
+          input_jets[parameter_cursor].v.setZero();
+          if (active_parameter_count < Stride &&
+              parameter_cursor >= (
+                start_derivative_section[current_derivative_section] +
+                current_derivative_section_cursor)) {
+            if (jacobians[i] != NULL) {
+              input_jets[parameter_cursor].v[active_parameter_count] = 1.0;
+              ++active_parameter_count;
+              ++current_derivative_section_cursor;
+            } else {
+              ++current_derivative_section;
+              current_derivative_section_cursor = 0;
+            }
+          }
+        }
+      }
+
+      if (!(*functor_)(&jet_parameters[0], &output_jets[0])) {
+        return false;
+      }
+
+      // Copy the pieces of the jacobians into their final place.
+      active_parameter_count = 0;
+
+      current_derivative_section = initial_derivative_section;
+      current_derivative_section_cursor = initial_derivative_section_cursor;
+
+      for (int i = 0, parameter_cursor = 0; i < num_parameter_blocks; ++i) {
+        for (int j = 0; j < parameter_block_sizes()[i];
+             ++j, parameter_cursor++) {
+          if (active_parameter_count < Stride &&
+              parameter_cursor >= (
+                start_derivative_section[current_derivative_section] +
+                current_derivative_section_cursor)) {
+            if (jacobians[i] != NULL) {
+              for (int k = 0; k < num_residuals(); ++k) {
+                jacobians[i][k * parameter_block_sizes()[i] + j] =
+                    output_jets[k].v[active_parameter_count];
+              }
+              ++active_parameter_count;
+              ++current_derivative_section_cursor;
+            } else {
+              ++current_derivative_section;
+              current_derivative_section_cursor = 0;
+            }
+          }
+        }
+      }
+
+      // Only copy the residuals over once (even though we compute them on
+      // every loop).
+      if (pass == num_strides - 1) {
+        for (int k = 0; k < num_residuals(); ++k) {
+          residuals[k] = output_jets[k].a;
+        }
+      }
+    }
+    return true;
+  }
+
+ private:
+  internal::scoped_ptr<CostFunctor> functor_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
diff --git a/include/ceres/dynamic_cost_function.h b/include/ceres/dynamic_cost_function.h
new file mode 100644
index 0000000..6c0aa31
--- /dev/null
+++ b/include/ceres/dynamic_cost_function.h
@@ -0,0 +1,56 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+
+#include "ceres/cost_function.h"
+
+namespace ceres {
+
+// A common base class for DynamicAutoDiffCostFunction and
+// DynamicNumericDiffCostFunction which depend on methods that can add
+// parameter blocks and set the number of residuals at run time.
+class CERES_EXPORT DynamicCostFunction : public CostFunction {
+ public:
+  ~DynamicCostFunction() {}
+
+  virtual void AddParameterBlock(int size) {
+    mutable_parameter_block_sizes()->push_back(size);
+  }
+
+  virtual void SetNumResiduals(int num_residuals) {
+    set_num_residuals(num_residuals);
+  }
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
diff --git a/include/ceres/dynamic_cost_function_to_functor.h b/include/ceres/dynamic_cost_function_to_functor.h
new file mode 100644
index 0000000..10bc99a
--- /dev/null
+++ b/include/ceres/dynamic_cost_function_to_functor.h
@@ -0,0 +1,190 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         dgossow@google.com (David Gossow)
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+
+// DynamicCostFunctionToFunctor allows users to use CostFunction
+// objects in templated functors which are to be used for automatic
+// differentiation. It works similar to CostFunctionToFunctor, with the
+// difference that it allows you to wrap a cost function with dynamic numbers
+// of parameters and residuals.
+//
+// For example, let us assume that
+//
+//  class IntrinsicProjection : public CostFunction {
+//    public:
+//      IntrinsicProjection(const double* observation);
+//      virtual bool Evaluate(double const* const* parameters,
+//                            double* residuals,
+//                            double** jacobians) const;
+//  };
+//
+// is a cost function that implements the projection of a point in its
+// local coordinate system onto its image plane and subtracts it from
+// the observed point projection. It can compute its residual and
+// either via analytic or numerical differentiation can compute its
+// jacobians. The intrinsics are passed in as parameters[0] and the point as
+// parameters[1].
+//
+// Now we would like to compose the action of this CostFunction with
+// the action of camera extrinsics, i.e., rotation and
+// translation. Say we have a templated function
+//
+//   template<typename T>
+//   void RotateAndTranslatePoint(double const* const* parameters,
+//                                double* residuals);
+//
+// Then we can now do the following,
+//
+// struct CameraProjection {
+//   CameraProjection(const double* observation)
+//       : intrinsic_projection_.(new IntrinsicProjection(observation)) {
+//   }
+//   template <typename T>
+//   bool operator()(T const* const* parameters,
+//                   T* residual) const {
+//     const T* rotation = parameters[0];
+//     const T* translation = parameters[1];
+//     const T* intrinsics = parameters[2];
+//     const T* point = parameters[3];
+//     T transformed_point[3];
+//     RotateAndTranslatePoint(rotation, translation, point, transformed_point);
+//
+//     // Note that we call intrinsic_projection_, just like it was
+//     // any other templated functor.
+//     const T* projection_parameters[2];
+//     projection_parameters[0] = intrinsics;
+//     projection_parameters[1] = transformed_point;
+//     return intrinsic_projection_(projection_parameters, residual);
+//   }
+//
+//  private:
+//   DynamicCostFunctionToFunctor intrinsic_projection_;
+// };
+class DynamicCostFunctionToFunctor {
+ public:
+  // Takes ownership of cost_function.
+  explicit DynamicCostFunctionToFunctor(CostFunction* cost_function)
+      : cost_function_(cost_function) {
+    CHECK_NOTNULL(cost_function);
+  }
+
+  bool operator()(double const* const* parameters, double* residuals) const {
+    return cost_function_->Evaluate(parameters, residuals, NULL);
+  }
+
+  template <typename JetT>
+  bool operator()(JetT const* const* inputs, JetT* output) const {
+    const std::vector<int32>& parameter_block_sizes =
+        cost_function_->parameter_block_sizes();
+    const int num_parameter_blocks =
+        static_cast<int>(parameter_block_sizes.size());
+    const int num_residuals = cost_function_->num_residuals();
+    const int num_parameters = std::accumulate(parameter_block_sizes.begin(),
+                                               parameter_block_sizes.end(), 0);
+
+    internal::FixedArray<double> parameters(num_parameters);
+    internal::FixedArray<double*> parameter_blocks(num_parameter_blocks);
+    internal::FixedArray<double> jacobians(num_residuals * num_parameters);
+    internal::FixedArray<double*> jacobian_blocks(num_parameter_blocks);
+    internal::FixedArray<double> residuals(num_residuals);
+
+    // Build a set of arrays to get the residuals and jacobians from
+    // the CostFunction wrapped by this functor.
+    double* parameter_ptr = parameters.get();
+    double* jacobian_ptr = jacobians.get();
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      parameter_blocks[i] = parameter_ptr;
+      jacobian_blocks[i] = jacobian_ptr;
+      for (int j = 0; j < parameter_block_sizes[i]; ++j) {
+        *parameter_ptr++ = inputs[i][j].a;
+      }
+      jacobian_ptr += num_residuals * parameter_block_sizes[i];
+    }
+
+    if (!cost_function_->Evaluate(parameter_blocks.get(),
+                                  residuals.get(),
+                                  jacobian_blocks.get())) {
+      return false;
+    }
+
+    // Now that we have the incoming Jets, which are carrying the
+    // partial derivatives of each of the inputs w.r.t to some other
+    // underlying parameters. The derivative of the outputs of the
+    // cost function w.r.t to the same underlying parameters can now
+    // be computed by applying the chain rule.
+    //
+    //  d output[i]               d output[i]   d input[j]
+    //  --------------  = sum_j   ----------- * ------------
+    //  d parameter[k]            d input[j]    d parameter[k]
+    //
+    // d input[j]
+    // --------------  = inputs[j], so
+    // d parameter[k]
+    //
+    //  outputJet[i]  = sum_k jacobian[i][k] * inputJet[k]
+    //
+    // The following loop, iterates over the residuals, computing one
+    // output jet at a time.
+    for (int i = 0; i < num_residuals; ++i) {
+      output[i].a = residuals[i];
+      output[i].v.setZero();
+
+      for (int j = 0; j < num_parameter_blocks; ++j) {
+        const int32 block_size = parameter_block_sizes[j];
+        for (int k = 0; k < parameter_block_sizes[j]; ++k) {
+          output[i].v +=
+              jacobian_blocks[j][i * block_size + k] * inputs[j][k].v;
+        }
+      }
+    }
+
+    return true;
+  }
+
+ private:
+  internal::scoped_ptr<CostFunction> cost_function_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
diff --git a/include/ceres/dynamic_numeric_diff_cost_function.h b/include/ceres/dynamic_numeric_diff_cost_function.h
new file mode 100644
index 0000000..a011ac3
--- /dev/null
+++ b/include/ceres/dynamic_numeric_diff_cost_function.h
@@ -0,0 +1,180 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//         thadh@gmail.com (Thad Hughes)
+//         tbennun@gmail.com (Tal Ben-Nun)
+
+#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/numeric_diff.h"
+#include "ceres/numeric_diff_options.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This numeric diff implementation differs from the one found in
+// numeric_diff_cost_function.h by supporting numericdiff on cost
+// functions with variable numbers of parameters with variable
+// sizes. With the other implementation, all the sizes (both the
+// number of parameter blocks and the size of each block) must be
+// fixed at compile time.
+//
+// The functor API differs slightly from the API for fixed size
+// numeric diff; the expected interface for the cost functors is:
+//
+//   struct MyCostFunctor {
+//     bool operator()(double const* const* parameters, double* residuals) const {
+//       // Use parameters[i] to access the i'th parameter block.
+//     }
+//   }
+//
+// Since the sizing of the parameters is done at runtime, you must
+// also specify the sizes after creating the
+// DynamicNumericDiffCostFunction. For example:
+//
+//   DynamicAutoDiffCostFunction<MyCostFunctor, CENTRAL> cost_function(
+//       new MyCostFunctor());
+//   cost_function.AddParameterBlock(5);
+//   cost_function.AddParameterBlock(10);
+//   cost_function.SetNumResiduals(21);
+template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
+class DynamicNumericDiffCostFunction : public DynamicCostFunction {
+ public:
+  explicit DynamicNumericDiffCostFunction(
+      const CostFunctor* functor,
+      Ownership ownership = TAKE_OWNERSHIP,
+      const NumericDiffOptions& options = NumericDiffOptions())
+      : functor_(functor),
+        ownership_(ownership),
+        options_(options) {
+  }
+
+  virtual ~DynamicNumericDiffCostFunction() {
+    if (ownership_ != TAKE_OWNERSHIP) {
+      functor_.release();
+    }
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    using internal::NumericDiff;
+    CHECK_GT(num_residuals(), 0)
+        << "You must call DynamicNumericDiffCostFunction::SetNumResiduals() "
+        << "before DynamicNumericDiffCostFunction::Evaluate().";
+
+    const std::vector<int32>& block_sizes = parameter_block_sizes();
+    CHECK(!block_sizes.empty())
+        << "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
+        << "before DynamicNumericDiffCostFunction::Evaluate().";
+
+    const bool status = EvaluateCostFunctor(parameters, residuals);
+    if (jacobians == NULL || !status) {
+      return status;
+    }
+
+    // Create local space for a copy of the parameters which will get mutated.
+    int parameters_size = accumulate(block_sizes.begin(), block_sizes.end(), 0);
+    std::vector<double> parameters_copy(parameters_size);
+    std::vector<double*> parameters_references_copy(block_sizes.size());
+    parameters_references_copy[0] = &parameters_copy[0];
+    for (size_t block = 1; block < block_sizes.size(); ++block) {
+      parameters_references_copy[block] = parameters_references_copy[block - 1]
+          + block_sizes[block - 1];
+    }
+
+    // Copy the parameters into the local temp space.
+    for (size_t block = 0; block < block_sizes.size(); ++block) {
+      memcpy(parameters_references_copy[block],
+             parameters[block],
+             block_sizes[block] * sizeof(*parameters[block]));
+    }
+
+    for (size_t block = 0; block < block_sizes.size(); ++block) {
+      if (jacobians[block] != NULL &&
+          !NumericDiff<CostFunctor, method, DYNAMIC,
+                       DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
+                       DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
+                       DYNAMIC, DYNAMIC>::EvaluateJacobianForParameterBlock(
+                                             functor_.get(),
+                                             residuals,
+                                             options_,
+                                             this->num_residuals(),
+                                             block,
+                                             block_sizes[block],
+                                             &parameters_references_copy[0],
+                                             jacobians[block])) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+ private:
+  bool EvaluateCostFunctor(double const* const* parameters,
+                           double* residuals) const {
+    return EvaluateCostFunctorImpl(functor_.get(),
+                                   parameters,
+                                   residuals,
+                                   functor_.get());
+  }
+
+  // Helper templates to allow evaluation of a functor or a
+  // CostFunction.
+  bool EvaluateCostFunctorImpl(const CostFunctor* functor,
+                               double const* const* parameters,
+                               double* residuals,
+                               const void* /* NOT USED */) const {
+    return (*functor)(parameters, residuals);
+  }
+
+  bool EvaluateCostFunctorImpl(const CostFunctor* functor,
+                               double const* const* parameters,
+                               double* residuals,
+                               const CostFunction* /* NOT USED */) const {
+    return functor->Evaluate(parameters, residuals, NULL);
+  }
+
+  internal::scoped_ptr<const CostFunctor> functor_;
+  Ownership ownership_;
+  NumericDiffOptions options_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
diff --git a/include/ceres/fpclassify.h b/include/ceres/fpclassify.h
new file mode 100644
index 0000000..bc2dc90
--- /dev/null
+++ b/include/ceres/fpclassify.h
@@ -0,0 +1,70 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Portable floating point classification. The names are picked such that they
+// do not collide with macros. For example, "isnan" in C99 is a macro and hence
+// does not respect namespaces.
+//
+// TODO(keir): Finish porting!
+
+#ifndef CERES_PUBLIC_FPCLASSIFY_H_
+#define CERES_PUBLIC_FPCLASSIFY_H_
+
+#if defined(_MSC_VER)
+#include <float.h>
+#endif
+
+#include <limits>
+
+namespace ceres {
+
+#if defined(_MSC_VER)
+
+inline bool IsFinite  (double x) { return _finite(x) != 0;                   }
+inline bool IsInfinite(double x) { return _finite(x) == 0 && _isnan(x) == 0; }
+inline bool IsNaN     (double x) { return _isnan(x) != 0;                    }
+inline bool IsNormal  (double x) {  // NOLINT
+  const int classification = _fpclass(x);
+  return (classification == _FPCLASS_NN || classification == _FPCLASS_PN);
+}
+
+# else
+
+// These definitions are for the normal Unix suspects.
+inline bool IsFinite  (double x) { return std::isfinite(x); }
+inline bool IsInfinite(double x) { return std::isinf(x);    }
+inline bool IsNaN     (double x) { return std::isnan(x);    }
+inline bool IsNormal  (double x) { return std::isnormal(x); }
+
+#endif
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_FPCLASSIFY_H_
diff --git a/include/ceres/gradient_checker.h b/include/ceres/gradient_checker.h
new file mode 100644
index 0000000..c8ac729
--- /dev/null
+++ b/include/ceres/gradient_checker.h
@@ -0,0 +1,149 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// Copyright 2007 Google Inc. All Rights Reserved.
+//
+// Authors: wjr@google.com (William Rucklidge),
+//          keir@google.com (Keir Mierle),
+//          dgossow@google.com (David Gossow)
+
+#ifndef CERES_PUBLIC_GRADIENT_CHECKER_H_
+#define CERES_PUBLIC_GRADIENT_CHECKER_H_
+
+#include <vector>
+#include <string>
+
+#include "ceres/cost_function.h"
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// GradientChecker compares the Jacobians returned by a cost function against
+// derivatives estimated using finite differencing.
+//
+// The condition enforced is that
+//
+//    (J_actual(i, j) - J_numeric(i, j))
+//   ------------------------------------  <  relative_precision
+//   max(J_actual(i, j), J_numeric(i, j))
+//
+// where J_actual(i, j) is the jacobian as computed by the supplied cost
+// function (by the user) multiplied by the local parameterization Jacobian
+// and J_numeric is the jacobian as computed by finite differences, multiplied
+// by the local parameterization Jacobian as well.
+//
+// How to use: Fill in an array of pointers to parameter blocks for your
+// CostFunction, and then call Probe(). Check that the return value is 'true'.
+class CERES_EXPORT GradientChecker {
+ public:
+  // This will not take ownership of the cost function or local
+  // parameterizations.
+  //
+  // function: The cost function to probe.
+  // local_parameterization: A vector of local parameterizations for each
+  // parameter. May be NULL or contain NULL pointers to indicate that the
+  // respective parameter does not have a local parameterization.
+  // options: Options to use for numerical differentiation.
+  GradientChecker(
+      const CostFunction* function,
+      const std::vector<const LocalParameterization*>* local_parameterizations,
+      const NumericDiffOptions& options);
+
+  // Contains results from a call to Probe for later inspection.
+  struct CERES_EXPORT ProbeResults {
+    // The return value of the cost function.
+    bool return_value;
+
+    // Computed residual vector.
+    Vector residuals;
+
+    // The sizes of the Jacobians below are dictated by the cost function's
+    // parameter block size and residual block sizes. If a parameter block
+    // has a local parameterization associated with it, the size of the "local"
+    // Jacobian will be determined by the local parameterization dimension and
+    // residual block size, otherwise it will be identical to the regular
+    // Jacobian.
+
+    // Derivatives as computed by the cost function.
+    std::vector<Matrix> jacobians;
+
+    // Derivatives as computed by the cost function in local space.
+    std::vector<Matrix> local_jacobians;
+
+    // Derivatives as computed by nuerical differentiation in local space.
+    std::vector<Matrix> numeric_jacobians;
+
+    // Derivatives as computed by nuerical differentiation in local space.
+    std::vector<Matrix> local_numeric_jacobians;
+
+    // Contains the maximum relative error found in the local Jacobians.
+    double maximum_relative_error;
+
+    // If an error was detected, this will contain a detailed description of
+    // that error.
+    std::string error_log;
+  };
+
+  // Call the cost function, compute alternative Jacobians using finite
+  // differencing and compare results. If local parameterizations are given,
+  // the Jacobians will be multiplied by the local parameterization Jacobians
+  // before performing the check, which effectively means that all errors along
+  // the null space of the local parameterization will be ignored.
+  // Returns false if the Jacobians don't match, the cost function return false,
+  // or if the cost function returns different residual when called with a
+  // Jacobian output argument vs. calling it without. Otherwise returns true.
+  //
+  // parameters: The parameter values at which to probe.
+  // relative_precision: A threshold for the relative difference between the
+  // Jacobians. If the Jacobians differ by more than this amount, then the
+  // probe fails.
+  // results: On return, the Jacobians (and other information) will be stored
+  // here. May be NULL.
+  //
+  // Returns true if no problems are detected and the difference between the
+  // Jacobians is less than error_tolerance.
+  bool Probe(double const* const* parameters,
+             double relative_precision,
+             ProbeResults* results) const;
+
+ private:
+  CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(GradientChecker);
+
+  std::vector<const LocalParameterization*> local_parameterizations_;
+  const CostFunction* function_;
+  internal::scoped_ptr<CostFunction> finite_diff_cost_function_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_GRADIENT_CHECKER_H_
diff --git a/include/ceres/gradient_problem.h b/include/ceres/gradient_problem.h
new file mode 100644
index 0000000..1226a4c
--- /dev/null
+++ b/include/ceres/gradient_problem.h
@@ -0,0 +1,127 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_GRADIENT_PROBLEM_H_
+#define CERES_PUBLIC_GRADIENT_PROBLEM_H_
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+
+namespace ceres {
+
+class FirstOrderFunction;
+
+// Instances of GradientProblem represent general non-linear
+// optimization problems that must be solved using just the value of
+// the objective function and its gradient. Unlike the Problem class,
+// which can only be used to model non-linear least squares problems,
+// instances of GradientProblem not restricted in the form of the
+// objective function.
+//
+// Structurally GradientProblem is a composition of a
+// FirstOrderFunction and optionally a LocalParameterization.
+//
+// The FirstOrderFunction is responsible for evaluating the cost and
+// gradient of the objective function.
+//
+// The LocalParameterization is responsible for going back and forth
+// between the ambient space and the local tangent space. (See
+// local_parameterization.h for more details). When a
+// LocalParameterization is not provided, then the tangent space is
+// assumed to coincide with the ambient Euclidean space that the
+// gradient vector lives in.
+//
+// Example usage:
+//
+// The following demonstrate the problem construction for Rosenbrock's function
+//
+//   f(x,y) = (1-x)^2 + 100(y - x^2)^2;
+//
+// class Rosenbrock : public ceres::FirstOrderFunction {
+//  public:
+//   virtual ~Rosenbrock() {}
+//
+//   virtual bool Evaluate(const double* parameters,
+//                         double* cost,
+//                         double* gradient) const {
+//     const double x = parameters[0];
+//     const double y = parameters[1];
+//
+//     cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+//     if (gradient != NULL) {
+//       gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+//       gradient[1] = 200.0 * (y - x * x);
+//     }
+//     return true;
+//   };
+//
+//   virtual int NumParameters() const { return 2; };
+// };
+//
+// ceres::GradientProblem problem(new Rosenbrock());
+class CERES_EXPORT GradientProblem {
+ public:
+  // Takes ownership of the function.
+  explicit GradientProblem(FirstOrderFunction* function);
+
+  // Takes ownership of the function and the parameterization.
+  GradientProblem(FirstOrderFunction* function,
+                  LocalParameterization* parameterization);
+
+  int NumParameters() const;
+  int NumLocalParameters() const;
+
+  // This call is not thread safe.
+  bool Evaluate(const double* parameters, double* cost, double* gradient) const;
+  bool Plus(const double* x, const double* delta, double* x_plus_delta) const;
+
+ private:
+  internal::scoped_ptr<FirstOrderFunction> function_;
+  internal::scoped_ptr<LocalParameterization> parameterization_;
+  internal::scoped_array<double> scratch_;
+};
+
+// A FirstOrderFunction object implements the evaluation of a function
+// and its gradient.
+class CERES_EXPORT FirstOrderFunction {
+ public:
+  virtual ~FirstOrderFunction() {}
+  // cost is never NULL. gradient may be null.
+  virtual bool Evaluate(const double* const parameters,
+                        double* cost,
+                        double* gradient) const = 0;
+  virtual int NumParameters() const = 0;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_GRADIENT_PROBLEM_H_
diff --git a/include/ceres/gradient_problem_solver.h b/include/ceres/gradient_problem_solver.h
new file mode 100644
index 0000000..31fed84
--- /dev/null
+++ b/include/ceres/gradient_problem_solver.h
@@ -0,0 +1,370 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_GRADIENT_PROBLEM_SOLVER_H_
+#define CERES_PUBLIC_GRADIENT_PROBLEM_SOLVER_H_
+
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class GradientProblem;
+
+class CERES_EXPORT GradientProblemSolver {
+ public:
+  virtual ~GradientProblemSolver();
+
+  // The options structure contains, not surprisingly, options that control how
+  // the solver operates. The defaults should be suitable for a wide range of
+  // problems; however, better performance is often obtainable with tweaking.
+  //
+  // The constants are defined inside types.h
+  struct CERES_EXPORT Options {
+    // Default constructor that sets up a generic sparse problem.
+    Options() {
+      line_search_direction_type = LBFGS;
+      line_search_type = WOLFE;
+      nonlinear_conjugate_gradient_type = FLETCHER_REEVES;
+      max_lbfgs_rank = 20;
+      use_approximate_eigenvalue_bfgs_scaling = false;
+      line_search_interpolation_type = CUBIC;
+      min_line_search_step_size = 1e-9;
+      line_search_sufficient_function_decrease = 1e-4;
+      max_line_search_step_contraction = 1e-3;
+      min_line_search_step_contraction = 0.6;
+      max_num_line_search_step_size_iterations = 20;
+      max_num_line_search_direction_restarts = 5;
+      line_search_sufficient_curvature_decrease = 0.9;
+      max_line_search_step_expansion = 10.0;
+      max_num_iterations = 50;
+      max_solver_time_in_seconds = 1e9;
+      function_tolerance = 1e-6;
+      gradient_tolerance = 1e-10;
+      parameter_tolerance = 1e-8;
+      logging_type = PER_MINIMIZER_ITERATION;
+      minimizer_progress_to_stdout = false;
+    }
+
+    // Returns true if the options struct has a valid
+    // configuration. Returns false otherwise, and fills in *error
+    // with a message describing the problem.
+    bool IsValid(std::string* error) const;
+
+    // Minimizer options ----------------------------------------
+    LineSearchDirectionType line_search_direction_type;
+    LineSearchType line_search_type;
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+    // The LBFGS hessian approximation is a low rank approximation to
+    // the inverse of the Hessian matrix. The rank of the
+    // approximation determines (linearly) the space and time
+    // complexity of using the approximation. Higher the rank, the
+    // better is the quality of the approximation. The increase in
+    // quality is however is bounded for a number of reasons.
+    //
+    // 1. The method only uses secant information and not actual
+    // derivatives.
+    //
+    // 2. The Hessian approximation is constrained to be positive
+    // definite.
+    //
+    // So increasing this rank to a large number will cost time and
+    // space complexity without the corresponding increase in solution
+    // quality. There are no hard and fast rules for choosing the
+    // maximum rank. The best choice usually requires some problem
+    // specific experimentation.
+    //
+    // For more theoretical and implementation details of the LBFGS
+    // method, please see:
+    //
+    // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with
+    // Limited Storage". Mathematics of Computation 35 (151): 773–782.
+    int max_lbfgs_rank;
+
+    // As part of the (L)BFGS update step (BFGS) / right-multiply step (L-BFGS),
+    // the initial inverse Hessian approximation is taken to be the Identity.
+    // However, Oren showed that using instead I * \gamma, where \gamma is
+    // chosen to approximate an eigenvalue of the true inverse Hessian can
+    // result in improved convergence in a wide variety of cases. Setting
+    // use_approximate_eigenvalue_bfgs_scaling to true enables this scaling.
+    //
+    // It is important to note that approximate eigenvalue scaling does not
+    // always improve convergence, and that it can in fact significantly degrade
+    // performance for certain classes of problem, which is why it is disabled
+    // by default.  In particular it can degrade performance when the
+    // sensitivity of the problem to different parameters varies significantly,
+    // as in this case a single scalar factor fails to capture this variation
+    // and detrimentally downscales parts of the jacobian approximation which
+    // correspond to low-sensitivity parameters. It can also reduce the
+    // robustness of the solution to errors in the jacobians.
+    //
+    // Oren S.S., Self-scaling variable metric (SSVM) algorithms
+    // Part II: Implementation and experiments, Management Science,
+    // 20(5), 863-874, 1974.
+    bool use_approximate_eigenvalue_bfgs_scaling;
+
+    // Degree of the polynomial used to approximate the objective
+    // function. Valid values are BISECTION, QUADRATIC and CUBIC.
+    //
+    // BISECTION corresponds to pure backtracking search with no
+    // interpolation.
+    LineSearchInterpolationType line_search_interpolation_type;
+
+    // If during the line search, the step_size falls below this
+    // value, it is truncated to zero.
+    double min_line_search_step_size;
+
+    // Line search parameters.
+
+    // Solving the line search problem exactly is computationally
+    // prohibitive. Fortunately, line search based optimization
+    // algorithms can still guarantee convergence if instead of an
+    // exact solution, the line search algorithm returns a solution
+    // which decreases the value of the objective function
+    // sufficiently. More precisely, we are looking for a step_size
+    // s.t.
+    //
+    //   f(step_size) <= f(0) + sufficient_decrease * f'(0) * step_size
+    //
+    double line_search_sufficient_function_decrease;
+
+    // In each iteration of the line search,
+    //
+    //  new_step_size >= max_line_search_step_contraction * step_size
+    //
+    // Note that by definition, for contraction:
+    //
+    //  0 < max_step_contraction < min_step_contraction < 1
+    //
+    double max_line_search_step_contraction;
+
+    // In each iteration of the line search,
+    //
+    //  new_step_size <= min_line_search_step_contraction * step_size
+    //
+    // Note that by definition, for contraction:
+    //
+    //  0 < max_step_contraction < min_step_contraction < 1
+    //
+    double min_line_search_step_contraction;
+
+    // Maximum number of trial step size iterations during each line search,
+    // if a step size satisfying the search conditions cannot be found within
+    // this number of trials, the line search will terminate.
+    int max_num_line_search_step_size_iterations;
+
+    // Maximum number of restarts of the line search direction algorithm before
+    // terminating the optimization. Restarts of the line search direction
+    // algorithm occur when the current algorithm fails to produce a new descent
+    // direction. This typically indicates a numerical failure, or a breakdown
+    // in the validity of the approximations used.
+    int max_num_line_search_direction_restarts;
+
+    // The strong Wolfe conditions consist of the Armijo sufficient
+    // decrease condition, and an additional requirement that the
+    // step-size be chosen s.t. the _magnitude_ ('strong' Wolfe
+    // conditions) of the gradient along the search direction
+    // decreases sufficiently. Precisely, this second condition
+    // is that we seek a step_size s.t.
+    //
+    //   |f'(step_size)| <= sufficient_curvature_decrease * |f'(0)|
+    //
+    // Where f() is the line search objective and f'() is the derivative
+    // of f w.r.t step_size (d f / d step_size).
+    double line_search_sufficient_curvature_decrease;
+
+    // During the bracketing phase of the Wolfe search, the step size is
+    // increased until either a point satisfying the Wolfe conditions is
+    // found, or an upper bound for a bracket containing a point satisfying
+    // the conditions is found.  Precisely, at each iteration of the
+    // expansion:
+    //
+    //   new_step_size <= max_step_expansion * step_size.
+    //
+    // By definition for expansion, max_step_expansion > 1.0.
+    double max_line_search_step_expansion;
+
+    // Maximum number of iterations for the minimizer to run for.
+    int max_num_iterations;
+
+    // Maximum time for which the minimizer should run for.
+    double max_solver_time_in_seconds;
+
+    // Minimizer terminates when
+    //
+    //   (new_cost - old_cost) < function_tolerance * old_cost;
+    //
+    double function_tolerance;
+
+    // Minimizer terminates when
+    //
+    //   max_i |x - Project(Plus(x, -g(x))| < gradient_tolerance
+    //
+    // This value should typically be 1e-4 * function_tolerance.
+    double gradient_tolerance;
+
+    // Minimizer terminates when
+    //
+    //   |step|_2 <= parameter_tolerance * ( |x|_2 +  parameter_tolerance)
+    //
+    double parameter_tolerance;
+
+    // Logging options ---------------------------------------------------------
+
+    LoggingType logging_type;
+
+    // By default the Minimizer progress is logged to VLOG(1), which
+    // is sent to STDERR depending on the vlog level. If this flag is
+    // set to true, and logging_type is not SILENT, the logging output
+    // is sent to STDOUT.
+    bool minimizer_progress_to_stdout;
+
+    // Callbacks that are executed at the end of each iteration of the
+    // Minimizer. An iteration may terminate midway, either due to
+    // numerical failures or because one of the convergence tests has
+    // been satisfied. In this case none of the callbacks are
+    // executed.
+
+    // Callbacks are executed in the order that they are specified in
+    // this vector. By default, parameter blocks are updated only at
+    // the end of the optimization, i.e when the Minimizer
+    // terminates. This behaviour is controlled by
+    // update_state_every_variable. If the user wishes to have access
+    // to the update parameter blocks when his/her callbacks are
+    // executed, then set update_state_every_iteration to true.
+    //
+    // The solver does NOT take ownership of these pointers.
+    std::vector<IterationCallback*> callbacks;
+  };
+
+  struct CERES_EXPORT Summary {
+    Summary();
+
+    // A brief one line description of the state of the solver after
+    // termination.
+    std::string BriefReport() const;
+
+    // A full multiline description of the state of the solver after
+    // termination.
+    std::string FullReport() const;
+
+    bool IsSolutionUsable() const;
+
+    // Minimizer summary -------------------------------------------------
+    TerminationType termination_type;
+
+    // Reason why the solver terminated.
+    std::string message;
+
+    // Cost of the problem (value of the objective function) before
+    // the optimization.
+    double initial_cost;
+
+    // Cost of the problem (value of the objective function) after the
+    // optimization.
+    double final_cost;
+
+    // IterationSummary for each minimizer iteration in order.
+    std::vector<IterationSummary> iterations;
+
+    // Number of times the cost (and not the gradient) was evaluated.
+    int num_cost_evaluations;
+
+    // Number of times the gradient (and the cost) were evaluated.
+    int num_gradient_evaluations;
+
+    // Sum total of all time spent inside Ceres when Solve is called.
+    double total_time_in_seconds;
+
+    // Time (in seconds) spent evaluating the cost.
+    double cost_evaluation_time_in_seconds;
+
+    // Time (in seconds) spent evaluating the gradient.
+    double gradient_evaluation_time_in_seconds;
+
+    // Time (in seconds) spent minimizing the interpolating polynomial
+    // to compute the next candidate step size as part of a line search.
+    double line_search_polynomial_minimization_time_in_seconds;
+
+    // Number of parameters in the probem.
+    int num_parameters;
+
+    // Dimension of the tangent space of the problem.
+    int num_local_parameters;
+
+    // Type of line search direction used.
+    LineSearchDirectionType line_search_direction_type;
+
+    // Type of the line search algorithm used.
+    LineSearchType line_search_type;
+
+    //  When performing line search, the degree of the polynomial used
+    //  to approximate the objective function.
+    LineSearchInterpolationType line_search_interpolation_type;
+
+    // If the line search direction is NONLINEAR_CONJUGATE_GRADIENT,
+    // then this indicates the particular variant of non-linear
+    // conjugate gradient used.
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+    // If the type of the line search direction is LBFGS, then this
+    // indicates the rank of the Hessian approximation.
+    int max_lbfgs_rank;
+  };
+
+  // Once a least squares problem has been built, this function takes
+  // the problem and optimizes it based on the values of the options
+  // parameters. Upon return, a detailed summary of the work performed
+  // by the preprocessor, the non-linear minmizer and the linear
+  // solver are reported in the summary object.
+  virtual void Solve(const GradientProblemSolver::Options& options,
+                     const GradientProblem& problem,
+                     double* parameters,
+                     GradientProblemSolver::Summary* summary);
+};
+
+// Helper function which avoids going through the interface.
+CERES_EXPORT void Solve(const GradientProblemSolver::Options& options,
+                        const GradientProblem& problem,
+                        double* parameters,
+                        GradientProblemSolver::Summary* summary);
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_GRADIENT_PROBLEM_SOLVER_H_
diff --git a/include/ceres/internal/autodiff.h b/include/ceres/internal/autodiff.h
new file mode 100644
index 0000000..bf5fb77
--- /dev/null
+++ b/include/ceres/internal/autodiff.h
@@ -0,0 +1,324 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Computation of the Jacobian matrix for vector-valued functions of multiple
+// variables, using automatic differentiation based on the implementation of
+// dual numbers in jet.h. Before reading the rest of this file, it is adivsable
+// to read jet.h's header comment in detail.
+//
+// The helper wrapper AutoDiff::Differentiate() computes the jacobian of
+// functors with templated operator() taking this form:
+//
+//   struct F {
+//     template<typename T>
+//     bool operator()(const T *x, const T *y, ..., T *z) {
+//       // Compute z[] based on x[], y[], ...
+//       // return true if computation succeeded, false otherwise.
+//     }
+//   };
+//
+// All inputs and outputs may be vector-valued.
+//
+// To understand how jets are used to compute the jacobian, a
+// picture may help. Consider a vector-valued function, F, returning 3
+// dimensions and taking a vector-valued parameter of 4 dimensions:
+//
+//     y            x
+//   [ * ]    F   [ * ]
+//   [ * ]  <---  [ * ]
+//   [ * ]        [ * ]
+//                [ * ]
+//
+// Similar to the 2-parameter example for f described in jet.h, computing the
+// jacobian dy/dx is done by substutiting a suitable jet object for x and all
+// intermediate steps of the computation of F. Since x is has 4 dimensions, use
+// a Jet<double, 4>.
+//
+// Before substituting a jet object for x, the dual components are set
+// appropriately for each dimension of x:
+//
+//          y                       x
+//   [ * | * * * * ]    f   [ * | 1 0 0 0 ]   x0
+//   [ * | * * * * ]  <---  [ * | 0 1 0 0 ]   x1
+//   [ * | * * * * ]        [ * | 0 0 1 0 ]   x2
+//         ---+---          [ * | 0 0 0 1 ]   x3
+//            |                   ^ ^ ^ ^
+//          dy/dx                 | | | +----- infinitesimal for x3
+//                                | | +------- infinitesimal for x2
+//                                | +--------- infinitesimal for x1
+//                                +----------- infinitesimal for x0
+//
+// The reason to set the internal 4x4 submatrix to the identity is that we wish
+// to take the derivative of y separately with respect to each dimension of x.
+// Each column of the 4x4 identity is therefore for a single component of the
+// independent variable x.
+//
+// Then the jacobian of the mapping, dy/dx, is the 3x4 sub-matrix of the
+// extended y vector, indicated in the above diagram.
+//
+// Functors with multiple parameters
+// ---------------------------------
+// In practice, it is often convenient to use a function f of two or more
+// vector-valued parameters, for example, x[3] and z[6]. Unfortunately, the jet
+// framework is designed for a single-parameter vector-valued input. The wrapper
+// in this file addresses this issue adding support for functions with one or
+// more parameter vectors.
+//
+// To support multiple parameters, all the parameter vectors are concatenated
+// into one and treated as a single parameter vector, except that since the
+// functor expects different inputs, we need to construct the jets as if they
+// were part of a single parameter vector. The extended jets are passed
+// separately for each parameter.
+//
+// For example, consider a functor F taking two vector parameters, p[2] and
+// q[3], and producing an output y[4]:
+//
+//   struct F {
+//     template<typename T>
+//     bool operator()(const T *p, const T *q, T *z) {
+//       // ...
+//     }
+//   };
+//
+// In this case, the necessary jet type is Jet<double, 5>. Here is a
+// visualization of the jet objects in this case:
+//
+//          Dual components for p ----+
+//                                    |
+//                                   -+-
+//           y                 [ * | 1 0 | 0 0 0 ]    --- p[0]
+//                             [ * | 0 1 | 0 0 0 ]    --- p[1]
+//   [ * | . . | + + + ]         |
+//   [ * | . . | + + + ]         v
+//   [ * | . . | + + + ]  <--- F(p, q)
+//   [ * | . . | + + + ]            ^
+//         ^^^   ^^^^^              |
+//        dy/dp  dy/dq            [ * | 0 0 | 1 0 0 ] --- q[0]
+//                                [ * | 0 0 | 0 1 0 ] --- q[1]
+//                                [ * | 0 0 | 0 0 1 ] --- q[2]
+//                                            --+--
+//                                              |
+//          Dual components for q --------------+
+//
+// where the 4x2 submatrix (marked with ".") and 4x3 submatrix (marked with "+"
+// of y in the above diagram are the derivatives of y with respect to p and q
+// respectively. This is how autodiff works for functors taking multiple vector
+// valued arguments (up to 6).
+//
+// Jacobian NULL pointers
+// ----------------------
+// In general, the functions below will accept NULL pointers for all or some of
+// the Jacobian parameters, meaning that those Jacobians will not be computed.
+
+#ifndef CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+#define CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+
+#include <stddef.h>
+
+#include "ceres/jet.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/variadic_evaluate.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Extends src by a 1st order pertubation for every dimension and puts it in
+// dst. The size of src is N. Since this is also used for perturbations in
+// blocked arrays, offset is used to shift which part of the jet the
+// perturbation occurs. This is used to set up the extended x augmented by an
+// identity matrix. The JetT type should be a Jet type, and T should be a
+// numeric type (e.g. double). For example,
+//
+//             0   1 2   3 4 5   6 7 8
+//   dst[0]  [ * | . . | 1 0 0 | . . . ]
+//   dst[1]  [ * | . . | 0 1 0 | . . . ]
+//   dst[2]  [ * | . . | 0 0 1 | . . . ]
+//
+// is what would get put in dst if N was 3, offset was 3, and the jet type JetT
+// was 8-dimensional.
+template <typename JetT, typename T, int N>
+inline void Make1stOrderPerturbation(int offset, const T* src, JetT* dst) {
+  DCHECK(src);
+  DCHECK(dst);
+  for (int j = 0; j < N; ++j) {
+    dst[j].a = src[j];
+    dst[j].v.setZero();
+    dst[j].v[offset + j] = T(1.0);
+  }
+}
+
+// Takes the 0th order part of src, assumed to be a Jet type, and puts it in
+// dst. This is used to pick out the "vector" part of the extended y.
+template <typename JetT, typename T>
+inline void Take0thOrderPart(int M, const JetT *src, T dst) {
+  DCHECK(src);
+  for (int i = 0; i < M; ++i) {
+    dst[i] = src[i].a;
+  }
+}
+
+// Takes N 1st order parts, starting at index N0, and puts them in the M x N
+// matrix 'dst'. This is used to pick out the "matrix" parts of the extended y.
+template <typename JetT, typename T, int N0, int N>
+inline void Take1stOrderPart(const int M, const JetT *src, T *dst) {
+  DCHECK(src);
+  DCHECK(dst);
+  for (int i = 0; i < M; ++i) {
+    Eigen::Map<Eigen::Matrix<T, N, 1> >(dst + N * i, N) =
+        src[i].v.template segment<N>(N0);
+  }
+}
+
+// This is in a struct because default template parameters on a
+// function are not supported in C++03 (though it is available in
+// C++0x). N0 through N5 are the dimension of the input arguments to
+// the user supplied functor.
+template <typename Functor, typename T,
+          int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+          int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+struct AutoDiff {
+  static bool Differentiate(const Functor& functor,
+                            T const *const *parameters,
+                            int num_outputs,
+                            T *function_value,
+                            T **jacobians) {
+    // This block breaks the 80 column rule to keep it somewhat readable.
+    DCHECK_GT(num_outputs, 0);
+    DCHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+           ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+           ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                                   // NOLINT
+           ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                              // NOLINT
+           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||                         // NOLINT
+           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||                    // NOLINT
+           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||               // NOLINT
+           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||          // NOLINT
+           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||     // NOLINT
+           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))  // NOLINT
+        << "Zero block cannot precede a non-zero block. Block sizes are "
+        << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+        << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+        << N8 << ", " << N9;
+
+    typedef Jet<T, N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9> JetT;
+    FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(
+        N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9 + num_outputs);
+
+    // These are the positions of the respective jets in the fixed array x.
+    const int jet0  = 0;
+    const int jet1  = N0;
+    const int jet2  = N0 + N1;
+    const int jet3  = N0 + N1 + N2;
+    const int jet4  = N0 + N1 + N2 + N3;
+    const int jet5  = N0 + N1 + N2 + N3 + N4;
+    const int jet6  = N0 + N1 + N2 + N3 + N4 + N5;
+    const int jet7  = N0 + N1 + N2 + N3 + N4 + N5 + N6;
+    const int jet8  = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7;
+    const int jet9  = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8;
+
+    const JetT *unpacked_parameters[10] = {
+        x.get() + jet0,
+        x.get() + jet1,
+        x.get() + jet2,
+        x.get() + jet3,
+        x.get() + jet4,
+        x.get() + jet5,
+        x.get() + jet6,
+        x.get() + jet7,
+        x.get() + jet8,
+        x.get() + jet9,
+    };
+
+    JetT* output = x.get() + N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
+
+    // Invalidate the output Jets, so that we can detect if the user
+    // did not assign values to all of them.
+    for (int i = 0; i < num_outputs; ++i) {
+      output[i].a = kImpossibleValue;
+      output[i].v.setConstant(kImpossibleValue);
+    }
+
+#define CERES_MAKE_1ST_ORDER_PERTURBATION(i)                            \
+    if (N ## i) {                                                       \
+      internal::Make1stOrderPerturbation<JetT, T, N ## i>(              \
+          jet ## i,                                                     \
+          parameters[i],                                                \
+          x.get() + jet ## i);                                          \
+    }
+    CERES_MAKE_1ST_ORDER_PERTURBATION(0);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(1);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(2);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(3);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(4);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(5);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(6);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(7);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(8);
+    CERES_MAKE_1ST_ORDER_PERTURBATION(9);
+#undef CERES_MAKE_1ST_ORDER_PERTURBATION
+
+    if (!VariadicEvaluate<Functor, JetT,
+                          N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Call(
+        functor, unpacked_parameters, output)) {
+      return false;
+    }
+
+    internal::Take0thOrderPart(num_outputs, output, function_value);
+
+#define CERES_TAKE_1ST_ORDER_PERTURBATION(i) \
+    if (N ## i) { \
+      if (jacobians[i]) { \
+        internal::Take1stOrderPart<JetT, T, \
+                                   jet ## i, \
+                                   N ## i>(num_outputs, \
+                                           output, \
+                                           jacobians[i]); \
+      } \
+    }
+    CERES_TAKE_1ST_ORDER_PERTURBATION(0);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(1);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(2);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(3);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(4);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(5);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(6);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(7);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(8);
+    CERES_TAKE_1ST_ORDER_PERTURBATION(9);
+#undef CERES_TAKE_1ST_ORDER_PERTURBATION
+    return true;
+  }
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_AUTODIFF_H_
diff --git a/include/ceres/internal/disable_warnings.h b/include/ceres/internal/disable_warnings.h
new file mode 100644
index 0000000..094124f
--- /dev/null
+++ b/include/ceres/internal/disable_warnings.h
@@ -0,0 +1,44 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// This file has the sole purpose to silence warnings when including Ceres.
+
+// This is not your usual header guard. The macro CERES_WARNINGS_DISABLED
+// shows up again in reenable_warnings.h.
+#ifndef CERES_WARNINGS_DISABLED
+#define CERES_WARNINGS_DISABLED
+
+#ifdef _MSC_VER
+#pragma warning( push )
+// Disable the warning C4251 which is trigerred by stl classes in
+// Ceres' public interface. To quote MSDN: "C4251 can be ignored "
+// "if you are deriving from a type in the Standard C++ Library"
+#pragma warning( disable : 4251 )
+#endif
+
+#endif  // CERES_WARNINGS_DISABLED
diff --git a/include/ceres/internal/eigen.h b/include/ceres/internal/eigen.h
new file mode 100644
index 0000000..7138804
--- /dev/null
+++ b/include/ceres/internal/eigen.h
@@ -0,0 +1,93 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_EIGEN_H_
+#define CERES_INTERNAL_EIGEN_H_
+
+#include "Eigen/Core"
+
+namespace ceres {
+
+typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::RowMajor> Matrix;
+typedef Eigen::Map<Vector> VectorRef;
+typedef Eigen::Map<Matrix> MatrixRef;
+typedef Eigen::Map<const Vector> ConstVectorRef;
+typedef Eigen::Map<const Matrix> ConstMatrixRef;
+
+// Column major matrices for DenseSparseMatrix/DenseQRSolver
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::ColMajor> ColMajorMatrix;
+
+typedef Eigen::Map<ColMajorMatrix, 0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+
+typedef Eigen::Map<const ColMajorMatrix,
+                   0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+
+
+
+// C++ does not support templated typdefs, thus the need for this
+// struct so that we can support statically sized Matrix and Maps.
+template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
+struct EigenTypes {
+  typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
+  Matrix;
+
+  typedef Eigen::Map<
+    Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
+  MatrixRef;
+
+  typedef Eigen::Matrix <double, num_rows, 1>
+  Vector;
+
+  typedef Eigen::Map <
+    Eigen::Matrix<double, num_rows, 1> >
+  VectorRef;
+
+
+  typedef Eigen::Map<
+    const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
+  ConstMatrixRef;
+
+  typedef Eigen::Map <
+    const Eigen::Matrix<double, num_rows, 1> >
+  ConstVectorRef;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_EIGEN_H_
diff --git a/include/ceres/internal/fixed_array.h b/include/ceres/internal/fixed_array.h
new file mode 100644
index 0000000..387298c
--- /dev/null
+++ b/include/ceres/internal/fixed_array.h
@@ -0,0 +1,191 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: rennie@google.com (Jeffrey Rennie)
+// Author: sanjay@google.com (Sanjay Ghemawat) -- renamed to FixedArray
+
+#ifndef CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+#define CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+
+#include <cstddef>
+#include "Eigen/Core"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/manual_constructor.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// A FixedArray<T> represents a non-resizable array of T where the
+// length of the array does not need to be a compile time constant.
+//
+// FixedArray allocates small arrays inline, and large arrays on
+// the heap.  It is a good replacement for non-standard and deprecated
+// uses of alloca() and variable length arrays (a GCC extension).
+//
+// FixedArray keeps performance fast for small arrays, because it
+// avoids heap operations.  It also helps reduce the chances of
+// accidentally overflowing your stack if large input is passed to
+// your function.
+//
+// Also, FixedArray is useful for writing portable code.  Not all
+// compilers support arrays of dynamic size.
+
+// Most users should not specify an inline_elements argument and let
+// FixedArray<> automatically determine the number of elements
+// to store inline based on sizeof(T).
+//
+// If inline_elements is specified, the FixedArray<> implementation
+// will store arrays of length <= inline_elements inline.
+//
+// Finally note that unlike vector<T> FixedArray<T> will not zero-initialize
+// simple types like int, double, bool, etc.
+//
+// Non-POD types will be default-initialized just like regular vectors or
+// arrays.
+
+#if defined(_WIN64)
+   typedef __int64      ssize_t;
+#elif defined(_WIN32)
+   typedef __int32      ssize_t;
+#endif
+
+template <typename T, ssize_t inline_elements = -1>
+class FixedArray {
+ public:
+  // For playing nicely with stl:
+  typedef T value_type;
+  typedef T* iterator;
+  typedef T const* const_iterator;
+  typedef T& reference;
+  typedef T const& const_reference;
+  typedef T* pointer;
+  typedef std::ptrdiff_t difference_type;
+  typedef size_t size_type;
+
+  // REQUIRES: n >= 0
+  // Creates an array object that can store "n" elements.
+  //
+  // FixedArray<T> will not zero-initialiaze POD (simple) types like int,
+  // double, bool, etc.
+  // Non-POD types will be default-initialized just like regular vectors or
+  // arrays.
+  explicit FixedArray(size_type n);
+
+  // Releases any resources.
+  ~FixedArray();
+
+  // Returns the length of the array.
+  inline size_type size() const { return size_; }
+
+  // Returns the memory size of the array in bytes.
+  inline size_t memsize() const { return size_ * sizeof(T); }
+
+  // Returns a pointer to the underlying element array.
+  inline const T* get() const { return &array_[0].element; }
+  inline T* get() { return &array_[0].element; }
+
+  // REQUIRES: 0 <= i < size()
+  // Returns a reference to the "i"th element.
+  inline T& operator[](size_type i) {
+    DCHECK_LT(i, size_);
+    return array_[i].element;
+  }
+
+  // REQUIRES: 0 <= i < size()
+  // Returns a reference to the "i"th element.
+  inline const T& operator[](size_type i) const {
+    DCHECK_LT(i, size_);
+    return array_[i].element;
+  }
+
+  inline iterator begin() { return &array_[0].element; }
+  inline iterator end() { return &array_[size_].element; }
+
+  inline const_iterator begin() const { return &array_[0].element; }
+  inline const_iterator end() const { return &array_[size_].element; }
+
+ private:
+  // Container to hold elements of type T.  This is necessary to handle
+  // the case where T is a a (C-style) array.  The size of InnerContainer
+  // and T must be the same, otherwise callers' assumptions about use
+  // of this code will be broken.
+  struct InnerContainer {
+    T element;
+  };
+
+  // How many elements should we store inline?
+  //   a. If not specified, use a default of 256 bytes (256 bytes
+  //      seems small enough to not cause stack overflow or unnecessary
+  //      stack pollution, while still allowing stack allocation for
+  //      reasonably long character arrays.
+  //   b. Never use 0 length arrays (not ISO C++)
+  static const size_type S1 = ((inline_elements < 0)
+                               ? (256/sizeof(T)) : inline_elements);
+  static const size_type S2 = (S1 <= 0) ? 1 : S1;
+  static const size_type kInlineElements = S2;
+
+  size_type const       size_;
+  InnerContainer* const array_;
+
+  // Allocate some space, not an array of elements of type T, so that we can
+  // skip calling the T constructors and destructors for space we never use.
+  ManualConstructor<InnerContainer> inline_space_[kInlineElements];
+};
+
+// Implementation details follow
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::FixedArray(typename FixedArray<T, S>::size_type n)
+    : size_(n),
+      array_((n <= kInlineElements
+              ? reinterpret_cast<InnerContainer*>(inline_space_)
+              : new InnerContainer[n])) {
+  // Construct only the elements actually used.
+  if (array_ == reinterpret_cast<InnerContainer*>(inline_space_)) {
+    for (size_t i = 0; i != size_; ++i) {
+      inline_space_[i].Init();
+    }
+  }
+}
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::~FixedArray() {
+  if (array_ != reinterpret_cast<InnerContainer*>(inline_space_)) {
+    delete[] array_;
+  } else {
+    for (size_t i = 0; i != size_; ++i) {
+      inline_space_[i].Destroy();
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
diff --git a/include/ceres/internal/macros.h b/include/ceres/internal/macros.h
new file mode 100644
index 0000000..bebb965
--- /dev/null
+++ b/include/ceres/internal/macros.h
@@ -0,0 +1,170 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+//
+// Various Google-specific macros.
+//
+// This code is compiled directly on many platforms, including client
+// platforms like Windows, Mac, and embedded systems.  Before making
+// any changes here, make sure that you're not breaking any platforms.
+
+#ifndef CERES_PUBLIC_INTERNAL_MACROS_H_
+#define CERES_PUBLIC_INTERNAL_MACROS_H_
+
+#include <cstddef>  // For size_t.
+
+// A macro to disallow the copy constructor and operator= functions
+// This should be used in the private: declarations for a class
+//
+// For disallowing only assign or copy, write the code directly, but declare
+// the intend in a comment, for example:
+//
+//   void operator=(const TypeName&);  // _DISALLOW_ASSIGN
+
+// Note, that most uses of CERES_DISALLOW_ASSIGN and CERES_DISALLOW_COPY
+// are broken semantically, one should either use disallow both or
+// neither. Try to avoid these in new code.
+#define CERES_DISALLOW_COPY_AND_ASSIGN(TypeName) \
+  TypeName(const TypeName&);               \
+  void operator=(const TypeName&)
+
+// A macro to disallow all the implicit constructors, namely the
+// default constructor, copy constructor and operator= functions.
+//
+// This should be used in the private: declarations for a class
+// that wants to prevent anyone from instantiating it. This is
+// especially useful for classes containing only static methods.
+#define CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(TypeName) \
+  TypeName();                                    \
+  CERES_DISALLOW_COPY_AND_ASSIGN(TypeName)
+
+// The arraysize(arr) macro returns the # of elements in an array arr.
+// The expression is a compile-time constant, and therefore can be
+// used in defining new arrays, for example.  If you use arraysize on
+// a pointer by mistake, you will get a compile-time error.
+//
+// One caveat is that arraysize() doesn't accept any array of an
+// anonymous type or a type defined inside a function.  In these rare
+// cases, you have to use the unsafe ARRAYSIZE() macro below.  This is
+// due to a limitation in C++'s template system.  The limitation might
+// eventually be removed, but it hasn't happened yet.
+
+// This template function declaration is used in defining arraysize.
+// Note that the function doesn't need an implementation, as we only
+// use its type.
+template <typename T, size_t N>
+char (&ArraySizeHelper(T (&array)[N]))[N];
+
+// That gcc wants both of these prototypes seems mysterious. VC, for
+// its part, can't decide which to use (another mystery). Matching of
+// template overloads: the final frontier.
+#ifndef _WIN32
+template <typename T, size_t N>
+char (&ArraySizeHelper(const T (&array)[N]))[N];
+#endif
+
+#define arraysize(array) (sizeof(ArraySizeHelper(array)))
+
+// ARRAYSIZE performs essentially the same calculation as arraysize,
+// but can be used on anonymous types or types defined inside
+// functions.  It's less safe than arraysize as it accepts some
+// (although not all) pointers.  Therefore, you should use arraysize
+// whenever possible.
+//
+// The expression ARRAYSIZE(a) is a compile-time constant of type
+// size_t.
+//
+// ARRAYSIZE catches a few type errors.  If you see a compiler error
+//
+//   "warning: division by zero in ..."
+//
+// when using ARRAYSIZE, you are (wrongfully) giving it a pointer.
+// You should only use ARRAYSIZE on statically allocated arrays.
+//
+// The following comments are on the implementation details, and can
+// be ignored by the users.
+//
+// ARRAYSIZE(arr) works by inspecting sizeof(arr) (the # of bytes in
+// the array) and sizeof(*(arr)) (the # of bytes in one array
+// element).  If the former is divisible by the latter, perhaps arr is
+// indeed an array, in which case the division result is the # of
+// elements in the array.  Otherwise, arr cannot possibly be an array,
+// and we generate a compiler error to prevent the code from
+// compiling.
+//
+// Since the size of bool is implementation-defined, we need to cast
+// !(sizeof(a) & sizeof(*(a))) to size_t in order to ensure the final
+// result has type size_t.
+//
+// This macro is not perfect as it wrongfully accepts certain
+// pointers, namely where the pointer size is divisible by the pointee
+// size.  Since all our code has to go through a 32-bit compiler,
+// where a pointer is 4 bytes, this means all pointers to a type whose
+// size is 3 or greater than 4 will be (righteously) rejected.
+//
+// Kudos to Jorg Brown for this simple and elegant implementation.
+//
+// - wan 2005-11-16
+//
+// Starting with Visual C++ 2005, WinNT.h includes ARRAYSIZE. However,
+// the definition comes from the over-broad windows.h header that
+// introduces a macro, ERROR, that conflicts with the logging framework
+// that Ceres uses. Instead, rename ARRAYSIZE to CERES_ARRAYSIZE.
+#define CERES_ARRAYSIZE(a)                              \
+  ((sizeof(a) / sizeof(*(a))) /                         \
+   static_cast<size_t>(!(sizeof(a) % sizeof(*(a)))))
+
+// Tell the compiler to warn about unused return values for functions
+// declared with this macro.  The macro should be used on function
+// declarations following the argument list:
+//
+//   Sprocket* AllocateSprocket() MUST_USE_RESULT;
+//
+#if (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) \
+  && !defined(COMPILER_ICC)
+#define CERES_MUST_USE_RESULT __attribute__ ((warn_unused_result))
+#else
+#define CERES_MUST_USE_RESULT
+#endif
+
+// Platform independent macros to get aligned memory allocations.
+// For example
+//
+//   MyFoo my_foo CERES_ALIGN_ATTRIBUTE(16);
+//
+// Gives us an instance of MyFoo which is aligned at a 16 byte
+// boundary.
+#if defined(_MSC_VER)
+#define CERES_ALIGN_ATTRIBUTE(n) __declspec(align(n))
+#define CERES_ALIGN_OF(T) __alignof(T)
+#elif defined(__GNUC__)
+#define CERES_ALIGN_ATTRIBUTE(n) __attribute__((aligned(n)))
+#define CERES_ALIGN_OF(T) __alignof(T)
+#endif
+
+#endif  // CERES_PUBLIC_INTERNAL_MACROS_H_
diff --git a/include/ceres/internal/manual_constructor.h b/include/ceres/internal/manual_constructor.h
new file mode 100644
index 0000000..0d7633c
--- /dev/null
+++ b/include/ceres/internal/manual_constructor.h
@@ -0,0 +1,208 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kenton@google.com (Kenton Varda)
+//
+// ManualConstructor statically-allocates space in which to store some
+// object, but does not initialize it.  You can then call the constructor
+// and destructor for the object yourself as you see fit.  This is useful
+// for memory management optimizations, where you want to initialize and
+// destroy an object multiple times but only allocate it once.
+//
+// (When I say ManualConstructor statically allocates space, I mean that
+// the ManualConstructor object itself is forced to be the right size.)
+
+#ifndef CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+#define CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+
+#include <new>
+
+namespace ceres {
+namespace internal {
+
+// ------- Define CERES_ALIGNED_CHAR_ARRAY --------------------------------
+
+#ifndef CERES_ALIGNED_CHAR_ARRAY
+
+// Because MSVC and older GCCs require that the argument to their alignment
+// construct to be a literal constant integer, we use a template instantiated
+// at all the possible powers of two.
+template<int alignment, int size> struct AlignType { };
+template<int size> struct AlignType<0, size> { typedef char result[size]; };
+
+#if !defined(CERES_ALIGN_ATTRIBUTE)
+#define CERES_ALIGNED_CHAR_ARRAY you_must_define_CERES_ALIGNED_CHAR_ARRAY_for_your_compiler
+#else  // !defined(CERES_ALIGN_ATTRIBUTE)
+
+#define CERES_ALIGN_TYPE_TEMPLATE(X) \
+  template<int size> struct AlignType<X, size> { \
+    typedef CERES_ALIGN_ATTRIBUTE(X) char result[size]; \
+  }
+
+CERES_ALIGN_TYPE_TEMPLATE(1);
+CERES_ALIGN_TYPE_TEMPLATE(2);
+CERES_ALIGN_TYPE_TEMPLATE(4);
+CERES_ALIGN_TYPE_TEMPLATE(8);
+CERES_ALIGN_TYPE_TEMPLATE(16);
+CERES_ALIGN_TYPE_TEMPLATE(32);
+CERES_ALIGN_TYPE_TEMPLATE(64);
+CERES_ALIGN_TYPE_TEMPLATE(128);
+CERES_ALIGN_TYPE_TEMPLATE(256);
+CERES_ALIGN_TYPE_TEMPLATE(512);
+CERES_ALIGN_TYPE_TEMPLATE(1024);
+CERES_ALIGN_TYPE_TEMPLATE(2048);
+CERES_ALIGN_TYPE_TEMPLATE(4096);
+CERES_ALIGN_TYPE_TEMPLATE(8192);
+// Any larger and MSVC++ will complain.
+
+#undef CERES_ALIGN_TYPE_TEMPLATE
+
+#define CERES_ALIGNED_CHAR_ARRAY(T, Size) \
+  typename AlignType<CERES_ALIGN_OF(T), sizeof(T) * Size>::result
+
+#endif  // !defined(CERES_ALIGN_ATTRIBUTE)
+
+#endif  // CERES_ALIGNED_CHAR_ARRAY
+
+template <typename Type>
+class ManualConstructor {
+ public:
+  // No constructor or destructor because one of the most useful uses of
+  // this class is as part of a union, and members of a union cannot have
+  // constructors or destructors.  And, anyway, the whole point of this
+  // class is to bypass these.
+
+  inline Type* get() {
+    return reinterpret_cast<Type*>(space_);
+  }
+  inline const Type* get() const  {
+    return reinterpret_cast<const Type*>(space_);
+  }
+
+  inline Type* operator->() { return get(); }
+  inline const Type* operator->() const { return get(); }
+
+  inline Type& operator*() { return *get(); }
+  inline const Type& operator*() const { return *get(); }
+
+  // This is needed to get around the strict aliasing warning GCC generates.
+  inline void* space() {
+    return reinterpret_cast<void*>(space_);
+  }
+
+  // You can pass up to four constructor arguments as arguments of Init().
+  inline void Init() {
+    new(space()) Type;
+  }
+
+  template <typename T1>
+  inline void Init(const T1& p1) {
+    new(space()) Type(p1);
+  }
+
+  template <typename T1, typename T2>
+  inline void Init(const T1& p1, const T2& p2) {
+    new(space()) Type(p1, p2);
+  }
+
+  template <typename T1, typename T2, typename T3>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3) {
+    new(space()) Type(p1, p2, p3);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4) {
+    new(space()) Type(p1, p2, p3, p4);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4, typename T5>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+                   const T5& p5) {
+    new(space()) Type(p1, p2, p3, p4, p5);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+            typename T6>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+                   const T5& p5, const T6& p6) {
+    new(space()) Type(p1, p2, p3, p4, p5, p6);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+            typename T6, typename T7>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+                   const T5& p5, const T6& p6, const T7& p7) {
+    new(space()) Type(p1, p2, p3, p4, p5, p6, p7);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+            typename T6, typename T7, typename T8>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+                   const T5& p5, const T6& p6, const T7& p7, const T8& p8) {
+    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+            typename T6, typename T7, typename T8, typename T9>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+                   const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+                   const T9& p9) {
+    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+            typename T6, typename T7, typename T8, typename T9, typename T10>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+                   const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+                   const T9& p9, const T10& p10) {
+    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10);
+  }
+
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+            typename T6, typename T7, typename T8, typename T9, typename T10,
+            typename T11>
+  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+                   const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+                   const T9& p9, const T10& p10, const T11& p11) {
+    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11);
+  }
+
+  inline void Destroy() {
+    get()->~Type();
+  }
+
+ private:
+  CERES_ALIGNED_CHAR_ARRAY(Type, 1) space_;
+};
+
+#undef CERES_ALIGNED_CHAR_ARRAY
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
diff --git a/include/ceres/internal/numeric_diff.h b/include/ceres/internal/numeric_diff.h
new file mode 100644
index 0000000..11e8275
--- /dev/null
+++ b/include/ceres/internal/numeric_diff.h
@@ -0,0 +1,446 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         mierle@gmail.com (Keir Mierle)
+//         tbennun@gmail.com (Tal Ben-Nun)
+//
+// Finite differencing routines used by NumericDiffCostFunction.
+
+#ifndef CERES_PUBLIC_INTERNAL_NUMERIC_DIFF_H_
+#define CERES_PUBLIC_INTERNAL_NUMERIC_DIFF_H_
+
+#include <cstring>
+
+#include "Eigen/Dense"
+#include "Eigen/StdVector"
+#include "ceres/cost_function.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/variadic_evaluate.h"
+#include "ceres/numeric_diff_options.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+
+namespace ceres {
+namespace internal {
+
+// Helper templates that allow evaluation of a variadic functor or a
+// CostFunction object.
+template <typename CostFunctor,
+          int N0, int N1, int N2, int N3, int N4,
+          int N5, int N6, int N7, int N8, int N9 >
+bool EvaluateImpl(const CostFunctor* functor,
+                  double const* const* parameters,
+                  double* residuals,
+                  const void* /* NOT USED */) {
+  return VariadicEvaluate<CostFunctor,
+                          double,
+                          N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Call(
+                              *functor,
+                              parameters,
+                              residuals);
+}
+
+template <typename CostFunctor,
+          int N0, int N1, int N2, int N3, int N4,
+          int N5, int N6, int N7, int N8, int N9 >
+bool EvaluateImpl(const CostFunctor* functor,
+                  double const* const* parameters,
+                  double* residuals,
+                  const CostFunction* /* NOT USED */) {
+  return functor->Evaluate(parameters, residuals, NULL);
+}
+
+// This is split from the main class because C++ doesn't allow partial template
+// specializations for member functions. The alternative is to repeat the main
+// class for differing numbers of parameters, which is also unfortunate.
+template <typename CostFunctor,
+          NumericDiffMethodType kMethod,
+          int kNumResiduals,
+          int N0, int N1, int N2, int N3, int N4,
+          int N5, int N6, int N7, int N8, int N9,
+          int kParameterBlock,
+          int kParameterBlockSize>
+struct NumericDiff {
+  // Mutates parameters but must restore them before return.
+  static bool EvaluateJacobianForParameterBlock(
+      const CostFunctor* functor,
+      const double* residuals_at_eval_point,
+      const NumericDiffOptions& options,
+      int num_residuals,
+      int parameter_block_index,
+      int parameter_block_size,
+      double **parameters,
+      double *jacobian) {
+    using Eigen::Map;
+    using Eigen::Matrix;
+    using Eigen::RowMajor;
+    using Eigen::ColMajor;
+
+    const int num_residuals_internal =
+        (kNumResiduals != ceres::DYNAMIC ? kNumResiduals : num_residuals);
+    const int parameter_block_index_internal =
+        (kParameterBlock != ceres::DYNAMIC ? kParameterBlock :
+                                             parameter_block_index);
+    const int parameter_block_size_internal =
+        (kParameterBlockSize != ceres::DYNAMIC ? kParameterBlockSize :
+                                                 parameter_block_size);
+
+    typedef Matrix<double, kNumResiduals, 1> ResidualVector;
+    typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
+
+    // The convoluted reasoning for choosing the Row/Column major
+    // ordering of the matrix is an artifact of the restrictions in
+    // Eigen that prevent it from creating RowMajor matrices with a
+    // single column. In these cases, we ask for a ColMajor matrix.
+    typedef Matrix<double,
+                   kNumResiduals,
+                   kParameterBlockSize,
+                   (kParameterBlockSize == 1) ? ColMajor : RowMajor>
+        JacobianMatrix;
+
+    Map<JacobianMatrix> parameter_jacobian(jacobian,
+                                           num_residuals_internal,
+                                           parameter_block_size_internal);
+
+    Map<ParameterVector> x_plus_delta(
+        parameters[parameter_block_index_internal],
+        parameter_block_size_internal);
+    ParameterVector x(x_plus_delta);
+    ParameterVector step_size = x.array().abs() *
+        ((kMethod == RIDDERS) ? options.ridders_relative_initial_step_size :
+        options.relative_step_size);
+
+    // It is not a good idea to make the step size arbitrarily
+    // small. This will lead to problems with round off and numerical
+    // instability when dividing by the step size. The general
+    // recommendation is to not go down below sqrt(epsilon).
+    double min_step_size = std::sqrt(std::numeric_limits<double>::epsilon());
+
+    // For Ridders' method, the initial step size is required to be large,
+    // thus ridders_relative_initial_step_size is used.
+    if (kMethod == RIDDERS) {
+      min_step_size = std::max(min_step_size,
+                               options.ridders_relative_initial_step_size);
+    }
+
+    // For each parameter in the parameter block, use finite differences to
+    // compute the derivative for that parameter.
+    FixedArray<double> temp_residual_array(num_residuals_internal);
+    FixedArray<double> residual_array(num_residuals_internal);
+    Map<ResidualVector> residuals(residual_array.get(),
+                                  num_residuals_internal);
+
+    for (int j = 0; j < parameter_block_size_internal; ++j) {
+      const double delta = std::max(min_step_size, step_size(j));
+
+      if (kMethod == RIDDERS) {
+        if (!EvaluateRiddersJacobianColumn(functor, j, delta,
+                                           options,
+                                           num_residuals_internal,
+                                           parameter_block_size_internal,
+                                           x.data(),
+                                           residuals_at_eval_point,
+                                           parameters,
+                                           x_plus_delta.data(),
+                                           temp_residual_array.get(),
+                                           residual_array.get())) {
+          return false;
+        }
+      } else {
+        if (!EvaluateJacobianColumn(functor, j, delta,
+                                    num_residuals_internal,
+                                    parameter_block_size_internal,
+                                    x.data(),
+                                    residuals_at_eval_point,
+                                    parameters,
+                                    x_plus_delta.data(),
+                                    temp_residual_array.get(),
+                                    residual_array.get())) {
+          return false;
+        }
+      }
+
+      parameter_jacobian.col(j).matrix() = residuals;
+    }
+    return true;
+  }
+
+  static bool EvaluateJacobianColumn(const CostFunctor* functor,
+                                     int parameter_index,
+                                     double delta,
+                                     int num_residuals,
+                                     int parameter_block_size,
+                                     const double* x_ptr,
+                                     const double* residuals_at_eval_point,
+                                     double** parameters,
+                                     double* x_plus_delta_ptr,
+                                     double* temp_residuals_ptr,
+                                     double* residuals_ptr) {
+    using Eigen::Map;
+    using Eigen::Matrix;
+
+    typedef Matrix<double, kNumResiduals, 1> ResidualVector;
+    typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
+
+    Map<const ParameterVector> x(x_ptr, parameter_block_size);
+    Map<ParameterVector> x_plus_delta(x_plus_delta_ptr,
+                                      parameter_block_size);
+
+    Map<ResidualVector> residuals(residuals_ptr, num_residuals);
+    Map<ResidualVector> temp_residuals(temp_residuals_ptr, num_residuals);
+
+    // Mutate 1 element at a time and then restore.
+    x_plus_delta(parameter_index) = x(parameter_index) + delta;
+
+    if (!EvaluateImpl<CostFunctor, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>(
+            functor, parameters, residuals.data(), functor)) {
+      return false;
+    }
+
+    // Compute this column of the jacobian in 3 steps:
+    // 1. Store residuals for the forward part.
+    // 2. Subtract residuals for the backward (or 0) part.
+    // 3. Divide out the run.
+    double one_over_delta = 1.0 / delta;
+    if (kMethod == CENTRAL || kMethod == RIDDERS) {
+      // Compute the function on the other side of x(parameter_index).
+      x_plus_delta(parameter_index) = x(parameter_index) - delta;
+
+      if (!EvaluateImpl<CostFunctor, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>(
+              functor, parameters, temp_residuals.data(), functor)) {
+        return false;
+      }
+
+      residuals -= temp_residuals;
+      one_over_delta /= 2;
+    } else {
+      // Forward difference only; reuse existing residuals evaluation.
+      residuals -=
+          Map<const ResidualVector>(residuals_at_eval_point,
+                                    num_residuals);
+    }
+
+    // Restore x_plus_delta.
+    x_plus_delta(parameter_index) = x(parameter_index);
+
+    // Divide out the run to get slope.
+    residuals *= one_over_delta;
+
+    return true;
+  }
+
+  // This numeric difference implementation uses adaptive differentiation
+  // on the parameters to obtain the Jacobian matrix. The adaptive algorithm
+  // is based on Ridders' method for adaptive differentiation, which creates
+  // a Romberg tableau from varying step sizes and extrapolates the
+  // intermediate results to obtain the current computational error.
+  //
+  // References:
+  // C.J.F. Ridders, Accurate computation of F'(x) and F'(x) F"(x), Advances
+  // in Engineering Software (1978), Volume 4, Issue 2, April 1982,
+  // Pages 75-76, ISSN 0141-1195,
+  // http://dx.doi.org/10.1016/S0141-1195(82)80057-0.
+  static bool EvaluateRiddersJacobianColumn(
+      const CostFunctor* functor,
+      int parameter_index,
+      double delta,
+      const NumericDiffOptions& options,
+      int num_residuals,
+      int parameter_block_size,
+      const double* x_ptr,
+      const double* residuals_at_eval_point,
+      double** parameters,
+      double* x_plus_delta_ptr,
+      double* temp_residuals_ptr,
+      double* residuals_ptr) {
+    using Eigen::Map;
+    using Eigen::Matrix;
+    using Eigen::aligned_allocator;
+
+    typedef Matrix<double, kNumResiduals, 1> ResidualVector;
+    typedef Matrix<double, kNumResiduals, Eigen::Dynamic> ResidualCandidateMatrix;
+    typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
+
+    Map<const ParameterVector> x(x_ptr, parameter_block_size);
+    Map<ParameterVector> x_plus_delta(x_plus_delta_ptr,
+                                      parameter_block_size);
+
+    Map<ResidualVector> residuals(residuals_ptr, num_residuals);
+    Map<ResidualVector> temp_residuals(temp_residuals_ptr, num_residuals);
+
+    // In order for the algorithm to converge, the step size should be
+    // initialized to a value that is large enough to produce a significant
+    // change in the function.
+    // As the derivative is estimated, the step size decreases.
+    // By default, the step sizes are chosen so that the middle column
+    // of the Romberg tableau uses the input delta.
+    double current_step_size = delta *
+        pow(options.ridders_step_shrink_factor,
+            options.max_num_ridders_extrapolations / 2);
+
+    // Double-buffering temporary differential candidate vectors
+    // from previous step size.
+    ResidualCandidateMatrix stepsize_candidates_a(
+        num_residuals,
+        options.max_num_ridders_extrapolations);
+    ResidualCandidateMatrix stepsize_candidates_b(
+        num_residuals,
+        options.max_num_ridders_extrapolations);
+    ResidualCandidateMatrix* current_candidates = &stepsize_candidates_a;
+    ResidualCandidateMatrix* previous_candidates = &stepsize_candidates_b;
+
+    // Represents the computational error of the derivative. This variable is
+    // initially set to a large value, and is set to the difference between
+    // current and previous finite difference extrapolations.
+    // norm_error is supposed to decrease as the finite difference tableau
+    // generation progresses, serving both as an estimate for differentiation
+    // error and as a measure of differentiation numerical stability.
+    double norm_error = std::numeric_limits<double>::max();
+
+    // Loop over decreasing step sizes until:
+    //  1. Error is smaller than a given value (ridders_epsilon),
+    //  2. Maximal order of extrapolation reached, or
+    //  3. Extrapolation becomes numerically unstable.
+    for (int i = 0; i < options.max_num_ridders_extrapolations; ++i) {
+      // Compute the numerical derivative at this step size.
+      if (!EvaluateJacobianColumn(functor, parameter_index, current_step_size,
+                                  num_residuals,
+                                  parameter_block_size,
+                                  x.data(),
+                                  residuals_at_eval_point,
+                                  parameters,
+                                  x_plus_delta.data(),
+                                  temp_residuals.data(),
+                                  current_candidates->col(0).data())) {
+        // Something went wrong; bail.
+        return false;
+      }
+
+      // Store initial results.
+      if (i == 0) {
+        residuals = current_candidates->col(0);
+      }
+
+      // Shrink differentiation step size.
+      current_step_size /= options.ridders_step_shrink_factor;
+
+      // Extrapolation factor for Richardson acceleration method (see below).
+      double richardson_factor = options.ridders_step_shrink_factor *
+          options.ridders_step_shrink_factor;
+      for (int k = 1; k <= i; ++k) {
+        // Extrapolate the various orders of finite differences using
+        // the Richardson acceleration method.
+        current_candidates->col(k) =
+            (richardson_factor * current_candidates->col(k - 1) -
+             previous_candidates->col(k - 1)) / (richardson_factor - 1.0);
+
+        richardson_factor *= options.ridders_step_shrink_factor *
+            options.ridders_step_shrink_factor;
+
+        // Compute the difference between the previous value and the current.
+        double candidate_error = std::max(
+            (current_candidates->col(k) -
+             current_candidates->col(k - 1)).norm(),
+            (current_candidates->col(k) -
+             previous_candidates->col(k - 1)).norm());
+
+        // If the error has decreased, update results.
+        if (candidate_error <= norm_error) {
+          norm_error = candidate_error;
+          residuals = current_candidates->col(k);
+
+          // If the error is small enough, stop.
+          if (norm_error < options.ridders_epsilon) {
+            break;
+          }
+        }
+      }
+
+      // After breaking out of the inner loop, declare convergence.
+      if (norm_error < options.ridders_epsilon) {
+        break;
+      }
+
+      // Check to see if the current gradient estimate is numerically unstable.
+      // If so, bail out and return the last stable result.
+      if (i > 0) {
+        double tableau_error = (current_candidates->col(i) -
+            previous_candidates->col(i - 1)).norm();
+
+        // Compare current error to the chosen candidate's error.
+        if (tableau_error >= 2 * norm_error) {
+          break;
+        }
+      }
+
+      std::swap(current_candidates, previous_candidates);
+    }
+    return true;
+  }
+};
+
+template <typename CostFunctor,
+          NumericDiffMethodType kMethod,
+          int kNumResiduals,
+          int N0, int N1, int N2, int N3, int N4,
+          int N5, int N6, int N7, int N8, int N9,
+          int kParameterBlock>
+struct NumericDiff<CostFunctor, kMethod, kNumResiduals,
+                   N0, N1, N2, N3, N4, N5, N6, N7, N8, N9,
+                   kParameterBlock, 0> {
+  // Mutates parameters but must restore them before return.
+  static bool EvaluateJacobianForParameterBlock(
+      const CostFunctor* functor,
+      const double* residuals_at_eval_point,
+      const NumericDiffOptions& options,
+      const int num_residuals,
+      const int parameter_block_index,
+      const int parameter_block_size,
+      double **parameters,
+      double *jacobian) {
+    // Silence unused parameter compiler warnings.
+    (void)functor;
+    (void)residuals_at_eval_point;
+    (void)options;
+    (void)num_residuals;
+    (void)parameter_block_index;
+    (void)parameter_block_size;
+    (void)parameters;
+    (void)jacobian;
+    LOG(FATAL) << "Control should never reach here.";
+    return true;
+  }
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_NUMERIC_DIFF_H_
diff --git a/include/ceres/internal/port.h b/include/ceres/internal/port.h
new file mode 100644
index 0000000..652f6fb
--- /dev/null
+++ b/include/ceres/internal/port.h
@@ -0,0 +1,98 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_INTERNAL_PORT_H_
+#define CERES_PUBLIC_INTERNAL_PORT_H_
+
+// This file needs to compile as c code.
+#ifdef __cplusplus
+#include <cstddef>
+#include "ceres/internal/config.h"
+#if defined(CERES_TR1_MEMORY_HEADER)
+#include <tr1/memory>
+#else
+#include <memory>
+#endif
+
+namespace ceres {
+
+#if defined(CERES_TR1_SHARED_PTR)
+using std::tr1::shared_ptr;
+#else
+using std::shared_ptr;
+#endif
+
+// We allocate some Eigen objects on the stack and other places they
+// might not be aligned to X(=16 [SSE], 32 [AVX] etc)-byte boundaries.  If we
+// have C++11, we can specify their alignment (which is desirable, as it means
+// we can safely enable vectorisation on matrices).  However, the standard gives
+// wide lattitude as to what alignments are legal.  It must be the case that
+// alignments up to alignof(std::max_align_t) are valid, but this might be < 16
+// on some platforms, in which case even if using C++11, on these platforms
+// we should not attempt to align to X-byte boundaries.  If using < C++11,
+// we cannot specify the alignment.
+#ifdef CERES_USE_CXX11
+namespace port_constants {
+static constexpr size_t kMaxAlignBytes =
+    // Work around a GCC 4.8 bug
+    // (https://gcc.gnu.org/bugzilla/show_bug.cgi?id=56019) where
+    // std::max_align_t is misplaced.
+#if defined (__GNUC__) && __GNUC__ == 4 && __GNUC_MINOR__ == 8
+    alignof(::max_align_t);
+#else
+    alignof(std::max_align_t);
+#endif
+}  // namespace port_constants
+#endif
+
+}  // namespace ceres
+
+#endif  // __cplusplus
+
+// A macro to signal which functions and classes are exported when
+// building a DLL with MSVC.
+//
+// Note that the ordering here is important, CERES_BUILDING_SHARED_LIBRARY
+// is only defined locally when Ceres is compiled, it is never exported to
+// users.  However, in order that we do not have to configure config.h
+// separately for building vs installing, if we are using MSVC and building
+// a shared library, then both CERES_BUILDING_SHARED_LIBRARY and
+// CERES_USING_SHARED_LIBRARY will be defined when Ceres is compiled.
+// Hence it is important that the check for CERES_BUILDING_SHARED_LIBRARY
+// happens first.
+#if defined(_MSC_VER) && defined(CERES_BUILDING_SHARED_LIBRARY)
+# define CERES_EXPORT __declspec(dllexport)
+#elif defined(_MSC_VER) && defined(CERES_USING_SHARED_LIBRARY)
+# define CERES_EXPORT __declspec(dllimport)
+#else
+# define CERES_EXPORT
+#endif
+
+#endif  // CERES_PUBLIC_INTERNAL_PORT_H_
diff --git a/include/ceres/internal/reenable_warnings.h b/include/ceres/internal/reenable_warnings.h
new file mode 100644
index 0000000..7e41025
--- /dev/null
+++ b/include/ceres/internal/reenable_warnings.h
@@ -0,0 +1,38 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+
+// This is not your usual header guard. See disable_warnings.h
+#ifdef CERES_WARNINGS_DISABLED
+#undef CERES_WARNINGS_DISABLED
+
+#ifdef _MSC_VER
+#pragma warning( pop )
+#endif
+
+#endif  // CERES_WARNINGS_DISABLED
diff --git a/include/ceres/internal/scoped_ptr.h b/include/ceres/internal/scoped_ptr.h
new file mode 100644
index 0000000..fa0ac25
--- /dev/null
+++ b/include/ceres/internal/scoped_ptr.h
@@ -0,0 +1,310 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: jorg@google.com (Jorg Brown)
+//
+// This is an implementation designed to match the anticipated future TR2
+// implementation of the scoped_ptr class, and its closely-related brethren,
+// scoped_array, scoped_ptr_malloc, and make_scoped_ptr.
+
+#ifndef CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+#define CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+
+#include <assert.h>
+#include <stdlib.h>
+#include <cstddef>
+#include <algorithm>
+
+namespace ceres {
+namespace internal {
+
+template <class C> class scoped_ptr;
+template <class C, class Free> class scoped_ptr_malloc;
+template <class C> class scoped_array;
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *);
+
+// A scoped_ptr<T> is like a T*, except that the destructor of
+// scoped_ptr<T> automatically deletes the pointer it holds (if
+// any). That is, scoped_ptr<T> owns the T object that it points
+// to. Like a T*, a scoped_ptr<T> may hold either NULL or a pointer to
+// a T object. Also like T*, scoped_ptr<T> is thread-compatible, and
+// once you dereference it, you get the threadsafety guarantees of T.
+//
+// The size of a scoped_ptr is small: sizeof(scoped_ptr<C>) == sizeof(C*)
+template <class C>
+class scoped_ptr {
+ public:
+  // The element type
+  typedef C element_type;
+
+  // Constructor.  Defaults to intializing with NULL.
+  // There is no way to create an uninitialized scoped_ptr.
+  // The input parameter must be allocated with new.
+  explicit scoped_ptr(C* p = NULL) : ptr_(p) { }
+
+  // Destructor.  If there is a C object, delete it.
+  // We don't need to test ptr_ == NULL because C++ does that for us.
+  ~scoped_ptr() {
+    enum { type_must_be_complete = sizeof(C) };
+    delete ptr_;
+  }
+
+  // Reset.  Deletes the current owned object, if any.
+  // Then takes ownership of a new object, if given.
+  // this->reset(this->get()) works.
+  void reset(C* p = NULL) {
+    if (p != ptr_) {
+      enum { type_must_be_complete = sizeof(C) };
+      delete ptr_;
+      ptr_ = p;
+    }
+  }
+
+  // Accessors to get the owned object.
+  // operator* and operator-> will assert() if there is no current object.
+  C& operator*() const {
+    assert(ptr_ != NULL);
+    return *ptr_;
+  }
+  C* operator->() const  {
+    assert(ptr_ != NULL);
+    return ptr_;
+  }
+  C* get() const { return ptr_; }
+
+  // Comparison operators.
+  // These return whether a scoped_ptr and a raw pointer refer to
+  // the same object, not just to two different but equal objects.
+  bool operator==(const C* p) const { return ptr_ == p; }
+  bool operator!=(const C* p) const { return ptr_ != p; }
+
+  // Swap two scoped pointers.
+  void swap(scoped_ptr& p2) {
+    C* tmp = ptr_;
+    ptr_ = p2.ptr_;
+    p2.ptr_ = tmp;
+  }
+
+  // Release a pointer.
+  // The return value is the current pointer held by this object.
+  // If this object holds a NULL pointer, the return value is NULL.
+  // After this operation, this object will hold a NULL pointer,
+  // and will not own the object any more.
+  C* release() {
+    C* retVal = ptr_;
+    ptr_ = NULL;
+    return retVal;
+  }
+
+ private:
+  C* ptr_;
+
+  // google3 friend class that can access copy ctor (although if it actually
+  // calls a copy ctor, there will be a problem) see below
+  friend scoped_ptr<C> make_scoped_ptr<C>(C *p);
+
+  // Forbid comparison of scoped_ptr types.  If C2 != C, it totally doesn't
+  // make sense, and if C2 == C, it still doesn't make sense because you should
+  // never have the same object owned by two different scoped_ptrs.
+  template <class C2> bool operator==(scoped_ptr<C2> const& p2) const;
+  template <class C2> bool operator!=(scoped_ptr<C2> const& p2) const;
+
+  // Disallow evil constructors
+  scoped_ptr(const scoped_ptr&);
+  void operator=(const scoped_ptr&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_ptr<C>& p1, scoped_ptr<C>& p2) {
+  p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<C>& p2) {
+  return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<const C>& p2) {
+  return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<C>& p2) {
+  return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<const C>& p2) {
+  return p1 != p2.get();
+}
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *p) {
+  // This does nothing but to return a scoped_ptr of the type that the passed
+  // pointer is of.  (This eliminates the need to specify the name of T when
+  // making a scoped_ptr that is used anonymously/temporarily.)  From an
+  // access control point of view, we construct an unnamed scoped_ptr here
+  // which we return and thus copy-construct.  Hence, we need to have access
+  // to scoped_ptr::scoped_ptr(scoped_ptr const &).  However, it is guaranteed
+  // that we never actually call the copy constructor, which is a good thing
+  // as we would call the temporary's object destructor (and thus delete p)
+  // if we actually did copy some object, here.
+  return scoped_ptr<C>(p);
+}
+
+// scoped_array<C> is like scoped_ptr<C>, except that the caller must allocate
+// with new [] and the destructor deletes objects with delete [].
+//
+// As with scoped_ptr<C>, a scoped_array<C> either points to an object
+// or is NULL.  A scoped_array<C> owns the object that it points to.
+// scoped_array<T> is thread-compatible, and once you index into it,
+// the returned objects have only the threadsafety guarantees of T.
+//
+// Size: sizeof(scoped_array<C>) == sizeof(C*)
+template <class C>
+class scoped_array {
+ public:
+  // The element type
+  typedef C element_type;
+
+  // Constructor.  Defaults to intializing with NULL.
+  // There is no way to create an uninitialized scoped_array.
+  // The input parameter must be allocated with new [].
+  explicit scoped_array(C* p = NULL) : array_(p) { }
+
+  // Destructor.  If there is a C object, delete it.
+  // We don't need to test ptr_ == NULL because C++ does that for us.
+  ~scoped_array() {
+    enum { type_must_be_complete = sizeof(C) };
+    delete[] array_;
+  }
+
+  // Reset. Deletes the current owned object, if any.
+  // Then takes ownership of a new object, if given.
+  // this->reset(this->get()) works.
+  void reset(C* p = NULL) {
+    if (p != array_) {
+      enum { type_must_be_complete = sizeof(C) };
+      delete[] array_;
+      array_ = p;
+    }
+  }
+
+  // Get one element of the current object.
+  // Will assert() if there is no current object, or index i is negative.
+  C& operator[](std::ptrdiff_t i) const {
+    assert(i >= 0);
+    assert(array_ != NULL);
+    return array_[i];
+  }
+
+  // Get a pointer to the zeroth element of the current object.
+  // If there is no current object, return NULL.
+  C* get() const {
+    return array_;
+  }
+
+  // Comparison operators.
+  // These return whether a scoped_array and a raw pointer refer to
+  // the same array, not just to two different but equal arrays.
+  bool operator==(const C* p) const { return array_ == p; }
+  bool operator!=(const C* p) const { return array_ != p; }
+
+  // Swap two scoped arrays.
+  void swap(scoped_array& p2) {
+    C* tmp = array_;
+    array_ = p2.array_;
+    p2.array_ = tmp;
+  }
+
+  // Release an array.
+  // The return value is the current pointer held by this object.
+  // If this object holds a NULL pointer, the return value is NULL.
+  // After this operation, this object will hold a NULL pointer,
+  // and will not own the object any more.
+  C* release() {
+    C* retVal = array_;
+    array_ = NULL;
+    return retVal;
+  }
+
+ private:
+  C* array_;
+
+  // Forbid comparison of different scoped_array types.
+  template <class C2> bool operator==(scoped_array<C2> const& p2) const;
+  template <class C2> bool operator!=(scoped_array<C2> const& p2) const;
+
+  // Disallow evil constructors
+  scoped_array(const scoped_array&);
+  void operator=(const scoped_array&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_array<C>& p1, scoped_array<C>& p2) {
+  p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<C>& p2) {
+  return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<const C>& p2) {
+  return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<C>& p2) {
+  return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<const C>& p2) {
+  return p1 != p2.get();
+}
+
+// This class wraps the c library function free() in a class that can be
+// passed as a template argument to scoped_ptr_malloc below.
+class ScopedPtrMallocFree {
+ public:
+  inline void operator()(void* x) const {
+    free(x);
+  }
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
diff --git a/include/ceres/internal/variadic_evaluate.h b/include/ceres/internal/variadic_evaluate.h
new file mode 100644
index 0000000..b3515b9
--- /dev/null
+++ b/include/ceres/internal/variadic_evaluate.h
@@ -0,0 +1,194 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
+#define CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
+
+#include <stddef.h>
+
+#include "ceres/jet.h"
+#include "ceres/types.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// This block of quasi-repeated code calls the user-supplied functor, which may
+// take a variable number of arguments. This is accomplished by specializing the
+// struct based on the size of the trailing parameters; parameters with 0 size
+// are assumed missing.
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+         int N5, int N6, int N7, int N8, int N9>
+struct VariadicEvaluate {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   input[3],
+                   input[4],
+                   input[5],
+                   input[6],
+                   input[7],
+                   input[8],
+                   input[9],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+         int N5, int N6, int N7, int N8>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   input[3],
+                   input[4],
+                   input[5],
+                   input[6],
+                   input[7],
+                   input[8],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+         int N5, int N6, int N7>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   input[3],
+                   input[4],
+                   input[5],
+                   input[6],
+                   input[7],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+         int N5, int N6>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, 0, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   input[3],
+                   input[4],
+                   input[5],
+                   input[6],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+         int N5>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, 0, 0, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   input[3],
+                   input[4],
+                   input[5],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, 0, 0, 0, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   input[3],
+                   input[4],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, 0, 0, 0, 0, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   input[3],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   input[2],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0, int N1>
+struct VariadicEvaluate<Functor, T, N0, N1, 0, 0, 0, 0, 0, 0, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   input[1],
+                   output);
+  }
+};
+
+template<typename Functor, typename T, int N0>
+struct VariadicEvaluate<Functor, T, N0, 0, 0, 0, 0, 0, 0, 0, 0, 0> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input[0],
+                   output);
+  }
+};
+
+// Template instantiation for dynamically-sized functors.
+template<typename Functor, typename T>
+struct VariadicEvaluate<Functor, T, ceres::DYNAMIC, ceres::DYNAMIC,
+                        ceres::DYNAMIC, ceres::DYNAMIC, ceres::DYNAMIC,
+                        ceres::DYNAMIC, ceres::DYNAMIC, ceres::DYNAMIC,
+                        ceres::DYNAMIC, ceres::DYNAMIC> {
+  static bool Call(const Functor& functor, T const *const *input, T* output) {
+    return functor(input, output);
+  }
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
diff --git a/include/ceres/iteration_callback.h b/include/ceres/iteration_callback.h
new file mode 100644
index 0000000..db5d0ef
--- /dev/null
+++ b/include/ceres/iteration_callback.h
@@ -0,0 +1,225 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// When an iteration callback is specified, Ceres calls the callback
+// after each minimizer step (if the minimizer has not converged) and
+// passes it an IterationSummary object, defined below.
+
+#ifndef CERES_PUBLIC_ITERATION_CALLBACK_H_
+#define CERES_PUBLIC_ITERATION_CALLBACK_H_
+
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// This struct describes the state of the optimizer after each
+// iteration of the minimization.
+struct CERES_EXPORT IterationSummary {
+  IterationSummary()
+      : iteration(0),
+        step_is_valid(false),
+        step_is_nonmonotonic(false),
+        step_is_successful(false),
+        cost(0.0),
+        cost_change(0.0),
+        gradient_max_norm(0.0),
+        gradient_norm(0.0),
+        step_norm(0.0),
+        eta(0.0),
+        step_size(0.0),
+        line_search_function_evaluations(0),
+        line_search_gradient_evaluations(0),
+        line_search_iterations(0),
+        linear_solver_iterations(0),
+        iteration_time_in_seconds(0.0),
+        step_solver_time_in_seconds(0.0),
+        cumulative_time_in_seconds(0.0) {}
+
+  // Current iteration number.
+  int32 iteration;
+
+  // Step was numerically valid, i.e., all values are finite and the
+  // step reduces the value of the linearized model.
+  //
+  // Note: step_is_valid is always true when iteration = 0.
+  bool step_is_valid;
+
+  // Step did not reduce the value of the objective function
+  // sufficiently, but it was accepted because of the relaxed
+  // acceptance criterion used by the non-monotonic trust region
+  // algorithm.
+  //
+  // Note: step_is_nonmonotonic is always false when iteration = 0;
+  bool step_is_nonmonotonic;
+
+  // Whether or not the minimizer accepted this step or not. If the
+  // ordinary trust region algorithm is used, this means that the
+  // relative reduction in the objective function value was greater
+  // than Solver::Options::min_relative_decrease. However, if the
+  // non-monotonic trust region algorithm is used
+  // (Solver::Options:use_nonmonotonic_steps = true), then even if the
+  // relative decrease is not sufficient, the algorithm may accept the
+  // step and the step is declared successful.
+  //
+  // Note: step_is_successful is always true when iteration = 0.
+  bool step_is_successful;
+
+  // Value of the objective function.
+  double cost;
+
+  // Change in the value of the objective function in this
+  // iteration. This can be positive or negative.
+  double cost_change;
+
+  // Infinity norm of the gradient vector.
+  double gradient_max_norm;
+
+  // 2-norm of the gradient vector.
+  double gradient_norm;
+
+  // 2-norm of the size of the step computed by the optimization
+  // algorithm.
+  double step_norm;
+
+  // For trust region algorithms, the ratio of the actual change in
+  // cost and the change in the cost of the linearized approximation.
+  double relative_decrease;
+
+  // Size of the trust region at the end of the current iteration. For
+  // the Levenberg-Marquardt algorithm, the regularization parameter
+  // mu = 1.0 / trust_region_radius.
+  double trust_region_radius;
+
+  // For the inexact step Levenberg-Marquardt algorithm, this is the
+  // relative accuracy with which the Newton(LM) step is solved. This
+  // number affects only the iterative solvers capable of solving
+  // linear systems inexactly. Factorization-based exact solvers
+  // ignore it.
+  double eta;
+
+  // Step sized computed by the line search algorithm.
+  double step_size;
+
+  // Number of function value evaluations used by the line search algorithm.
+  int line_search_function_evaluations;
+
+  // Number of function gradient evaluations used by the line search algorithm.
+  int line_search_gradient_evaluations;
+
+  // Number of iterations taken by the line search algorithm.
+  int line_search_iterations;
+
+  // Number of iterations taken by the linear solver to solve for the
+  // Newton step.
+  int linear_solver_iterations;
+
+  // All times reported below are wall times.
+
+  // Time (in seconds) spent inside the minimizer loop in the current
+  // iteration.
+  double iteration_time_in_seconds;
+
+  // Time (in seconds) spent inside the trust region step solver.
+  double step_solver_time_in_seconds;
+
+  // Time (in seconds) since the user called Solve().
+  double cumulative_time_in_seconds;
+};
+
+// Interface for specifying callbacks that are executed at the end of
+// each iteration of the Minimizer. The solver uses the return value
+// of operator() to decide whether to continue solving or to
+// terminate. The user can return three values.
+//
+// SOLVER_ABORT indicates that the callback detected an abnormal
+// situation. The solver returns without updating the parameter blocks
+// (unless Solver::Options::update_state_every_iteration is set
+// true). Solver returns with Solver::Summary::termination_type set to
+// USER_ABORT.
+//
+// SOLVER_TERMINATE_SUCCESSFULLY indicates that there is no need to
+// optimize anymore (some user specified termination criterion has
+// been met). Solver returns with Solver::Summary::termination_type
+// set to USER_SUCCESS.
+//
+// SOLVER_CONTINUE indicates that the solver should continue
+// optimizing.
+//
+// For example, the following Callback is used internally by Ceres to
+// log the progress of the optimization.
+//
+// Callback for logging the state of the minimizer to STDERR or STDOUT
+// depending on the user's preferences and logging level.
+//
+//   class LoggingCallback : public IterationCallback {
+//    public:
+//     explicit LoggingCallback(bool log_to_stdout)
+//         : log_to_stdout_(log_to_stdout) {}
+//
+//     ~LoggingCallback() {}
+//
+//     CallbackReturnType operator()(const IterationSummary& summary) {
+//       const char* kReportRowFormat =
+//           "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+//           "rho:% 3.2e mu:% 3.2e eta:% 3.2e li:% 3d";
+//       string output = StringPrintf(kReportRowFormat,
+//                                    summary.iteration,
+//                                    summary.cost,
+//                                    summary.cost_change,
+//                                    summary.gradient_max_norm,
+//                                    summary.step_norm,
+//                                    summary.relative_decrease,
+//                                    summary.trust_region_radius,
+//                                    summary.eta,
+//                                    summary.linear_solver_iterations);
+//       if (log_to_stdout_) {
+//         cout << output << endl;
+//       } else {
+//         VLOG(1) << output;
+//       }
+//       return SOLVER_CONTINUE;
+//     }
+//
+//    private:
+//     const bool log_to_stdout_;
+//   };
+//
+class CERES_EXPORT IterationCallback {
+ public:
+  virtual ~IterationCallback() {}
+  virtual CallbackReturnType operator()(const IterationSummary& summary) = 0;
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_ITERATION_CALLBACK_H_
diff --git a/include/ceres/jet.h b/include/ceres/jet.h
new file mode 100644
index 0000000..934bc18
--- /dev/null
+++ b/include/ceres/jet.h
@@ -0,0 +1,923 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A simple implementation of N-dimensional dual numbers, for automatically
+// computing exact derivatives of functions.
+//
+// While a complete treatment of the mechanics of automatic differentation is
+// beyond the scope of this header (see
+// http://en.wikipedia.org/wiki/Automatic_differentiation for details), the
+// basic idea is to extend normal arithmetic with an extra element, "e," often
+// denoted with the greek symbol epsilon, such that e != 0 but e^2 = 0. Dual
+// numbers are extensions of the real numbers analogous to complex numbers:
+// whereas complex numbers augment the reals by introducing an imaginary unit i
+// such that i^2 = -1, dual numbers introduce an "infinitesimal" unit e such
+// that e^2 = 0. Dual numbers have two components: the "real" component and the
+// "infinitesimal" component, generally written as x + y*e. Surprisingly, this
+// leads to a convenient method for computing exact derivatives without needing
+// to manipulate complicated symbolic expressions.
+//
+// For example, consider the function
+//
+//   f(x) = x^2 ,
+//
+// evaluated at 10. Using normal arithmetic, f(10) = 100, and df/dx(10) = 20.
+// Next, augument 10 with an infinitesimal to get:
+//
+//   f(10 + e) = (10 + e)^2
+//             = 100 + 2 * 10 * e + e^2
+//             = 100 + 20 * e       -+-
+//                     --            |
+//                     |             +--- This is zero, since e^2 = 0
+//                     |
+//                     +----------------- This is df/dx!
+//
+// Note that the derivative of f with respect to x is simply the infinitesimal
+// component of the value of f(x + e). So, in order to take the derivative of
+// any function, it is only necessary to replace the numeric "object" used in
+// the function with one extended with infinitesimals. The class Jet, defined in
+// this header, is one such example of this, where substitution is done with
+// templates.
+//
+// To handle derivatives of functions taking multiple arguments, different
+// infinitesimals are used, one for each variable to take the derivative of. For
+// example, consider a scalar function of two scalar parameters x and y:
+//
+//   f(x, y) = x^2 + x * y
+//
+// Following the technique above, to compute the derivatives df/dx and df/dy for
+// f(1, 3) involves doing two evaluations of f, the first time replacing x with
+// x + e, the second time replacing y with y + e.
+//
+// For df/dx:
+//
+//   f(1 + e, y) = (1 + e)^2 + (1 + e) * 3
+//               = 1 + 2 * e + 3 + 3 * e
+//               = 4 + 5 * e
+//
+//               --> df/dx = 5
+//
+// For df/dy:
+//
+//   f(1, 3 + e) = 1^2 + 1 * (3 + e)
+//               = 1 + 3 + e
+//               = 4 + e
+//
+//               --> df/dy = 1
+//
+// To take the gradient of f with the implementation of dual numbers ("jets") in
+// this file, it is necessary to create a single jet type which has components
+// for the derivative in x and y, and passing them to a templated version of f:
+//
+//   template<typename T>
+//   T f(const T &x, const T &y) {
+//     return x * x + x * y;
+//   }
+//
+//   // The "2" means there should be 2 dual number components.
+//   Jet<double, 2> x(0);  // Pick the 0th dual number for x.
+//   Jet<double, 2> y(1);  // Pick the 1st dual number for y.
+//   Jet<double, 2> z = f(x, y);
+//
+//   LOG(INFO) << "df/dx = " << z.v[0]
+//             << "df/dy = " << z.v[1];
+//
+// Most users should not use Jet objects directly; a wrapper around Jet objects,
+// which makes computing the derivative, gradient, or jacobian of templated
+// functors simple, is in autodiff.h. Even autodiff.h should not be used
+// directly; instead autodiff_cost_function.h is typically the file of interest.
+//
+// For the more mathematically inclined, this file implements first-order
+// "jets". A 1st order jet is an element of the ring
+//
+//   T[N] = T[t_1, ..., t_N] / (t_1, ..., t_N)^2
+//
+// which essentially means that each jet consists of a "scalar" value 'a' from T
+// and a 1st order perturbation vector 'v' of length N:
+//
+//   x = a + \sum_i v[i] t_i
+//
+// A shorthand is to write an element as x = a + u, where u is the pertubation.
+// Then, the main point about the arithmetic of jets is that the product of
+// perturbations is zero:
+//
+//   (a + u) * (b + v) = ab + av + bu + uv
+//                     = ab + (av + bu) + 0
+//
+// which is what operator* implements below. Addition is simpler:
+//
+//   (a + u) + (b + v) = (a + b) + (u + v).
+//
+// The only remaining question is how to evaluate the function of a jet, for
+// which we use the chain rule:
+//
+//   f(a + u) = f(a) + f'(a) u
+//
+// where f'(a) is the (scalar) derivative of f at a.
+//
+// By pushing these things through sufficiently and suitably templated
+// functions, we can do automatic differentiation. Just be sure to turn on
+// function inlining and common-subexpression elimination, or it will be very
+// slow!
+//
+// WARNING: Most Ceres users should not directly include this file or know the
+// details of how jets work. Instead the suggested method for automatic
+// derivatives is to use autodiff_cost_function.h, which is a wrapper around
+// both jets.h and autodiff.h to make taking derivatives of cost functions for
+// use in Ceres easier.
+
+#ifndef CERES_PUBLIC_JET_H_
+#define CERES_PUBLIC_JET_H_
+
+#include <cmath>
+#include <iosfwd>
+#include <iostream>  // NOLINT
+#include <limits>
+#include <string>
+
+#include "Eigen/Core"
+#include "ceres/fpclassify.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+template <typename T, int N>
+struct Jet {
+  enum { DIMENSION = N };
+
+  // Default-construct "a" because otherwise this can lead to false errors about
+  // uninitialized uses when other classes relying on default constructed T
+  // (where T is a Jet<T, N>). This usually only happens in opt mode. Note that
+  // the C++ standard mandates that e.g. default constructed doubles are
+  // initialized to 0.0; see sections 8.5 of the C++03 standard.
+  Jet() : a() {
+    v.setZero();
+  }
+
+  // Constructor from scalar: a + 0.
+  explicit Jet(const T& value) {
+    a = value;
+    v.setZero();
+  }
+
+  // Constructor from scalar plus variable: a + t_i.
+  Jet(const T& value, int k) {
+    a = value;
+    v.setZero();
+    v[k] = T(1.0);
+  }
+
+  // Constructor from scalar and vector part
+  // The use of Eigen::DenseBase allows Eigen expressions
+  // to be passed in without being fully evaluated until
+  // they are assigned to v
+  template<typename Derived>
+  EIGEN_STRONG_INLINE Jet(const T& a, const Eigen::DenseBase<Derived> &v)
+      : a(a), v(v) {
+  }
+
+  // Compound operators
+  Jet<T, N>& operator+=(const Jet<T, N> &y) {
+    *this = *this + y;
+    return *this;
+  }
+
+  Jet<T, N>& operator-=(const Jet<T, N> &y) {
+    *this = *this - y;
+    return *this;
+  }
+
+  Jet<T, N>& operator*=(const Jet<T, N> &y) {
+    *this = *this * y;
+    return *this;
+  }
+
+  Jet<T, N>& operator/=(const Jet<T, N> &y) {
+    *this = *this / y;
+    return *this;
+  }
+
+  // Compound with scalar operators.
+  Jet<T, N>& operator+=(const T& s) {
+    *this = *this + s;
+    return *this;
+  }
+
+  Jet<T, N>& operator-=(const T& s) {
+    *this = *this - s;
+    return *this;
+  }
+
+  Jet<T, N>& operator*=(const T& s) {
+    *this = *this * s;
+    return *this;
+  }
+
+  Jet<T, N>& operator/=(const T& s) {
+    *this = *this / s;
+    return *this;
+  }
+
+  // The scalar part.
+  T a;
+
+  // The infinitesimal part.
+  //
+  // We allocate Jets on the stack and other places they might not be aligned
+  // to X(=16 [SSE], 32 [AVX] etc)-byte boundaries, which would prevent the safe
+  // use of vectorisation.  If we have C++11, we can specify the alignment.
+  // However, the standard gives wide lattitude as to what alignments are valid,
+  // and it might be that the maximum supported alignment *guaranteed* to be
+  // supported is < 16, in which case we do not specify an alignment, as this
+  // implies the host is not a modern x86 machine.  If using < C++11, we cannot
+  // specify alignment.
+#ifndef CERES_USE_CXX11
+  // Without >= C++11, we cannot specify the alignment so fall back to safe,
+  // unvectorised version.
+  Eigen::Matrix<T, N, 1, Eigen::DontAlign> v;
+#else
+  // Enable vectorisation iff the maximum supported scalar alignment is >=
+  // 16 bytes, as this is the minimum required by Eigen for any vectorisation.
+  //
+  // NOTE: It might be the case that we could get >= 16-byte alignment even if
+  //       kMaxAlignBytes < 16.  However we can't guarantee that this
+  //       would happen (and it should not for any modern x86 machine) and if it
+  //       didn't, we could get misaligned Jets.
+  static constexpr int kAlignOrNot =
+      16 <= ::ceres::port_constants::kMaxAlignBytes
+            ? Eigen::AutoAlign : Eigen::DontAlign;
+#if defined(EIGEN_MAX_ALIGN_BYTES)
+  // Eigen >= 3.3 supports AVX & FMA instructions that require 32-byte alignment
+  // (greater for AVX512).  Rather than duplicating the detection logic, use
+  // Eigen's macro for the alignment size.
+  //
+  // NOTE: EIGEN_MAX_ALIGN_BYTES can be > 16 (e.g. 32 for AVX), even though
+  //       kMaxAlignBytes will max out at 16.  We are therefore relying on
+  //       Eigen's detection logic to ensure that this does not result in
+  //       misaligned Jets.
+#define CERES_JET_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#else
+  // Eigen < 3.3 only supported 16-byte alignment.
+#define CERES_JET_ALIGN_BYTES 16
+#endif
+  // Default to the native alignment if 16-byte alignment is not guaranteed to
+  // be supported.  We cannot use alignof(T) as if we do, GCC 4.8 complains that
+  // the alignment 'is not an integer constant', although Clang accepts it.
+  static constexpr size_t kAlignment = kAlignOrNot == Eigen::AutoAlign
+            ? CERES_JET_ALIGN_BYTES : alignof(double);
+#undef CERES_JET_ALIGN_BYTES
+  alignas(kAlignment) Eigen::Matrix<T, N, 1, kAlignOrNot> v;
+#endif
+};
+
+// Unary +
+template<typename T, int N> inline
+Jet<T, N> const& operator+(const Jet<T, N>& f) {
+  return f;
+}
+
+// TODO(keir): Try adding __attribute__((always_inline)) to these functions to
+// see if it causes a performance increase.
+
+// Unary -
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>&f) {
+  return Jet<T, N>(-f.a, -f.v);
+}
+
+// Binary +
+template<typename T, int N> inline
+Jet<T, N> operator+(const Jet<T, N>& f,
+                    const Jet<T, N>& g) {
+  return Jet<T, N>(f.a + g.a, f.v + g.v);
+}
+
+// Binary + with a scalar: x + s
+template<typename T, int N> inline
+Jet<T, N> operator+(const Jet<T, N>& f, T s) {
+  return Jet<T, N>(f.a + s, f.v);
+}
+
+// Binary + with a scalar: s + x
+template<typename T, int N> inline
+Jet<T, N> operator+(T s, const Jet<T, N>& f) {
+  return Jet<T, N>(f.a + s, f.v);
+}
+
+// Binary -
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>& f,
+                    const Jet<T, N>& g) {
+  return Jet<T, N>(f.a - g.a, f.v - g.v);
+}
+
+// Binary - with a scalar: x - s
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>& f, T s) {
+  return Jet<T, N>(f.a - s, f.v);
+}
+
+// Binary - with a scalar: s - x
+template<typename T, int N> inline
+Jet<T, N> operator-(T s, const Jet<T, N>& f) {
+  return Jet<T, N>(s - f.a, -f.v);
+}
+
+// Binary *
+template<typename T, int N> inline
+Jet<T, N> operator*(const Jet<T, N>& f,
+                    const Jet<T, N>& g) {
+  return Jet<T, N>(f.a * g.a, f.a * g.v + f.v * g.a);
+}
+
+// Binary * with a scalar: x * s
+template<typename T, int N> inline
+Jet<T, N> operator*(const Jet<T, N>& f, T s) {
+  return Jet<T, N>(f.a * s, f.v * s);
+}
+
+// Binary * with a scalar: s * x
+template<typename T, int N> inline
+Jet<T, N> operator*(T s, const Jet<T, N>& f) {
+  return Jet<T, N>(f.a * s, f.v * s);
+}
+
+// Binary /
+template<typename T, int N> inline
+Jet<T, N> operator/(const Jet<T, N>& f,
+                    const Jet<T, N>& g) {
+  // This uses:
+  //
+  //   a + u   (a + u)(b - v)   (a + u)(b - v)
+  //   ----- = -------------- = --------------
+  //   b + v   (b + v)(b - v)        b^2
+  //
+  // which holds because v*v = 0.
+  const T g_a_inverse = T(1.0) / g.a;
+  const T f_a_by_g_a = f.a * g_a_inverse;
+  return Jet<T, N>(f.a * g_a_inverse, (f.v - f_a_by_g_a * g.v) * g_a_inverse);
+}
+
+// Binary / with a scalar: s / x
+template<typename T, int N> inline
+Jet<T, N> operator/(T s, const Jet<T, N>& g) {
+  const T minus_s_g_a_inverse2 = -s / (g.a * g.a);
+  return Jet<T, N>(s / g.a, g.v * minus_s_g_a_inverse2);
+}
+
+// Binary / with a scalar: x / s
+template<typename T, int N> inline
+Jet<T, N> operator/(const Jet<T, N>& f, T s) {
+  const T s_inverse = T(1.0) / s;
+  return Jet<T, N>(f.a * s_inverse, f.v * s_inverse);
+}
+
+// Binary comparison operators for both scalars and jets.
+#define CERES_DEFINE_JET_COMPARISON_OPERATOR(op) \
+template<typename T, int N> inline \
+bool operator op(const Jet<T, N>& f, const Jet<T, N>& g) { \
+  return f.a op g.a; \
+} \
+template<typename T, int N> inline \
+bool operator op(const T& s, const Jet<T, N>& g) { \
+  return s op g.a; \
+} \
+template<typename T, int N> inline \
+bool operator op(const Jet<T, N>& f, const T& s) { \
+  return f.a op s; \
+}
+CERES_DEFINE_JET_COMPARISON_OPERATOR( <  )  // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( <= )  // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( >  )  // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( >= )  // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( == )  // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( != )  // NOLINT
+#undef CERES_DEFINE_JET_COMPARISON_OPERATOR
+
+// Pull some functions from namespace std.
+//
+// This is necessary because we want to use the same name (e.g. 'sqrt') for
+// double-valued and Jet-valued functions, but we are not allowed to put
+// Jet-valued functions inside namespace std.
+//
+// TODO(keir): Switch to "using".
+inline double abs     (double x) { return std::abs(x);      }
+inline double log     (double x) { return std::log(x);      }
+inline double exp     (double x) { return std::exp(x);      }
+inline double sqrt    (double x) { return std::sqrt(x);     }
+inline double cos     (double x) { return std::cos(x);      }
+inline double acos    (double x) { return std::acos(x);     }
+inline double sin     (double x) { return std::sin(x);      }
+inline double asin    (double x) { return std::asin(x);     }
+inline double tan     (double x) { return std::tan(x);      }
+inline double atan    (double x) { return std::atan(x);     }
+inline double sinh    (double x) { return std::sinh(x);     }
+inline double cosh    (double x) { return std::cosh(x);     }
+inline double tanh    (double x) { return std::tanh(x);     }
+inline double floor   (double x) { return std::floor(x);    }
+inline double ceil    (double x) { return std::ceil(x);     }
+inline double pow  (double x, double y) { return std::pow(x, y);   }
+inline double atan2(double y, double x) { return std::atan2(y, x); }
+
+// In general, f(a + h) ~= f(a) + f'(a) h, via the chain rule.
+
+// abs(x + h) ~= x + h or -(x + h)
+template <typename T, int N> inline
+Jet<T, N> abs(const Jet<T, N>& f) {
+  return f.a < T(0.0) ? -f : f;
+}
+
+// log(a + h) ~= log(a) + h / a
+template <typename T, int N> inline
+Jet<T, N> log(const Jet<T, N>& f) {
+  const T a_inverse = T(1.0) / f.a;
+  return Jet<T, N>(log(f.a), f.v * a_inverse);
+}
+
+// exp(a + h) ~= exp(a) + exp(a) h
+template <typename T, int N> inline
+Jet<T, N> exp(const Jet<T, N>& f) {
+  const T tmp = exp(f.a);
+  return Jet<T, N>(tmp, tmp * f.v);
+}
+
+// sqrt(a + h) ~= sqrt(a) + h / (2 sqrt(a))
+template <typename T, int N> inline
+Jet<T, N> sqrt(const Jet<T, N>& f) {
+  const T tmp = sqrt(f.a);
+  const T two_a_inverse = T(1.0) / (T(2.0) * tmp);
+  return Jet<T, N>(tmp, f.v * two_a_inverse);
+}
+
+// cos(a + h) ~= cos(a) - sin(a) h
+template <typename T, int N> inline
+Jet<T, N> cos(const Jet<T, N>& f) {
+  return Jet<T, N>(cos(f.a), - sin(f.a) * f.v);
+}
+
+// acos(a + h) ~= acos(a) - 1 / sqrt(1 - a^2) h
+template <typename T, int N> inline
+Jet<T, N> acos(const Jet<T, N>& f) {
+  const T tmp = - T(1.0) / sqrt(T(1.0) - f.a * f.a);
+  return Jet<T, N>(acos(f.a), tmp * f.v);
+}
+
+// sin(a + h) ~= sin(a) + cos(a) h
+template <typename T, int N> inline
+Jet<T, N> sin(const Jet<T, N>& f) {
+  return Jet<T, N>(sin(f.a), cos(f.a) * f.v);
+}
+
+// asin(a + h) ~= asin(a) + 1 / sqrt(1 - a^2) h
+template <typename T, int N> inline
+Jet<T, N> asin(const Jet<T, N>& f) {
+  const T tmp = T(1.0) / sqrt(T(1.0) - f.a * f.a);
+  return Jet<T, N>(asin(f.a), tmp * f.v);
+}
+
+// tan(a + h) ~= tan(a) + (1 + tan(a)^2) h
+template <typename T, int N> inline
+Jet<T, N> tan(const Jet<T, N>& f) {
+  const T tan_a = tan(f.a);
+  const T tmp = T(1.0) + tan_a * tan_a;
+  return Jet<T, N>(tan_a, tmp * f.v);
+}
+
+// atan(a + h) ~= atan(a) + 1 / (1 + a^2) h
+template <typename T, int N> inline
+Jet<T, N> atan(const Jet<T, N>& f) {
+  const T tmp = T(1.0) / (T(1.0) + f.a * f.a);
+  return Jet<T, N>(atan(f.a), tmp * f.v);
+}
+
+// sinh(a + h) ~= sinh(a) + cosh(a) h
+template <typename T, int N> inline
+Jet<T, N> sinh(const Jet<T, N>& f) {
+  return Jet<T, N>(sinh(f.a), cosh(f.a) * f.v);
+}
+
+// cosh(a + h) ~= cosh(a) + sinh(a) h
+template <typename T, int N> inline
+Jet<T, N> cosh(const Jet<T, N>& f) {
+  return Jet<T, N>(cosh(f.a), sinh(f.a) * f.v);
+}
+
+// tanh(a + h) ~= tanh(a) + (1 - tanh(a)^2) h
+template <typename T, int N> inline
+Jet<T, N> tanh(const Jet<T, N>& f) {
+  const T tanh_a = tanh(f.a);
+  const T tmp = T(1.0) - tanh_a * tanh_a;
+  return Jet<T, N>(tanh_a, tmp * f.v);
+}
+
+// The floor function should be used with extreme care as this operation will
+// result in a zero derivative which provides no information to the solver.
+//
+// floor(a + h) ~= floor(a) + 0
+template <typename T, int N> inline
+Jet<T, N> floor(const Jet<T, N>& f) {
+  return Jet<T, N>(floor(f.a));
+}
+
+// The ceil function should be used with extreme care as this operation will
+// result in a zero derivative which provides no information to the solver.
+//
+// ceil(a + h) ~= ceil(a) + 0
+template <typename T, int N> inline
+Jet<T, N> ceil(const Jet<T, N>& f) {
+  return Jet<T, N>(ceil(f.a));
+}
+
+// Bessel functions of the first kind with integer order equal to 0, 1, n.
+//
+// Microsoft has deprecated the j[0,1,n]() POSIX Bessel functions in favour of
+// _j[0,1,n]().  Where available on MSVC, use _j[0,1,n]() to avoid deprecated
+// function errors in client code (the specific warning is suppressed when
+// Ceres itself is built).
+inline double BesselJ0(double x) {
+#if defined(CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+  return _j0(x);
+#else
+  return j0(x);
+#endif
+}
+inline double BesselJ1(double x) {
+#if defined(CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+  return _j1(x);
+#else
+  return j1(x);
+#endif
+}
+inline double BesselJn(int n, double x) {
+#if defined(CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
+  return _jn(n, x);
+#else
+  return jn(n, x);
+#endif
+}
+
+// For the formulae of the derivatives of the Bessel functions see the book:
+// Olver, Lozier, Boisvert, Clark, NIST Handbook of Mathematical Functions,
+// Cambridge University Press 2010.
+//
+// Formulae are also available at http://dlmf.nist.gov
+
+// See formula http://dlmf.nist.gov/10.6#E3
+// j0(a + h) ~= j0(a) - j1(a) h
+template <typename T, int N> inline
+Jet<T, N> BesselJ0(const Jet<T, N>& f) {
+  return Jet<T, N>(BesselJ0(f.a),
+                   -BesselJ1(f.a) * f.v);
+}
+
+// See formula http://dlmf.nist.gov/10.6#E1
+// j1(a + h) ~= j1(a) + 0.5 ( j0(a) - j2(a) ) h
+template <typename T, int N> inline
+Jet<T, N> BesselJ1(const Jet<T, N>& f) {
+  return Jet<T, N>(BesselJ1(f.a),
+                   T(0.5) * (BesselJ0(f.a) - BesselJn(2, f.a)) * f.v);
+}
+
+// See formula http://dlmf.nist.gov/10.6#E1
+// j_n(a + h) ~= j_n(a) + 0.5 ( j_{n-1}(a) - j_{n+1}(a) ) h
+template <typename T, int N> inline
+Jet<T, N> BesselJn(int n, const Jet<T, N>& f) {
+  return Jet<T, N>(BesselJn(n, f.a),
+                   T(0.5) * (BesselJn(n - 1, f.a) - BesselJn(n + 1, f.a)) * f.v);
+}
+
+// Jet Classification. It is not clear what the appropriate semantics are for
+// these classifications. This picks that IsFinite and isnormal are "all"
+// operations, i.e. all elements of the jet must be finite for the jet itself
+// to be finite (or normal). For IsNaN and IsInfinite, the answer is less
+// clear. This takes a "any" approach for IsNaN and IsInfinite such that if any
+// part of a jet is nan or inf, then the entire jet is nan or inf. This leads
+// to strange situations like a jet can be both IsInfinite and IsNaN, but in
+// practice the "any" semantics are the most useful for e.g. checking that
+// derivatives are sane.
+
+// The jet is finite if all parts of the jet are finite.
+template <typename T, int N> inline
+bool IsFinite(const Jet<T, N>& f) {
+  if (!IsFinite(f.a)) {
+    return false;
+  }
+  for (int i = 0; i < N; ++i) {
+    if (!IsFinite(f.v[i])) {
+      return false;
+    }
+  }
+  return true;
+}
+
+// The jet is infinite if any part of the jet is infinite.
+template <typename T, int N> inline
+bool IsInfinite(const Jet<T, N>& f) {
+  if (IsInfinite(f.a)) {
+    return true;
+  }
+  for (int i = 0; i < N; i++) {
+    if (IsInfinite(f.v[i])) {
+      return true;
+    }
+  }
+  return false;
+}
+
+// The jet is NaN if any part of the jet is NaN.
+template <typename T, int N> inline
+bool IsNaN(const Jet<T, N>& f) {
+  if (IsNaN(f.a)) {
+    return true;
+  }
+  for (int i = 0; i < N; ++i) {
+    if (IsNaN(f.v[i])) {
+      return true;
+    }
+  }
+  return false;
+}
+
+// The jet is normal if all parts of the jet are normal.
+template <typename T, int N> inline
+bool IsNormal(const Jet<T, N>& f) {
+  if (!IsNormal(f.a)) {
+    return false;
+  }
+  for (int i = 0; i < N; ++i) {
+    if (!IsNormal(f.v[i])) {
+      return false;
+    }
+  }
+  return true;
+}
+
+// atan2(b + db, a + da) ~= atan2(b, a) + (- b da + a db) / (a^2 + b^2)
+//
+// In words: the rate of change of theta is 1/r times the rate of
+// change of (x, y) in the positive angular direction.
+template <typename T, int N> inline
+Jet<T, N> atan2(const Jet<T, N>& g, const Jet<T, N>& f) {
+  // Note order of arguments:
+  //
+  //   f = a + da
+  //   g = b + db
+
+  T const tmp = T(1.0) / (f.a * f.a + g.a * g.a);
+  return Jet<T, N>(atan2(g.a, f.a), tmp * (- g.a * f.v + f.a * g.v));
+}
+
+
+// pow -- base is a differentiable function, exponent is a constant.
+// (a+da)^p ~= a^p + p*a^(p-1) da
+template <typename T, int N> inline
+Jet<T, N> pow(const Jet<T, N>& f, double g) {
+  T const tmp = g * pow(f.a, g - T(1.0));
+  return Jet<T, N>(pow(f.a, g), tmp * f.v);
+}
+
+// pow -- base is a constant, exponent is a differentiable function.
+// We have various special cases, see the comment for pow(Jet, Jet) for
+// analysis:
+//
+// 1. For f > 0 we have: (f)^(g + dg) ~= f^g + f^g log(f) dg
+//
+// 2. For f == 0 and g > 0 we have: (f)^(g + dg) ~= f^g
+//
+// 3. For f < 0 and integer g we have: (f)^(g + dg) ~= f^g but if dg
+// != 0, the derivatives are not defined and we return NaN.
+
+template <typename T, int N> inline
+Jet<T, N> pow(double f, const Jet<T, N>& g) {
+  if (f == 0 && g.a > 0) {
+    // Handle case 2.
+    return Jet<T, N>(T(0.0));
+  }
+  if (f < 0 && g.a == floor(g.a)) {
+    // Handle case 3.
+    Jet<T, N> ret(pow(f, g.a));
+    for (int i = 0; i < N; i++) {
+      if (g.v[i] != T(0.0)) {
+        // Return a NaN when g.v != 0.
+        ret.v[i] = std::numeric_limits<T>::quiet_NaN();
+      }
+    }
+    return ret;
+  }
+  // Handle case 1.
+  T const tmp = pow(f, g.a);
+  return Jet<T, N>(tmp, log(f) * tmp * g.v);
+}
+
+// pow -- both base and exponent are differentiable functions. This has a
+// variety of special cases that require careful handling.
+//
+// 1. For f > 0:
+//    (f + df)^(g + dg) ~= f^g + f^(g - 1) * (g * df + f * log(f) * dg)
+//    The numerical evaluation of f * log(f) for f > 0 is well behaved, even for
+//    extremely small values (e.g. 1e-99).
+//
+// 2. For f == 0 and g > 1: (f + df)^(g + dg) ~= 0
+//    This cases is needed because log(0) can not be evaluated in the f > 0
+//    expression. However the function f*log(f) is well behaved around f == 0
+//    and its limit as f-->0 is zero.
+//
+// 3. For f == 0 and g == 1: (f + df)^(g + dg) ~= 0 + df
+//
+// 4. For f == 0 and 0 < g < 1: The value is finite but the derivatives are not.
+//
+// 5. For f == 0 and g < 0: The value and derivatives of f^g are not finite.
+//
+// 6. For f == 0 and g == 0: The C standard incorrectly defines 0^0 to be 1
+//    "because there are applications that can exploit this definition". We
+//    (arbitrarily) decree that derivatives here will be nonfinite, since that
+//    is consistent with the behavior for f == 0, g < 0 and 0 < g < 1.
+//    Practically any definition could have been justified because mathematical
+//    consistency has been lost at this point.
+//
+// 7. For f < 0, g integer, dg == 0: (f + df)^(g + dg) ~= f^g + g * f^(g - 1) df
+//    This is equivalent to the case where f is a differentiable function and g
+//    is a constant (to first order).
+//
+// 8. For f < 0, g integer, dg != 0: The value is finite but the derivatives are
+//    not, because any change in the value of g moves us away from the point
+//    with a real-valued answer into the region with complex-valued answers.
+//
+// 9. For f < 0, g noninteger: The value and derivatives of f^g are not finite.
+
+template <typename T, int N> inline
+Jet<T, N> pow(const Jet<T, N>& f, const Jet<T, N>& g) {
+  if (f.a == 0 && g.a >= 1) {
+    // Handle cases 2 and 3.
+    if (g.a > 1) {
+      return Jet<T, N>(T(0.0));
+    }
+    return f;
+  }
+  if (f.a < 0 && g.a == floor(g.a)) {
+    // Handle cases 7 and 8.
+    T const tmp = g.a * pow(f.a, g.a - T(1.0));
+    Jet<T, N> ret(pow(f.a, g.a), tmp * f.v);
+    for (int i = 0; i < N; i++) {
+      if (g.v[i] != T(0.0)) {
+        // Return a NaN when g.v != 0.
+        ret.v[i] = std::numeric_limits<T>::quiet_NaN();
+      }
+    }
+    return ret;
+  }
+  // Handle the remaining cases. For cases 4,5,6,9 we allow the log() function
+  // to generate -HUGE_VAL or NaN, since those cases result in a nonfinite
+  // derivative.
+  T const tmp1 = pow(f.a, g.a);
+  T const tmp2 = g.a * pow(f.a, g.a - T(1.0));
+  T const tmp3 = tmp1 * log(f.a);
+  return Jet<T, N>(tmp1, tmp2 * f.v + tmp3 * g.v);
+}
+
+// Define the helper functions Eigen needs to embed Jet types.
+//
+// NOTE(keir): machine_epsilon() and precision() are missing, because they don't
+// work with nested template types (e.g. where the scalar is itself templated).
+// Among other things, this means that decompositions of Jet's does not work,
+// for example
+//
+//   Matrix<Jet<T, N> ... > A, x, b;
+//   ...
+//   A.solve(b, &x)
+//
+// does not work and will fail with a strange compiler error.
+//
+// TODO(keir): This is an Eigen 2.0 limitation that is lifted in 3.0. When we
+// switch to 3.0, also add the rest of the specialization functionality.
+template<typename T, int N> inline const Jet<T, N>& ei_conj(const Jet<T, N>& x) { return x;              }  // NOLINT
+template<typename T, int N> inline const Jet<T, N>& ei_real(const Jet<T, N>& x) { return x;              }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_imag(const Jet<T, N>&  ) { return Jet<T, N>(0.0); }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_abs (const Jet<T, N>& x) { return fabs(x);        }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_abs2(const Jet<T, N>& x) { return x * x;          }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_sqrt(const Jet<T, N>& x) { return sqrt(x);        }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_exp (const Jet<T, N>& x) { return exp(x);         }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_log (const Jet<T, N>& x) { return log(x);         }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_sin (const Jet<T, N>& x) { return sin(x);         }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_cos (const Jet<T, N>& x) { return cos(x);         }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_tan (const Jet<T, N>& x) { return tan(x);         }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_atan(const Jet<T, N>& x) { return atan(x);        }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_sinh(const Jet<T, N>& x) { return sinh(x);        }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_cosh(const Jet<T, N>& x) { return cosh(x);        }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_tanh(const Jet<T, N>& x) { return tanh(x);        }  // NOLINT
+template<typename T, int N> inline       Jet<T, N>  ei_pow (const Jet<T, N>& x, Jet<T, N> y) { return pow(x, y); }  // NOLINT
+
+// Note: This has to be in the ceres namespace for argument dependent lookup to
+// function correctly. Otherwise statements like CHECK_LE(x, 2.0) fail with
+// strange compile errors.
+template <typename T, int N>
+inline std::ostream &operator<<(std::ostream &s, const Jet<T, N>& z) {
+  s << "[" << z.a << " ; ";
+  for (int i = 0; i < N; ++i) {
+    s << z.v[i];
+    if (i != N - 1) {
+      s << ", ";
+    }
+  }
+  s << "]";
+  return s;
+}
+
+}  // namespace ceres
+
+namespace Eigen {
+
+// Creating a specialization of NumTraits enables placing Jet objects inside
+// Eigen arrays, getting all the goodness of Eigen combined with autodiff.
+template<typename T, int N>
+struct NumTraits<ceres::Jet<T, N> > {
+  typedef ceres::Jet<T, N> Real;
+  typedef ceres::Jet<T, N> NonInteger;
+  typedef ceres::Jet<T, N> Nested;
+  typedef ceres::Jet<T, N> Literal;
+
+  static typename ceres::Jet<T, N> dummy_precision() {
+    return ceres::Jet<T, N>(1e-12);
+  }
+
+  static inline Real epsilon() {
+    return Real(std::numeric_limits<T>::epsilon());
+  }
+
+  static inline int digits10() { return NumTraits<T>::digits10(); }
+
+  enum {
+    IsComplex = 0,
+    IsInteger = 0,
+    IsSigned,
+    ReadCost = 1,
+    AddCost = 1,
+    // For Jet types, multiplication is more expensive than addition.
+    MulCost = 3,
+    HasFloatingPoint = 1,
+    RequireInitialization = 1
+  };
+
+  template<bool Vectorized>
+  struct Div {
+    enum {
+#if defined(EIGEN_VECTORIZE_AVX)
+      AVX = true,
+#else
+      AVX = false,
+#endif
+
+      // Assuming that for Jets, division is as expensive as
+      // multiplication.
+      Cost = 3
+    };
+  };
+};
+
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
+// Specifying the return type of binary operations between Jets and scalar types
+// allows you to perform matrix/array operations with Eigen matrices and arrays
+// such as addition, subtraction, multiplication, and division where one Eigen
+// matrix/array is of type Jet and the other is a scalar type. This improves
+// performance by using the optimized scalar-to-Jet binary operations but
+// is only available on Eigen versions >= 3.3
+template <typename BinaryOp, typename T, int N>
+struct ScalarBinaryOpTraits<ceres::Jet<T, N>, T, BinaryOp> {
+  typedef ceres::Jet<T, N> ReturnType;
+};
+template <typename BinaryOp, typename T, int N>
+struct ScalarBinaryOpTraits<T, ceres::Jet<T, N>, BinaryOp> {
+  typedef ceres::Jet<T, N> ReturnType;
+};
+#endif  // EIGEN_VERSION_AT_LEAST(3, 3, 0)
+
+}  // namespace Eigen
+
+#endif  // CERES_PUBLIC_JET_H_
diff --git a/include/ceres/local_parameterization.h b/include/ceres/local_parameterization.h
new file mode 100644
index 0000000..8a4ca56
--- /dev/null
+++ b/include/ceres/local_parameterization.h
@@ -0,0 +1,323 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
+#define CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// Purpose: Sometimes parameter blocks x can overparameterize a problem
+//
+//   min f(x)
+//    x
+//
+// In that case it is desirable to choose a parameterization for the
+// block itself to remove the null directions of the cost. More
+// generally, if x lies on a manifold of a smaller dimension than the
+// ambient space that it is embedded in, then it is numerically and
+// computationally more effective to optimize it using a
+// parameterization that lives in the tangent space of that manifold
+// at each point.
+//
+// For example, a sphere in three dimensions is a 2 dimensional
+// manifold, embedded in a three dimensional space. At each point on
+// the sphere, the plane tangent to it defines a two dimensional
+// tangent space. For a cost function defined on this sphere, given a
+// point x, moving in the direction normal to the sphere at that point
+// is not useful. Thus a better way to do a local optimization is to
+// optimize over two dimensional vector delta in the tangent space at
+// that point and then "move" to the point x + delta, where the move
+// operation involves projecting back onto the sphere. Doing so
+// removes a redundent dimension from the optimization, making it
+// numerically more robust and efficient.
+//
+// More generally we can define a function
+//
+//   x_plus_delta = Plus(x, delta),
+//
+// where x_plus_delta has the same size as x, and delta is of size
+// less than or equal to x. The function Plus, generalizes the
+// definition of vector addition. Thus it satisfies the identify
+//
+//   Plus(x, 0) = x, for all x.
+//
+// A trivial version of Plus is when delta is of the same size as x
+// and
+//
+//   Plus(x, delta) = x + delta
+//
+// A more interesting case if x is two dimensional vector, and the
+// user wishes to hold the first coordinate constant. Then, delta is a
+// scalar and Plus is defined as
+//
+//   Plus(x, delta) = x + [0] * delta
+//                        [1]
+//
+// An example that occurs commonly in Structure from Motion problems
+// is when camera rotations are parameterized using Quaternion. There,
+// it is useful only make updates orthogonal to that 4-vector defining
+// the quaternion. One way to do this is to let delta be a 3
+// dimensional vector and define Plus to be
+//
+//   Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
+//
+// The multiplication between the two 4-vectors on the RHS is the
+// standard quaternion product.
+//
+// Given g and a point x, optimizing f can now be restated as
+//
+//     min  f(Plus(x, delta))
+//    delta
+//
+// Given a solution delta to this problem, the optimal value is then
+// given by
+//
+//   x* = Plus(x, delta)
+//
+// The class LocalParameterization defines the function Plus and its
+// Jacobian which is needed to compute the Jacobian of f w.r.t delta.
+class CERES_EXPORT LocalParameterization {
+ public:
+  virtual ~LocalParameterization();
+
+  // Generalization of the addition operation,
+  //
+  //   x_plus_delta = Plus(x, delta)
+  //
+  // with the condition that Plus(x, 0) = x.
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const = 0;
+
+  // The jacobian of Plus(x, delta) w.r.t delta at delta = 0.
+  //
+  // jacobian is a row-major GlobalSize() x LocalSize() matrix.
+  virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0;
+
+  // local_matrix = global_matrix * jacobian
+  //
+  // global_matrix is a num_rows x GlobalSize  row major matrix.
+  // local_matrix is a num_rows x LocalSize row major matrix.
+  // jacobian(x) is the matrix returned by ComputeJacobian at x.
+  //
+  // This is only used by GradientProblem. For most normal uses, it is
+  // okay to use the default implementation.
+  virtual bool MultiplyByJacobian(const double* x,
+                                  const int num_rows,
+                                  const double* global_matrix,
+                                  double* local_matrix) const;
+
+  // Size of x.
+  virtual int GlobalSize() const = 0;
+
+  // Size of delta.
+  virtual int LocalSize() const = 0;
+};
+
+// Some basic parameterizations
+
+// Identity Parameterization: Plus(x, delta) = x + delta
+class CERES_EXPORT IdentityParameterization : public LocalParameterization {
+ public:
+  explicit IdentityParameterization(int size);
+  virtual ~IdentityParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const;
+  virtual bool ComputeJacobian(const double* x,
+                               double* jacobian) const;
+  virtual bool MultiplyByJacobian(const double* x,
+                                  const int num_cols,
+                                  const double* global_matrix,
+                                  double* local_matrix) const;
+  virtual int GlobalSize() const { return size_; }
+  virtual int LocalSize() const { return size_; }
+
+ private:
+  const int size_;
+};
+
+// Hold a subset of the parameters inside a parameter block constant.
+class CERES_EXPORT SubsetParameterization : public LocalParameterization {
+ public:
+  explicit SubsetParameterization(int size,
+                                  const std::vector<int>& constant_parameters);
+  virtual ~SubsetParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const;
+  virtual bool ComputeJacobian(const double* x,
+                               double* jacobian) const;
+  virtual bool MultiplyByJacobian(const double* x,
+                                  const int num_cols,
+                                  const double* global_matrix,
+                                  double* local_matrix) const;
+  virtual int GlobalSize() const {
+    return static_cast<int>(constancy_mask_.size());
+  }
+  virtual int LocalSize() const { return local_size_; }
+
+ private:
+  const int local_size_;
+  std::vector<char> constancy_mask_;
+};
+
+// Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
+// with * being the quaternion multiplication operator. Here we assume
+// that the first element of the quaternion vector is the real (cos
+// theta) part.
+class CERES_EXPORT QuaternionParameterization : public LocalParameterization {
+ public:
+  virtual ~QuaternionParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const;
+  virtual bool ComputeJacobian(const double* x,
+                               double* jacobian) const;
+  virtual int GlobalSize() const { return 4; }
+  virtual int LocalSize() const { return 3; }
+};
+
+// Implements the quaternion local parameterization for Eigen's representation
+// of the quaternion. Eigen uses a different internal memory layout for the
+// elements of the quaternion than what is commonly used. Specifically, Eigen
+// stores the elements in memory as [x, y, z, w] where the real part is last
+// whereas it is typically stored first. Note, when creating an Eigen quaternion
+// through the constructor the elements are accepted in w, x, y, z order. Since
+// Ceres operates on parameter blocks which are raw double pointers this
+// difference is important and requires a different parameterization.
+//
+// Plus(x, delta) = [sin(|delta|) delta / |delta|, cos(|delta|)] * x
+// with * being the quaternion multiplication operator.
+class CERES_EXPORT EigenQuaternionParameterization
+    : public ceres::LocalParameterization {
+ public:
+  virtual ~EigenQuaternionParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const;
+  virtual bool ComputeJacobian(const double* x, double* jacobian) const;
+  virtual int GlobalSize() const { return 4; }
+  virtual int LocalSize() const { return 3; }
+};
+
+// This provides a parameterization for homogeneous vectors which are commonly
+// used in Structure for Motion problems.  One example where they are used is
+// in representing points whose triangulation is ill-conditioned. Here
+// it is advantageous to use an over-parameterization since homogeneous vectors
+// can represent points at infinity.
+//
+// The plus operator is defined as
+// Plus(x, delta) =
+//    [sin(0.5 * |delta|) * delta / |delta|, cos(0.5 * |delta|)] * x
+// with * defined as an operator which applies the update orthogonal to x to
+// remain on the sphere. We assume that the last element of x is the scalar
+// component. The size of the homogeneous vector is required to be greater than
+// 1.
+class CERES_EXPORT HomogeneousVectorParameterization :
+      public LocalParameterization {
+ public:
+  explicit HomogeneousVectorParameterization(int size);
+  virtual ~HomogeneousVectorParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const;
+  virtual bool ComputeJacobian(const double* x,
+                               double* jacobian) const;
+  virtual int GlobalSize() const { return size_; }
+  virtual int LocalSize() const { return size_ - 1; }
+
+ private:
+  const int size_;
+};
+
+// Construct a local parameterization by taking the Cartesian product
+// of a number of other local parameterizations. This is useful, when
+// a parameter block is the cartesian product of two or more
+// manifolds. For example the parameters of a camera consist of a
+// rotation and a translation, i.e., SO(3) x R^3.
+//
+// Currently this class supports taking the cartesian product of up to
+// four local parameterizations.
+//
+// Example usage:
+//
+// ProductParameterization product_param(new QuaterionionParameterization(),
+//                                       new IdentityParameterization(3));
+//
+// is the local parameterization for a rigid transformation, where the
+// rotation is represented using a quaternion.
+class CERES_EXPORT ProductParameterization : public LocalParameterization {
+ public:
+  //
+  // NOTE: All the constructors take ownership of the input local
+  // parameterizations.
+  //
+  ProductParameterization(LocalParameterization* local_param1,
+                          LocalParameterization* local_param2);
+
+  ProductParameterization(LocalParameterization* local_param1,
+                          LocalParameterization* local_param2,
+                          LocalParameterization* local_param3);
+
+  ProductParameterization(LocalParameterization* local_param1,
+                          LocalParameterization* local_param2,
+                          LocalParameterization* local_param3,
+                          LocalParameterization* local_param4);
+
+  virtual ~ProductParameterization();
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const;
+  virtual bool ComputeJacobian(const double* x,
+                               double* jacobian) const;
+  virtual int GlobalSize() const { return global_size_; }
+  virtual int LocalSize() const { return local_size_; }
+
+ private:
+  void Init();
+
+  std::vector<LocalParameterization*> local_params_;
+  int local_size_;
+  int global_size_;
+  int buffer_size_;
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
diff --git a/include/ceres/loss_function.h b/include/ceres/loss_function.h
new file mode 100644
index 0000000..0512c13
--- /dev/null
+++ b/include/ceres/loss_function.h
@@ -0,0 +1,428 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// The LossFunction interface is the way users describe how residuals
+// are converted to cost terms for the overall problem cost function.
+// For the exact manner in which loss functions are converted to the
+// overall cost for a problem, see problem.h.
+//
+// For least squares problem where there are no outliers and standard
+// squared loss is expected, it is not necessary to create a loss
+// function; instead passing a NULL to the problem when adding
+// residuals implies a standard squared loss.
+//
+// For least squares problems where the minimization may encounter
+// input terms that contain outliers, that is, completely bogus
+// measurements, it is important to use a loss function that reduces
+// their associated penalty.
+//
+// Consider a structure from motion problem. The unknowns are 3D
+// points and camera parameters, and the measurements are image
+// coordinates describing the expected reprojected position for a
+// point in a camera. For example, we want to model the geometry of a
+// street scene with fire hydrants and cars, observed by a moving
+// camera with unknown parameters, and the only 3D points we care
+// about are the pointy tippy-tops of the fire hydrants. Our magic
+// image processing algorithm, which is responsible for producing the
+// measurements that are input to Ceres, has found and matched all
+// such tippy-tops in all image frames, except that in one of the
+// frame it mistook a car's headlight for a hydrant. If we didn't do
+// anything special (i.e. if we used a basic quadratic loss), the
+// residual for the erroneous measurement will result in extreme error
+// due to the quadratic nature of squared loss. This results in the
+// entire solution getting pulled away from the optimimum to reduce
+// the large error that would otherwise be attributed to the wrong
+// measurement.
+//
+// Using a robust loss function, the cost for large residuals is
+// reduced. In the example above, this leads to outlier terms getting
+// downweighted so they do not overly influence the final solution.
+//
+// What cost function is best?
+//
+// In general, there isn't a principled way to select a robust loss
+// function. The authors suggest starting with a non-robust cost, then
+// only experimenting with robust loss functions if standard squared
+// loss doesn't work.
+
+#ifndef CERES_PUBLIC_LOSS_FUNCTION_H_
+#define CERES_PUBLIC_LOSS_FUNCTION_H_
+
+#include "glog/logging.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class CERES_EXPORT LossFunction {
+ public:
+  virtual ~LossFunction() {}
+
+  // For a residual vector with squared 2-norm 'sq_norm', this method
+  // is required to fill in the value and derivatives of the loss
+  // function (rho in this example):
+  //
+  //   out[0] = rho(sq_norm),
+  //   out[1] = rho'(sq_norm),
+  //   out[2] = rho''(sq_norm),
+  //
+  // Here the convention is that the contribution of a term to the
+  // cost function is given by 1/2 rho(s),  where
+  //
+  //   s = ||residuals||^2.
+  //
+  // Calling the method with a negative value of 's' is an error and
+  // the implementations are not required to handle that case.
+  //
+  // Most sane choices of rho() satisfy:
+  //
+  //   rho(0) = 0,
+  //   rho'(0) = 1,
+  //   rho'(s) < 1 in outlier region,
+  //   rho''(s) < 0 in outlier region,
+  //
+  // so that they mimic the least squares cost for small residuals.
+  virtual void Evaluate(double sq_norm, double out[3]) const = 0;
+};
+
+// Some common implementations follow below.
+//
+// Note: in the region of interest (i.e. s < 3) we have:
+//   TrivialLoss >= HuberLoss >= SoftLOneLoss >= CauchyLoss
+
+
+// This corresponds to no robustification.
+//
+//   rho(s) = s
+//
+// At s = 0: rho = [0, 1, 0].
+//
+// It is not normally necessary to use this, as passing NULL for the
+// loss function when building the problem accomplishes the same
+// thing.
+class CERES_EXPORT TrivialLoss : public LossFunction {
+ public:
+  virtual void Evaluate(double, double*) const;
+};
+
+// Scaling
+// -------
+// Given one robustifier
+//   s -> rho(s)
+// one can change the length scale at which robustification takes
+// place, by adding a scale factor 'a' as follows:
+//
+//   s -> a^2 rho(s / a^2).
+//
+// The first and second derivatives are:
+//
+//   s -> rho'(s / a^2),
+//   s -> (1 / a^2) rho''(s / a^2),
+//
+// but the behaviour near s = 0 is the same as the original function,
+// i.e.
+//
+//   rho(s) = s + higher order terms,
+//   a^2 rho(s / a^2) = s + higher order terms.
+//
+// The scalar 'a' should be positive.
+//
+// The reason for the appearance of squaring is that 'a' is in the
+// units of the residual vector norm whereas 's' is a squared
+// norm. For applications it is more convenient to specify 'a' than
+// its square. The commonly used robustifiers below are described in
+// un-scaled format (a = 1) but their implementations work for any
+// non-zero value of 'a'.
+
+// Huber.
+//
+//   rho(s) = s               for s <= 1,
+//   rho(s) = 2 sqrt(s) - 1   for s >= 1.
+//
+// At s = 0: rho = [0, 1, 0].
+//
+// The scaling parameter 'a' corresponds to 'delta' on this page:
+//   http://en.wikipedia.org/wiki/Huber_Loss_Function
+class CERES_EXPORT HuberLoss : public LossFunction {
+ public:
+  explicit HuberLoss(double a) : a_(a), b_(a * a) { }
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  const double a_;
+  // b = a^2.
+  const double b_;
+};
+
+// Soft L1, similar to Huber but smooth.
+//
+//   rho(s) = 2 (sqrt(1 + s) - 1).
+//
+// At s = 0: rho = [0, 1, -1/2].
+class CERES_EXPORT SoftLOneLoss : public LossFunction {
+ public:
+  explicit SoftLOneLoss(double a) : b_(a * a), c_(1 / b_) { }
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  // b = a^2.
+  const double b_;
+  // c = 1 / a^2.
+  const double c_;
+};
+
+// Inspired by the Cauchy distribution
+//
+//   rho(s) = log(1 + s).
+//
+// At s = 0: rho = [0, 1, -1].
+class CERES_EXPORT CauchyLoss : public LossFunction {
+ public:
+  explicit CauchyLoss(double a) : b_(a * a), c_(1 / b_) { }
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  // b = a^2.
+  const double b_;
+  // c = 1 / a^2.
+  const double c_;
+};
+
+// Loss that is capped beyond a certain level using the arc-tangent function.
+// The scaling parameter 'a' determines the level where falloff occurs.
+// For costs much smaller than 'a', the loss function is linear and behaves like
+// TrivialLoss, and for values much larger than 'a' the value asymptotically
+// approaches the constant value of a * PI / 2.
+//
+//   rho(s) = a atan(s / a).
+//
+// At s = 0: rho = [0, 1, 0].
+class CERES_EXPORT ArctanLoss : public LossFunction {
+ public:
+  explicit ArctanLoss(double a) : a_(a), b_(1 / (a * a)) { }
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  const double a_;
+  // b = 1 / a^2.
+  const double b_;
+};
+
+// Loss function that maps to approximately zero cost in a range around the
+// origin, and reverts to linear in error (quadratic in cost) beyond this range.
+// The tolerance parameter 'a' sets the nominal point at which the
+// transition occurs, and the transition size parameter 'b' sets the nominal
+// distance over which most of the transition occurs. Both a and b must be
+// greater than zero, and typically b will be set to a fraction of a.
+// The slope rho'[s] varies smoothly from about 0 at s <= a - b to
+// about 1 at s >= a + b.
+//
+// The term is computed as:
+//
+//   rho(s) = b log(1 + exp((s - a) / b)) - c0.
+//
+// where c0 is chosen so that rho(0) == 0
+//
+//   c0 = b log(1 + exp(-a / b)
+//
+// This has the following useful properties:
+//
+//   rho(s) == 0               for s = 0
+//   rho'(s) ~= 0              for s << a - b
+//   rho'(s) ~= 1              for s >> a + b
+//   rho''(s) > 0              for all s
+//
+// In addition, all derivatives are continuous, and the curvature is
+// concentrated in the range a - b to a + b.
+//
+// At s = 0: rho = [0, ~0, ~0].
+class CERES_EXPORT TolerantLoss : public LossFunction {
+ public:
+  explicit TolerantLoss(double a, double b);
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  const double a_, b_, c_;
+};
+
+// This is the Tukey biweight loss function which aggressively
+// attempts to suppress large errors.
+//
+// The term is computed as:
+//
+//   rho(s) = a^2 / 6 * (1 - (1 - s / a^2)^3 )   for s <= a^2,
+//   rho(s) = a^2 / 6                            for s >  a^2.
+//
+// At s = 0: rho = [0, 0.5, -1 / a^2]
+class CERES_EXPORT TukeyLoss : public ceres::LossFunction {
+ public:
+  explicit TukeyLoss(double a) : a_squared_(a * a) { }
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  const double a_squared_;
+};
+
+// Composition of two loss functions.  The error is the result of first
+// evaluating g followed by f to yield the composition f(g(s)).
+// The loss functions must not be NULL.
+class CERES_EXPORT ComposedLoss : public LossFunction {
+ public:
+  explicit ComposedLoss(const LossFunction* f, Ownership ownership_f,
+                        const LossFunction* g, Ownership ownership_g);
+  virtual ~ComposedLoss();
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  internal::scoped_ptr<const LossFunction> f_, g_;
+  const Ownership ownership_f_, ownership_g_;
+};
+
+// The discussion above has to do with length scaling: it affects the space
+// in which s is measured. Sometimes you want to simply scale the output
+// value of the robustifier. For example, you might want to weight
+// different error terms differently (e.g., weight pixel reprojection
+// errors differently from terrain errors).
+//
+// If rho is the wrapped robustifier, then this simply outputs
+// s -> a * rho(s)
+//
+// The first and second derivatives are, not surprisingly
+// s -> a * rho'(s)
+// s -> a * rho''(s)
+//
+// Since we treat the a NULL Loss function as the Identity loss
+// function, rho = NULL is a valid input and will result in the input
+// being scaled by a. This provides a simple way of implementing a
+// scaled ResidualBlock.
+class CERES_EXPORT ScaledLoss : public LossFunction {
+ public:
+  // Constructs a ScaledLoss wrapping another loss function. Takes
+  // ownership of the wrapped loss function or not depending on the
+  // ownership parameter.
+  ScaledLoss(const LossFunction* rho, double a, Ownership ownership) :
+      rho_(rho), a_(a), ownership_(ownership) { }
+
+  virtual ~ScaledLoss() {
+    if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+      rho_.release();
+    }
+  }
+  virtual void Evaluate(double, double*) const;
+
+ private:
+  internal::scoped_ptr<const LossFunction> rho_;
+  const double a_;
+  const Ownership ownership_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(ScaledLoss);
+};
+
+// Sometimes after the optimization problem has been constructed, we
+// wish to mutate the scale of the loss function. For example, when
+// performing estimation from data which has substantial outliers,
+// convergence can be improved by starting out with a large scale,
+// optimizing the problem and then reducing the scale. This can have
+// better convergence behaviour than just using a loss function with a
+// small scale.
+//
+// This templated class allows the user to implement a loss function
+// whose scale can be mutated after an optimization problem has been
+// constructed.
+//
+// Since we treat the a NULL Loss function as the Identity loss
+// function, rho = NULL is a valid input.
+//
+// Example usage
+//
+//  Problem problem;
+//
+//  // Add parameter blocks
+//
+//  CostFunction* cost_function =
+//    new AutoDiffCostFunction < UW_Camera_Mapper, 2, 9, 3>(
+//      new UW_Camera_Mapper(feature_x, feature_y));
+//
+//  LossFunctionWrapper* loss_function(new HuberLoss(1.0), TAKE_OWNERSHIP);
+//
+//  problem.AddResidualBlock(cost_function, loss_function, parameters);
+//
+//  Solver::Options options;
+//  Solger::Summary summary;
+//
+//  Solve(options, &problem, &summary)
+//
+//  loss_function->Reset(new HuberLoss(1.0), TAKE_OWNERSHIP);
+//
+//  Solve(options, &problem, &summary)
+//
+class CERES_EXPORT LossFunctionWrapper : public LossFunction {
+ public:
+  LossFunctionWrapper(LossFunction* rho, Ownership ownership)
+      : rho_(rho), ownership_(ownership) {
+  }
+
+  virtual ~LossFunctionWrapper() {
+    if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+      rho_.release();
+    }
+  }
+
+  virtual void Evaluate(double sq_norm, double out[3]) const {
+    if (rho_.get() == NULL) {
+      out[0] = sq_norm;
+      out[1] = 1.0;
+      out[2] = 0.0;
+    }
+    else {
+      rho_->Evaluate(sq_norm, out);
+    }
+  }
+
+  void Reset(LossFunction* rho, Ownership ownership) {
+    if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+      rho_.release();
+    }
+    rho_.reset(rho);
+    ownership_ = ownership;
+  }
+
+ private:
+  internal::scoped_ptr<const LossFunction> rho_;
+  Ownership ownership_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(LossFunctionWrapper);
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_LOSS_FUNCTION_H_
diff --git a/include/ceres/normal_prior.h b/include/ceres/normal_prior.h
new file mode 100644
index 0000000..cd98b4c
--- /dev/null
+++ b/include/ceres/normal_prior.h
@@ -0,0 +1,78 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Cost term that implements a prior on a parameter block using a
+// normal distribution.
+
+#ifndef CERES_PUBLIC_NORMAL_PRIOR_H_
+#define CERES_PUBLIC_NORMAL_PRIOR_H_
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// Implements a cost function of the form
+//
+//   cost(x) = ||A(x - b)||^2
+//
+// where, the matrix A and the vector b are fixed and x is the
+// variable. In case the user is interested in implementing a cost
+// function of the form
+//
+//   cost(x) = (x - mu)^T S^{-1} (x - mu)
+//
+// where, mu is a vector and S is a covariance matrix, then, A =
+// S^{-1/2}, i.e the matrix A is the square root of the inverse of the
+// covariance, also known as the stiffness matrix. There are however
+// no restrictions on the shape of A. It is free to be rectangular,
+// which would be the case if the covariance matrix S is rank
+// deficient.
+
+class CERES_EXPORT NormalPrior: public CostFunction {
+ public:
+  // Check that the number of rows in the vector b are the same as the
+  // number of columns in the matrix A, crash otherwise.
+  NormalPrior(const Matrix& A, const Vector& b);
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const;
+ private:
+  Matrix A_;
+  Vector b_;
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_NORMAL_PRIOR_H_
diff --git a/include/ceres/numeric_diff_cost_function.h b/include/ceres/numeric_diff_cost_function.h
new file mode 100644
index 0000000..5dfaeab
--- /dev/null
+++ b/include/ceres/numeric_diff_cost_function.h
@@ -0,0 +1,319 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// Create CostFunctions as needed by the least squares framework with jacobians
+// computed via numeric (a.k.a. finite) differentiation. For more details see
+// http://en.wikipedia.org/wiki/Numerical_differentiation.
+//
+// To get an numerically differentiated cost function, you must define
+// a class with a operator() (a functor) that computes the residuals.
+//
+// The function must write the computed value in the last argument
+// (the only non-const one) and return true to indicate success.
+// Please see cost_function.h for details on how the return value
+// maybe used to impose simple constraints on the parameter block.
+//
+// For example, consider a scalar error e = k - x'y, where both x and y are
+// two-dimensional column vector parameters, the prime sign indicates
+// transposition, and k is a constant. The form of this error, which is the
+// difference between a constant and an expression, is a common pattern in least
+// squares problems. For example, the value x'y might be the model expectation
+// for a series of measurements, where there is an instance of the cost function
+// for each measurement k.
+//
+// The actual cost added to the total problem is e^2, or (k - x'k)^2; however,
+// the squaring is implicitly done by the optimization framework.
+//
+// To write an numerically-differentiable cost function for the above model, first
+// define the object
+//
+//   class MyScalarCostFunctor {
+//     MyScalarCostFunctor(double k): k_(k) {}
+//
+//     bool operator()(const double* const x,
+//                     const double* const y,
+//                     double* residuals) const {
+//       residuals[0] = k_ - x[0] * y[0] + x[1] * y[1];
+//       return true;
+//     }
+//
+//    private:
+//     double k_;
+//   };
+//
+// Note that in the declaration of operator() the input parameters x
+// and y come first, and are passed as const pointers to arrays of
+// doubles. If there were three input parameters, then the third input
+// parameter would come after y. The output is always the last
+// parameter, and is also a pointer to an array. In the example above,
+// the residual is a scalar, so only residuals[0] is set.
+//
+// Then given this class definition, the numerically differentiated
+// cost function with central differences used for computing the
+// derivative can be constructed as follows.
+//
+//   CostFunction* cost_function
+//       = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 2, 2>(
+//           new MyScalarCostFunctor(1.0));                    ^     ^  ^  ^
+//                                                             |     |  |  |
+//                                 Finite Differencing Scheme -+     |  |  |
+//                                 Dimension of residual ------------+  |  |
+//                                 Dimension of x ----------------------+  |
+//                                 Dimension of y -------------------------+
+//
+// In this example, there is usually an instance for each measurement of k.
+//
+// In the instantiation above, the template parameters following
+// "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing
+// a 1-dimensional output from two arguments, both 2-dimensional.
+//
+// NumericDiffCostFunction also supports cost functions with a
+// runtime-determined number of residuals. For example:
+//
+//   CostFunction* cost_function
+//       = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
+//           new CostFunctorWithDynamicNumResiduals(1.0),               ^     ^  ^
+//           TAKE_OWNERSHIP,                                            |     |  |
+//           runtime_number_of_residuals); <----+                       |     |  |
+//                                              |                       |     |  |
+//                                              |                       |     |  |
+//             Actual number of residuals ------+                       |     |  |
+//             Indicate dynamic number of residuals --------------------+     |  |
+//             Dimension of x ------------------------------------------------+  |
+//             Dimension of y ---------------------------------------------------+
+//
+// The framework can currently accommodate cost functions of up to 10
+// independent variables, and there is no limit on the dimensionality
+// of each of them.
+//
+// The central difference method is considerably more accurate at the cost of
+// twice as many function evaluations than forward difference. Consider using
+// central differences begin with, and only after that works, trying forward
+// difference to improve performance.
+//
+// WARNING #1: A common beginner's error when first using
+// NumericDiffCostFunction is to get the sizing wrong. In particular,
+// there is a tendency to set the template parameters to (dimension of
+// residual, number of parameters) instead of passing a dimension
+// parameter for *every parameter*. In the example above, that would
+// be <MyScalarCostFunctor, 1, 2>, which is missing the last '2'
+// argument. Please be careful when setting the size parameters.
+//
+////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////
+//
+// ALTERNATE INTERFACE
+//
+// For a variety of reasons, including compatibility with legacy code,
+// NumericDiffCostFunction can also take CostFunction objects as
+// input. The following describes how.
+//
+// To get a numerically differentiated cost function, define a
+// subclass of CostFunction such that the Evaluate() function ignores
+// the jacobian parameter. The numeric differentiation wrapper will
+// fill in the jacobian parameter if necessary by repeatedly calling
+// the Evaluate() function with small changes to the appropriate
+// parameters, and computing the slope. For performance, the numeric
+// differentiation wrapper class is templated on the concrete cost
+// function, even though it could be implemented only in terms of the
+// virtual CostFunction interface.
+//
+// The numerically differentiated version of a cost function for a cost function
+// can be constructed as follows:
+//
+//   CostFunction* cost_function
+//       = new NumericDiffCostFunction<MyCostFunction, CENTRAL, 1, 4, 8>(
+//           new MyCostFunction(...), TAKE_OWNERSHIP);
+//
+// where MyCostFunction has 1 residual and 2 parameter blocks with sizes 4 and 8
+// respectively. Look at the tests for a more detailed example.
+//
+// TODO(keir): Characterize accuracy; mention pitfalls; provide alternatives.
+
+#ifndef CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include "Eigen/Dense"
+#include "ceres/cost_function.h"
+#include "ceres/internal/numeric_diff.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/numeric_diff_options.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+template <typename CostFunctor,
+          NumericDiffMethodType method = CENTRAL,
+          int kNumResiduals = 0,  // Number of residuals, or ceres::DYNAMIC
+          int N0 = 0,   // Number of parameters in block 0.
+          int N1 = 0,   // Number of parameters in block 1.
+          int N2 = 0,   // Number of parameters in block 2.
+          int N3 = 0,   // Number of parameters in block 3.
+          int N4 = 0,   // Number of parameters in block 4.
+          int N5 = 0,   // Number of parameters in block 5.
+          int N6 = 0,   // Number of parameters in block 6.
+          int N7 = 0,   // Number of parameters in block 7.
+          int N8 = 0,   // Number of parameters in block 8.
+          int N9 = 0>   // Number of parameters in block 9.
+class NumericDiffCostFunction
+    : public SizedCostFunction<kNumResiduals,
+                               N0, N1, N2, N3, N4,
+                               N5, N6, N7, N8, N9> {
+ public:
+  NumericDiffCostFunction(
+      CostFunctor* functor,
+      Ownership ownership = TAKE_OWNERSHIP,
+      int num_residuals = kNumResiduals,
+      const NumericDiffOptions& options = NumericDiffOptions())
+      : functor_(functor),
+        ownership_(ownership),
+        options_(options) {
+    if (kNumResiduals == DYNAMIC) {
+      SizedCostFunction<kNumResiduals,
+                        N0, N1, N2, N3, N4,
+                        N5, N6, N7, N8, N9>
+          ::set_num_residuals(num_residuals);
+    }
+  }
+
+  ~NumericDiffCostFunction() {
+    if (ownership_ != TAKE_OWNERSHIP) {
+      functor_.release();
+    }
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    using internal::FixedArray;
+    using internal::NumericDiff;
+
+    const int kNumParameters = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
+    const int kNumParameterBlocks =
+        (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
+        (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
+
+    // Get the function value (residuals) at the the point to evaluate.
+    if (!internal::EvaluateImpl<CostFunctor,
+                                N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>(
+                                    functor_.get(),
+                                    parameters,
+                                    residuals,
+                                    functor_.get())) {
+      return false;
+    }
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    // Create a copy of the parameters which will get mutated.
+    FixedArray<double> parameters_copy(kNumParameters);
+    FixedArray<double*> parameters_reference_copy(kNumParameterBlocks);
+
+    parameters_reference_copy[0] = parameters_copy.get();
+    if (N1) parameters_reference_copy[1] = parameters_reference_copy[0] + N0;
+    if (N2) parameters_reference_copy[2] = parameters_reference_copy[1] + N1;
+    if (N3) parameters_reference_copy[3] = parameters_reference_copy[2] + N2;
+    if (N4) parameters_reference_copy[4] = parameters_reference_copy[3] + N3;
+    if (N5) parameters_reference_copy[5] = parameters_reference_copy[4] + N4;
+    if (N6) parameters_reference_copy[6] = parameters_reference_copy[5] + N5;
+    if (N7) parameters_reference_copy[7] = parameters_reference_copy[6] + N6;
+    if (N8) parameters_reference_copy[8] = parameters_reference_copy[7] + N7;
+    if (N9) parameters_reference_copy[9] = parameters_reference_copy[8] + N8;
+
+#define CERES_COPY_PARAMETER_BLOCK(block)                               \
+  if (N ## block) memcpy(parameters_reference_copy[block],              \
+                         parameters[block],                             \
+                         sizeof(double) * N ## block);  // NOLINT
+
+    CERES_COPY_PARAMETER_BLOCK(0);
+    CERES_COPY_PARAMETER_BLOCK(1);
+    CERES_COPY_PARAMETER_BLOCK(2);
+    CERES_COPY_PARAMETER_BLOCK(3);
+    CERES_COPY_PARAMETER_BLOCK(4);
+    CERES_COPY_PARAMETER_BLOCK(5);
+    CERES_COPY_PARAMETER_BLOCK(6);
+    CERES_COPY_PARAMETER_BLOCK(7);
+    CERES_COPY_PARAMETER_BLOCK(8);
+    CERES_COPY_PARAMETER_BLOCK(9);
+
+#undef CERES_COPY_PARAMETER_BLOCK
+
+#define CERES_EVALUATE_JACOBIAN_FOR_BLOCK(block)                        \
+    if (N ## block && jacobians[block] != NULL) {                       \
+      if (!NumericDiff<CostFunctor,                                     \
+                       method,                                          \
+                       kNumResiduals,                                   \
+                       N0, N1, N2, N3, N4, N5, N6, N7, N8, N9,          \
+                       block,                                           \
+                       N ## block >::EvaluateJacobianForParameterBlock( \
+                           functor_.get(),                              \
+                           residuals,                                   \
+                           options_,                                    \
+                          SizedCostFunction<kNumResiduals,              \
+                           N0, N1, N2, N3, N4,                          \
+                           N5, N6, N7, N8, N9>::num_residuals(),        \
+                           block,                                       \
+                           N ## block,                                  \
+                           parameters_reference_copy.get(),             \
+                           jacobians[block])) {                         \
+        return false;                                                   \
+      }                                                                 \
+    }
+
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(0);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(1);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(2);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(3);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(4);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(5);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(6);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(7);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(8);
+    CERES_EVALUATE_JACOBIAN_FOR_BLOCK(9);
+
+#undef CERES_EVALUATE_JACOBIAN_FOR_BLOCK
+
+    return true;
+  }
+
+ private:
+  internal::scoped_ptr<CostFunctor> functor_;
+  Ownership ownership_;
+  NumericDiffOptions options_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
diff --git a/include/ceres/numeric_diff_options.h b/include/ceres/numeric_diff_options.h
new file mode 100644
index 0000000..119c8a8
--- /dev/null
+++ b/include/ceres/numeric_diff_options.h
@@ -0,0 +1,79 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: tbennun@gmail.com (Tal Ben-Nun)
+//
+
+#ifndef CERES_PUBLIC_NUMERIC_DIFF_OPTIONS_H_
+#define CERES_PUBLIC_NUMERIC_DIFF_OPTIONS_H_
+
+namespace ceres {
+
+// Options pertaining to numeric differentiation (e.g., convergence criteria,
+// step sizes).
+struct CERES_EXPORT NumericDiffOptions {
+  NumericDiffOptions() {
+    relative_step_size = 1e-6;
+    ridders_relative_initial_step_size = 1e-2;
+    max_num_ridders_extrapolations = 10;
+    ridders_epsilon = 1e-12;
+    ridders_step_shrink_factor = 2.0;
+  }
+
+  // Numeric differentiation step size (multiplied by parameter block's
+  // order of magnitude). If parameters are close to zero, the step size
+  // is set to sqrt(machine_epsilon).
+  double relative_step_size;
+
+  // Initial step size for Ridders adaptive numeric differentiation (multiplied
+  // by parameter block's order of magnitude).
+  // If parameters are close to zero, Ridders' method sets the step size
+  // directly to this value. This parameter is separate from
+  // "relative_step_size" in order to set a different default value.
+  //
+  // Note: For Ridders' method to converge, the step size should be initialized
+  // to a value that is large enough to produce a significant change in the
+  // function. As the derivative is estimated, the step size decreases.
+  double ridders_relative_initial_step_size;
+
+  // Maximal number of adaptive extrapolations (sampling) in Ridders' method.
+  int max_num_ridders_extrapolations;
+
+  // Convergence criterion on extrapolation error for Ridders adaptive
+  // differentiation. The available error estimation methods are defined in
+  // NumericDiffErrorType and set in the "ridders_error_method" field.
+  double ridders_epsilon;
+
+  // The factor in which to shrink the step size with each extrapolation in
+  // Ridders' method.
+  double ridders_step_shrink_factor;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_NUMERIC_DIFF_OPTIONS_H_
diff --git a/include/ceres/ordered_groups.h b/include/ceres/ordered_groups.h
new file mode 100644
index 0000000..aa1bd3a
--- /dev/null
+++ b/include/ceres/ordered_groups.h
@@ -0,0 +1,208 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_ORDERED_GROUPS_H_
+#define CERES_PUBLIC_ORDERED_GROUPS_H_
+
+#include <map>
+#include <set>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// A class for storing and manipulating an ordered collection of
+// groups/sets with the following semantics:
+//
+// Group ids are non-negative integer values. Elements are any type
+// that can serve as a key in a map or an element of a set.
+//
+// An element can only belong to one group at a time. A group may
+// contain an arbitrary number of elements.
+//
+// Groups are ordered by their group id.
+template <typename T>
+class OrderedGroups {
+ public:
+  // Add an element to a group. If a group with this id does not
+  // exist, one is created. This method can be called any number of
+  // times for the same element. Group ids should be non-negative
+  // numbers.
+  //
+  // Return value indicates if adding the element was a success.
+  bool AddElementToGroup(const T element, const int group) {
+    if (group < 0) {
+      return false;
+    }
+
+    typename std::map<T, int>::const_iterator it =
+        element_to_group_.find(element);
+    if (it != element_to_group_.end()) {
+      if (it->second == group) {
+        // Element is already in the right group, nothing to do.
+        return true;
+      }
+
+      group_to_elements_[it->second].erase(element);
+      if (group_to_elements_[it->second].size() == 0) {
+        group_to_elements_.erase(it->second);
+      }
+    }
+
+    element_to_group_[element] = group;
+    group_to_elements_[group].insert(element);
+    return true;
+  }
+
+  void Clear() {
+    group_to_elements_.clear();
+    element_to_group_.clear();
+  }
+
+  // Remove the element, no matter what group it is in. Return value
+  // indicates if the element was actually removed.
+  bool Remove(const T element) {
+    const int current_group = GroupId(element);
+    if (current_group < 0) {
+      return false;
+    }
+
+    group_to_elements_[current_group].erase(element);
+
+    if (group_to_elements_[current_group].size() == 0) {
+      // If the group is empty, then get rid of it.
+      group_to_elements_.erase(current_group);
+    }
+
+    element_to_group_.erase(element);
+    return true;
+  }
+
+  // Bulk remove elements. The return value indicates the number of
+  // elements successfully removed.
+  int Remove(const std::vector<T>& elements) {
+    if (NumElements() == 0 || elements.size() == 0) {
+      return 0;
+    }
+
+    int num_removed = 0;
+    for (int i = 0; i < elements.size(); ++i) {
+      num_removed += Remove(elements[i]);
+    }
+    return num_removed;
+  }
+
+  // Reverse the order of the groups in place.
+  void Reverse() {
+    if (NumGroups() == 0) {
+      return;
+    }
+
+    typename std::map<int, std::set<T> >::reverse_iterator it =
+        group_to_elements_.rbegin();
+    std::map<int, std::set<T> > new_group_to_elements;
+    new_group_to_elements[it->first] = it->second;
+
+    int new_group_id = it->first + 1;
+    for (++it; it != group_to_elements_.rend(); ++it) {
+      for (typename std::set<T>::const_iterator element_it = it->second.begin();
+           element_it != it->second.end();
+           ++element_it) {
+        element_to_group_[*element_it] = new_group_id;
+      }
+      new_group_to_elements[new_group_id] = it->second;
+      new_group_id++;
+    }
+
+    group_to_elements_.swap(new_group_to_elements);
+  }
+
+  // Return the group id for the element. If the element is not a
+  // member of any group, return -1.
+  int GroupId(const T element) const {
+    typename std::map<T, int>::const_iterator it =
+        element_to_group_.find(element);
+    if (it == element_to_group_.end()) {
+      return -1;
+    }
+    return it->second;
+  }
+
+  bool IsMember(const T element) const {
+    typename std::map<T, int>::const_iterator it =
+        element_to_group_.find(element);
+    return (it != element_to_group_.end());
+  }
+
+  // This function always succeeds, i.e., implicitly there exists a
+  // group for every integer.
+  int GroupSize(const int group) const {
+    typename std::map<int, std::set<T> >::const_iterator it =
+        group_to_elements_.find(group);
+    return (it ==  group_to_elements_.end()) ? 0 : it->second.size();
+  }
+
+  int NumElements() const {
+    return element_to_group_.size();
+  }
+
+  // Number of groups with one or more elements.
+  int NumGroups() const {
+    return group_to_elements_.size();
+  }
+
+  // The first group with one or more elements. Calling this when
+  // there are no groups with non-zero elements will result in a
+  // crash.
+  int MinNonZeroGroup() const {
+    CHECK_NE(NumGroups(), 0);
+    return group_to_elements_.begin()->first;
+  }
+
+  const std::map<int, std::set<T> >& group_to_elements() const {
+    return group_to_elements_;
+  }
+
+  const std::map<T, int>& element_to_group() const {
+    return element_to_group_;
+  }
+
+ private:
+  std::map<int, std::set<T> > group_to_elements_;
+  std::map<T, int> element_to_group_;
+};
+
+// Typedef for the most commonly used version of OrderedGroups.
+typedef OrderedGroups<double*> ParameterBlockOrdering;
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_ORDERED_GROUP_H_
diff --git a/include/ceres/problem.h b/include/ceres/problem.h
new file mode 100644
index 0000000..27ed4ef
--- /dev/null
+++ b/include/ceres/problem.h
@@ -0,0 +1,488 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         keir@google.com (Keir Mierle)
+//
+// The Problem object is used to build and hold least squares problems.
+
+#ifndef CERES_PUBLIC_PROBLEM_H_
+#define CERES_PUBLIC_PROBLEM_H_
+
+#include <cstddef>
+#include <map>
+#include <set>
+#include <vector>
+
+#include "glog/logging.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+
+namespace ceres {
+
+class CostFunction;
+class LossFunction;
+class LocalParameterization;
+class Solver;
+struct CRSMatrix;
+
+namespace internal {
+class Preprocessor;
+class ProblemImpl;
+class ParameterBlock;
+class ResidualBlock;
+}  // namespace internal
+
+// A ResidualBlockId is an opaque handle clients can use to remove residual
+// blocks from a Problem after adding them.
+typedef internal::ResidualBlock* ResidualBlockId;
+
+// A class to represent non-linear least squares problems. Such
+// problems have a cost function that is a sum of error terms (known
+// as "residuals"), where each residual is a function of some subset
+// of the parameters. The cost function takes the form
+//
+//    N    1
+//   SUM  --- loss( || r_i1, r_i2,..., r_ik ||^2  ),
+//   i=1   2
+//
+// where
+//
+//   r_ij     is residual number i, component j; the residual is a
+//            function of some subset of the parameters x1...xk. For
+//            example, in a structure from motion problem a residual
+//            might be the difference between a measured point in an
+//            image and the reprojected position for the matching
+//            camera, point pair. The residual would have two
+//            components, error in x and error in y.
+//
+//   loss(y)  is the loss function; for example, squared error or
+//            Huber L1 loss. If loss(y) = y, then the cost function is
+//            non-robustified least squares.
+//
+// This class is specifically designed to address the important subset
+// of "sparse" least squares problems, where each component of the
+// residual depends only on a small number number of parameters, even
+// though the total number of residuals and parameters may be very
+// large. This property affords tremendous gains in scale, allowing
+// efficient solving of large problems that are otherwise
+// inaccessible.
+//
+// The canonical example of a sparse least squares problem is
+// "structure-from-motion" (SFM), where the parameters are points and
+// cameras, and residuals are reprojection errors. Typically a single
+// residual will depend only on 9 parameters (3 for the point, 6 for
+// the camera).
+//
+// To create a least squares problem, use the AddResidualBlock() and
+// AddParameterBlock() methods, documented below. Here is an example least
+// squares problem containing 3 parameter blocks of sizes 3, 4 and 5
+// respectively and two residual terms of size 2 and 6:
+//
+//   double x1[] = { 1.0, 2.0, 3.0 };
+//   double x2[] = { 1.0, 2.0, 3.0, 5.0 };
+//   double x3[] = { 1.0, 2.0, 3.0, 6.0, 7.0 };
+//
+//   Problem problem;
+//
+//   problem.AddResidualBlock(new MyUnaryCostFunction(...), x1);
+//   problem.AddResidualBlock(new MyBinaryCostFunction(...), x2, x3);
+//
+// Please see cost_function.h for details of the CostFunction object.
+class CERES_EXPORT Problem {
+ public:
+  struct CERES_EXPORT Options {
+    Options()
+        : cost_function_ownership(TAKE_OWNERSHIP),
+          loss_function_ownership(TAKE_OWNERSHIP),
+          local_parameterization_ownership(TAKE_OWNERSHIP),
+          enable_fast_removal(false),
+          disable_all_safety_checks(false) {}
+
+    // These flags control whether the Problem object owns the cost
+    // functions, loss functions, and parameterizations passed into
+    // the Problem. If set to TAKE_OWNERSHIP, then the problem object
+    // will delete the corresponding cost or loss functions on
+    // destruction. The destructor is careful to delete the pointers
+    // only once, since sharing cost/loss/parameterizations is
+    // allowed.
+    Ownership cost_function_ownership;
+    Ownership loss_function_ownership;
+    Ownership local_parameterization_ownership;
+
+    // If true, trades memory for faster RemoveResidualBlock() and
+    // RemoveParameterBlock() operations.
+    //
+    // By default, RemoveParameterBlock() and RemoveResidualBlock() take time
+    // proportional to the size of the entire problem.  If you only ever remove
+    // parameters or residuals from the problem occassionally, this might be
+    // acceptable.  However, if you have memory to spare, enable this option to
+    // make RemoveParameterBlock() take time proportional to the number of
+    // residual blocks that depend on it, and RemoveResidualBlock() take (on
+    // average) constant time.
+    //
+    // The increase in memory usage is twofold: an additonal hash set per
+    // parameter block containing all the residuals that depend on the parameter
+    // block; and a hash set in the problem containing all residuals.
+    bool enable_fast_removal;
+
+    // By default, Ceres performs a variety of safety checks when constructing
+    // the problem. There is a small but measurable performance penalty to
+    // these checks, typically around 5% of construction time. If you are sure
+    // your problem construction is correct, and 5% of the problem construction
+    // time is truly an overhead you want to avoid, then you can set
+    // disable_all_safety_checks to true.
+    //
+    // WARNING: Do not set this to true, unless you are absolutely sure of what
+    // you are doing.
+    bool disable_all_safety_checks;
+  };
+
+  // The default constructor is equivalent to the
+  // invocation Problem(Problem::Options()).
+  Problem();
+  explicit Problem(const Options& options);
+
+  ~Problem();
+
+  // Add a residual block to the overall cost function. The cost
+  // function carries with it information about the sizes of the
+  // parameter blocks it expects. The function checks that these match
+  // the sizes of the parameter blocks listed in parameter_blocks. The
+  // program aborts if a mismatch is detected. loss_function can be
+  // NULL, in which case the cost of the term is just the squared norm
+  // of the residuals.
+  //
+  // The user has the option of explicitly adding the parameter blocks
+  // using AddParameterBlock. This causes additional correctness
+  // checking; however, AddResidualBlock implicitly adds the parameter
+  // blocks if they are not present, so calling AddParameterBlock
+  // explicitly is not required.
+  //
+  // The Problem object by default takes ownership of the
+  // cost_function and loss_function pointers. These objects remain
+  // live for the life of the Problem object. If the user wishes to
+  // keep control over the destruction of these objects, then they can
+  // do this by setting the corresponding enums in the Options struct.
+  //
+  // Note: Even though the Problem takes ownership of cost_function
+  // and loss_function, it does not preclude the user from re-using
+  // them in another residual block. The destructor takes care to call
+  // delete on each cost_function or loss_function pointer only once,
+  // regardless of how many residual blocks refer to them.
+  //
+  // Example usage:
+  //
+  //   double x1[] = {1.0, 2.0, 3.0};
+  //   double x2[] = {1.0, 2.0, 5.0, 6.0};
+  //   double x3[] = {3.0, 6.0, 2.0, 5.0, 1.0};
+  //
+  //   Problem problem;
+  //
+  //   problem.AddResidualBlock(new MyUnaryCostFunction(...), NULL, x1);
+  //   problem.AddResidualBlock(new MyBinaryCostFunction(...), NULL, x2, x1);
+  //
+  ResidualBlockId AddResidualBlock(
+      CostFunction* cost_function,
+      LossFunction* loss_function,
+      const std::vector<double*>& parameter_blocks);
+
+  // Convenience methods for adding residuals with a small number of
+  // parameters. This is the common case. Instead of specifying the
+  // parameter block arguments as a vector, list them as pointers.
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6, double* x7);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6, double* x7, double* x8);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6, double* x7, double* x8,
+                                   double* x9);
+
+  // Add a parameter block with appropriate size to the problem.
+  // Repeated calls with the same arguments are ignored. Repeated
+  // calls with the same double pointer but a different size results
+  // in undefined behaviour.
+  void AddParameterBlock(double* values, int size);
+
+  // Add a parameter block with appropriate size and parameterization
+  // to the problem. Repeated calls with the same arguments are
+  // ignored. Repeated calls with the same double pointer but a
+  // different size results in undefined behaviour.
+  void AddParameterBlock(double* values,
+                         int size,
+                         LocalParameterization* local_parameterization);
+
+  // Remove a parameter block from the problem. The parameterization of the
+  // parameter block, if it exists, will persist until the deletion of the
+  // problem (similar to cost/loss functions in residual block removal). Any
+  // residual blocks that depend on the parameter are also removed, as
+  // described above in RemoveResidualBlock().
+  //
+  // If Problem::Options::enable_fast_removal is true, then the
+  // removal is fast (almost constant time). Otherwise, removing a parameter
+  // block will incur a scan of the entire Problem object.
+  //
+  // WARNING: Removing a residual or parameter block will destroy the implicit
+  // ordering, rendering the jacobian or residuals returned from the solver
+  // uninterpretable. If you depend on the evaluated jacobian, do not use
+  // remove! This may change in a future release.
+  void RemoveParameterBlock(double* values);
+
+  // Remove a residual block from the problem. Any parameters that the residual
+  // block depends on are not removed. The cost and loss functions for the
+  // residual block will not get deleted immediately; won't happen until the
+  // problem itself is deleted.
+  //
+  // WARNING: Removing a residual or parameter block will destroy the implicit
+  // ordering, rendering the jacobian or residuals returned from the solver
+  // uninterpretable. If you depend on the evaluated jacobian, do not use
+  // remove! This may change in a future release.
+  void RemoveResidualBlock(ResidualBlockId residual_block);
+
+  // Hold the indicated parameter block constant during optimization.
+  void SetParameterBlockConstant(double* values);
+
+  // Allow the indicated parameter block to vary during optimization.
+  void SetParameterBlockVariable(double* values);
+
+  // Returns true if a parameter block is set constant, and false otherwise.
+  bool IsParameterBlockConstant(double* values) const;
+
+  // Set the local parameterization for one of the parameter blocks.
+  // The local_parameterization is owned by the Problem by default. It
+  // is acceptable to set the same parameterization for multiple
+  // parameters; the destructor is careful to delete local
+  // parameterizations only once. The local parameterization can only
+  // be set once per parameter, and cannot be changed once set.
+  void SetParameterization(double* values,
+                           LocalParameterization* local_parameterization);
+
+  // Get the local parameterization object associated with this
+  // parameter block. If there is no parameterization object
+  // associated then NULL is returned.
+  const LocalParameterization* GetParameterization(double* values) const;
+
+  // Set the lower/upper bound for the parameter with position "index".
+  void SetParameterLowerBound(double* values, int index, double lower_bound);
+  void SetParameterUpperBound(double* values, int index, double upper_bound);
+
+  // Number of parameter blocks in the problem. Always equals
+  // parameter_blocks().size() and parameter_block_sizes().size().
+  int NumParameterBlocks() const;
+
+  // The size of the parameter vector obtained by summing over the
+  // sizes of all the parameter blocks.
+  int NumParameters() const;
+
+  // Number of residual blocks in the problem. Always equals
+  // residual_blocks().size().
+  int NumResidualBlocks() const;
+
+  // The size of the residual vector obtained by summing over the
+  // sizes of all of the residual blocks.
+  int NumResiduals() const;
+
+  // The size of the parameter block.
+  int ParameterBlockSize(const double* values) const;
+
+  // The size of local parameterization for the parameter block. If
+  // there is no local parameterization associated with this parameter
+  // block, then ParameterBlockLocalSize = ParameterBlockSize.
+  int ParameterBlockLocalSize(const double* values) const;
+
+  // Is the given parameter block present in this problem or not?
+  bool HasParameterBlock(const double* values) const;
+
+  // Fills the passed parameter_blocks vector with pointers to the
+  // parameter blocks currently in the problem. After this call,
+  // parameter_block.size() == NumParameterBlocks.
+  void GetParameterBlocks(std::vector<double*>* parameter_blocks) const;
+
+  // Fills the passed residual_blocks vector with pointers to the
+  // residual blocks currently in the problem. After this call,
+  // residual_blocks.size() == NumResidualBlocks.
+  void GetResidualBlocks(std::vector<ResidualBlockId>* residual_blocks) const;
+
+  // Get all the parameter blocks that depend on the given residual block.
+  void GetParameterBlocksForResidualBlock(
+      const ResidualBlockId residual_block,
+      std::vector<double*>* parameter_blocks) const;
+
+  // Get the CostFunction for the given residual block.
+  const CostFunction* GetCostFunctionForResidualBlock(
+      const ResidualBlockId residual_block) const;
+
+  // Get the LossFunction for the given residual block. Returns NULL
+  // if no loss function is associated with this residual block.
+  const LossFunction* GetLossFunctionForResidualBlock(
+      const ResidualBlockId residual_block) const;
+
+  // Get all the residual blocks that depend on the given parameter block.
+  //
+  // If Problem::Options::enable_fast_removal is true, then
+  // getting the residual blocks is fast and depends only on the number of
+  // residual blocks. Otherwise, getting the residual blocks for a parameter
+  // block will incur a scan of the entire Problem object.
+  void GetResidualBlocksForParameterBlock(
+      const double* values,
+      std::vector<ResidualBlockId>* residual_blocks) const;
+
+  // Options struct to control Problem::Evaluate.
+  struct EvaluateOptions {
+    EvaluateOptions()
+        : apply_loss_function(true),
+          num_threads(1) {
+    }
+
+    // The set of parameter blocks for which evaluation should be
+    // performed. This vector determines the order that parameter
+    // blocks occur in the gradient vector and in the columns of the
+    // jacobian matrix. If parameter_blocks is empty, then it is
+    // assumed to be equal to vector containing ALL the parameter
+    // blocks.  Generally speaking the parameter blocks will occur in
+    // the order in which they were added to the problem. But, this
+    // may change if the user removes any parameter blocks from the
+    // problem.
+    //
+    // NOTE: This vector should contain the same pointers as the ones
+    // used to add parameter blocks to the Problem. These parameter
+    // block should NOT point to new memory locations. Bad things will
+    // happen otherwise.
+    std::vector<double*> parameter_blocks;
+
+    // The set of residual blocks to evaluate. This vector determines
+    // the order in which the residuals occur, and how the rows of the
+    // jacobian are ordered. If residual_blocks is empty, then it is
+    // assumed to be equal to the vector containing ALL the residual
+    // blocks. Generally speaking the residual blocks will occur in
+    // the order in which they were added to the problem. But, this
+    // may change if the user removes any residual blocks from the
+    // problem.
+    std::vector<ResidualBlockId> residual_blocks;
+
+    // Even though the residual blocks in the problem may contain loss
+    // functions, setting apply_loss_function to false will turn off
+    // the application of the loss function to the output of the cost
+    // function. This is of use for example if the user wishes to
+    // analyse the solution quality by studying the distribution of
+    // residuals before and after the solve.
+    bool apply_loss_function;
+
+    int num_threads;
+  };
+
+  // Evaluate Problem. Any of the output pointers can be NULL. Which
+  // residual blocks and parameter blocks are used is controlled by
+  // the EvaluateOptions struct above.
+  //
+  // Note 1: The evaluation will use the values stored in the memory
+  // locations pointed to by the parameter block pointers used at the
+  // time of the construction of the problem. i.e.,
+  //
+  //   Problem problem;
+  //   double x = 1;
+  //   problem.AddResidualBlock(new MyCostFunction, NULL, &x);
+  //
+  //   double cost = 0.0;
+  //   problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+  //
+  // The cost is evaluated at x = 1. If you wish to evaluate the
+  // problem at x = 2, then
+  //
+  //    x = 2;
+  //    problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
+  //
+  // is the way to do so.
+  //
+  // Note 2: If no local parameterizations are used, then the size of
+  // the gradient vector (and the number of columns in the jacobian)
+  // is the sum of the sizes of all the parameter blocks. If a
+  // parameter block has a local parameterization, then it contributes
+  // "LocalSize" entries to the gradient vector (and the number of
+  // columns in the jacobian).
+  //
+  // Note 3: This function cannot be called while the problem is being
+  // solved, for example it cannot be called from an IterationCallback
+  // at the end of an iteration during a solve.
+  bool Evaluate(const EvaluateOptions& options,
+                double* cost,
+                std::vector<double>* residuals,
+                std::vector<double>* gradient,
+                CRSMatrix* jacobian);
+
+ private:
+  friend class Solver;
+  friend class Covariance;
+  internal::scoped_ptr<internal::ProblemImpl> problem_impl_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(Problem);
+};
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_PROBLEM_H_
diff --git a/include/ceres/rotation.h b/include/ceres/rotation.h
new file mode 100644
index 0000000..d05d190
--- /dev/null
+++ b/include/ceres/rotation.h
@@ -0,0 +1,626 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// Templated functions for manipulating rotations. The templated
+// functions are useful when implementing functors for automatic
+// differentiation.
+//
+// In the following, the Quaternions are laid out as 4-vectors, thus:
+//
+//   q[0]  scalar part.
+//   q[1]  coefficient of i.
+//   q[2]  coefficient of j.
+//   q[3]  coefficient of k.
+//
+// where: i*i = j*j = k*k = -1 and i*j = k, j*k = i, k*i = j.
+
+#ifndef CERES_PUBLIC_ROTATION_H_
+#define CERES_PUBLIC_ROTATION_H_
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+
+namespace ceres {
+
+// Trivial wrapper to index linear arrays as matrices, given a fixed
+// column and row stride. When an array "T* array" is wrapped by a
+//
+//   (const) MatrixAdapter<T, row_stride, col_stride> M"
+//
+// the expression  M(i, j) is equivalent to
+//
+//   arrary[i * row_stride + j * col_stride]
+//
+// Conversion functions to and from rotation matrices accept
+// MatrixAdapters to permit using row-major and column-major layouts,
+// and rotation matrices embedded in larger matrices (such as a 3x4
+// projection matrix).
+template <typename T, int row_stride, int col_stride>
+struct MatrixAdapter;
+
+// Convenience functions to create a MatrixAdapter that treats the
+// array pointed to by "pointer" as a 3x3 (contiguous) column-major or
+// row-major matrix.
+template <typename T>
+MatrixAdapter<T, 1, 3> ColumnMajorAdapter3x3(T* pointer);
+
+template <typename T>
+MatrixAdapter<T, 3, 1> RowMajorAdapter3x3(T* pointer);
+
+// Convert a value in combined axis-angle representation to a quaternion.
+// The value angle_axis is a triple whose norm is an angle in radians,
+// and whose direction is aligned with the axis of rotation,
+// and quaternion is a 4-tuple that will contain the resulting quaternion.
+// The implementation may be used with auto-differentiation up to the first
+// derivative, higher derivatives may have unexpected results near the origin.
+template<typename T>
+void AngleAxisToQuaternion(const T* angle_axis, T* quaternion);
+
+// Convert a quaternion to the equivalent combined axis-angle representation.
+// The value quaternion must be a unit quaternion - it is not normalized first,
+// and angle_axis will be filled with a value whose norm is the angle of
+// rotation in radians, and whose direction is the axis of rotation.
+// The implemention may be used with auto-differentiation up to the first
+// derivative, higher derivatives may have unexpected results near the origin.
+template<typename T>
+void QuaternionToAngleAxis(const T* quaternion, T* angle_axis);
+
+// Conversions between 3x3 rotation matrix (in column major order) and
+// quaternion rotation representations.  Templated for use with
+// autodifferentiation.
+template <typename T>
+void RotationMatrixToQuaternion(const T* R, T* quaternion);
+
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToQuaternion(
+    const MatrixAdapter<const T, row_stride, col_stride>& R,
+    T* quaternion);
+
+// Conversions between 3x3 rotation matrix (in column major order) and
+// axis-angle rotation representations.  Templated for use with
+// autodifferentiation.
+template <typename T>
+void RotationMatrixToAngleAxis(const T* R, T* angle_axis);
+
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToAngleAxis(
+    const MatrixAdapter<const T, row_stride, col_stride>& R,
+    T* angle_axis);
+
+template <typename T>
+void AngleAxisToRotationMatrix(const T* angle_axis, T* R);
+
+template <typename T, int row_stride, int col_stride>
+void AngleAxisToRotationMatrix(
+    const T* angle_axis,
+    const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Conversions between 3x3 rotation matrix (in row major order) and
+// Euler angle (in degrees) rotation representations.
+//
+// The {pitch,roll,yaw} Euler angles are rotations around the {x,y,z}
+// axes, respectively.  They are applied in that same order, so the
+// total rotation R is Rz * Ry * Rx.
+template <typename T>
+void EulerAnglesToRotationMatrix(const T* euler, int row_stride, T* R);
+
+template <typename T, int row_stride, int col_stride>
+void EulerAnglesToRotationMatrix(
+    const T* euler,
+    const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Convert a 4-vector to a 3x3 scaled rotation matrix.
+//
+// The choice of rotation is such that the quaternion [1 0 0 0] goes to an
+// identity matrix and for small a, b, c the quaternion [1 a b c] goes to
+// the matrix
+//
+//         [  0 -c  b ]
+//   I + 2 [  c  0 -a ] + higher order terms
+//         [ -b  a  0 ]
+//
+// which corresponds to a Rodrigues approximation, the last matrix being
+// the cross-product matrix of [a b c]. Together with the property that
+// R(q1 * q2) = R(q1) * R(q2) this uniquely defines the mapping from q to R.
+//
+// No normalization of the quaternion is performed, i.e.
+// R = ||q||^2 * Q, where Q is an orthonormal matrix
+// such that det(Q) = 1 and Q*Q' = I
+//
+// WARNING: The rotation matrix is ROW MAJOR
+template <typename T> inline
+void QuaternionToScaledRotation(const T q[4], T R[3 * 3]);
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToScaledRotation(
+    const T q[4],
+    const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Same as above except that the rotation matrix is normalized by the
+// Frobenius norm, so that R * R' = I (and det(R) = 1).
+//
+// WARNING: The rotation matrix is ROW MAJOR
+template <typename T> inline
+void QuaternionToRotation(const T q[4], T R[3 * 3]);
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToRotation(
+    const T q[4],
+    const MatrixAdapter<T, row_stride, col_stride>& R);
+
+// Rotates a point pt by a quaternion q:
+//
+//   result = R(q) * pt
+//
+// Assumes the quaternion is unit norm. This assumption allows us to
+// write the transform as (something)*pt + pt, as is clear from the
+// formula below. If you pass in a quaternion with |q|^2 = 2 then you
+// WILL NOT get back 2 times the result you get for a unit quaternion.
+template <typename T> inline
+void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+
+// With this function you do not need to assume that q has unit norm.
+// It does assume that the norm is non-zero.
+template <typename T> inline
+void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+
+// zw = z * w, where * is the Quaternion product between 4 vectors.
+template<typename T> inline
+void QuaternionProduct(const T z[4], const T w[4], T zw[4]);
+
+// xy = x cross y;
+template<typename T> inline
+void CrossProduct(const T x[3], const T y[3], T x_cross_y[3]);
+
+template<typename T> inline
+T DotProduct(const T x[3], const T y[3]);
+
+// y = R(angle_axis) * x;
+template<typename T> inline
+void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]);
+
+// --- IMPLEMENTATION
+
+template<typename T, int row_stride, int col_stride>
+struct MatrixAdapter {
+  T* pointer_;
+  explicit MatrixAdapter(T* pointer)
+    : pointer_(pointer)
+  {}
+
+  T& operator()(int r, int c) const {
+    return pointer_[r * row_stride + c * col_stride];
+  }
+};
+
+template <typename T>
+MatrixAdapter<T, 1, 3> ColumnMajorAdapter3x3(T* pointer) {
+  return MatrixAdapter<T, 1, 3>(pointer);
+}
+
+template <typename T>
+MatrixAdapter<T, 3, 1> RowMajorAdapter3x3(T* pointer) {
+  return MatrixAdapter<T, 3, 1>(pointer);
+}
+
+template<typename T>
+inline void AngleAxisToQuaternion(const T* angle_axis, T* quaternion) {
+  const T& a0 = angle_axis[0];
+  const T& a1 = angle_axis[1];
+  const T& a2 = angle_axis[2];
+  const T theta_squared = a0 * a0 + a1 * a1 + a2 * a2;
+
+  // For points not at the origin, the full conversion is numerically stable.
+  if (theta_squared > T(0.0)) {
+    const T theta = sqrt(theta_squared);
+    const T half_theta = theta * T(0.5);
+    const T k = sin(half_theta) / theta;
+    quaternion[0] = cos(half_theta);
+    quaternion[1] = a0 * k;
+    quaternion[2] = a1 * k;
+    quaternion[3] = a2 * k;
+  } else {
+    // At the origin, sqrt() will produce NaN in the derivative since
+    // the argument is zero.  By approximating with a Taylor series,
+    // and truncating at one term, the value and first derivatives will be
+    // computed correctly when Jets are used.
+    const T k(0.5);
+    quaternion[0] = T(1.0);
+    quaternion[1] = a0 * k;
+    quaternion[2] = a1 * k;
+    quaternion[3] = a2 * k;
+  }
+}
+
+template<typename T>
+inline void QuaternionToAngleAxis(const T* quaternion, T* angle_axis) {
+  const T& q1 = quaternion[1];
+  const T& q2 = quaternion[2];
+  const T& q3 = quaternion[3];
+  const T sin_squared_theta = q1 * q1 + q2 * q2 + q3 * q3;
+
+  // For quaternions representing non-zero rotation, the conversion
+  // is numerically stable.
+  if (sin_squared_theta > T(0.0)) {
+    const T sin_theta = sqrt(sin_squared_theta);
+    const T& cos_theta = quaternion[0];
+
+    // If cos_theta is negative, theta is greater than pi/2, which
+    // means that angle for the angle_axis vector which is 2 * theta
+    // would be greater than pi.
+    //
+    // While this will result in the correct rotation, it does not
+    // result in a normalized angle-axis vector.
+    //
+    // In that case we observe that 2 * theta ~ 2 * theta - 2 * pi,
+    // which is equivalent saying
+    //
+    //   theta - pi = atan(sin(theta - pi), cos(theta - pi))
+    //              = atan(-sin(theta), -cos(theta))
+    //
+    const T two_theta =
+        T(2.0) * ((cos_theta < 0.0)
+                  ? atan2(-sin_theta, -cos_theta)
+                  : atan2(sin_theta, cos_theta));
+    const T k = two_theta / sin_theta;
+    angle_axis[0] = q1 * k;
+    angle_axis[1] = q2 * k;
+    angle_axis[2] = q3 * k;
+  } else {
+    // For zero rotation, sqrt() will produce NaN in the derivative since
+    // the argument is zero.  By approximating with a Taylor series,
+    // and truncating at one term, the value and first derivatives will be
+    // computed correctly when Jets are used.
+    const T k(2.0);
+    angle_axis[0] = q1 * k;
+    angle_axis[1] = q2 * k;
+    angle_axis[2] = q3 * k;
+  }
+}
+
+template <typename T>
+void RotationMatrixToQuaternion(const T* R, T* angle_axis) {
+  RotationMatrixToQuaternion(ColumnMajorAdapter3x3(R), angle_axis);
+}
+
+// This algorithm comes from "Quaternion Calculus and Fast Animation",
+// Ken Shoemake, 1987 SIGGRAPH course notes
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToQuaternion(
+    const MatrixAdapter<const T, row_stride, col_stride>& R,
+    T* quaternion) {
+  const T trace = R(0, 0) + R(1, 1) + R(2, 2);
+  if (trace >= 0.0) {
+    T t = sqrt(trace + T(1.0));
+    quaternion[0] = T(0.5) * t;
+    t = T(0.5) / t;
+    quaternion[1] = (R(2, 1) - R(1, 2)) * t;
+    quaternion[2] = (R(0, 2) - R(2, 0)) * t;
+    quaternion[3] = (R(1, 0) - R(0, 1)) * t;
+  } else {
+    int i = 0;
+    if (R(1, 1) > R(0, 0)) {
+      i = 1;
+    }
+
+    if (R(2, 2) > R(i, i)) {
+      i = 2;
+    }
+
+    const int j = (i + 1) % 3;
+    const int k = (j + 1) % 3;
+    T t = sqrt(R(i, i) - R(j, j) - R(k, k) + T(1.0));
+    quaternion[i + 1] = T(0.5) * t;
+    t = T(0.5) / t;
+    quaternion[0] = (R(k, j) - R(j, k)) * t;
+    quaternion[j + 1] = (R(j, i) + R(i, j)) * t;
+    quaternion[k + 1] = (R(k, i) + R(i, k)) * t;
+  }
+}
+
+// The conversion of a rotation matrix to the angle-axis form is
+// numerically problematic when then rotation angle is close to zero
+// or to Pi. The following implementation detects when these two cases
+// occurs and deals with them by taking code paths that are guaranteed
+// to not perform division by a small number.
+template <typename T>
+inline void RotationMatrixToAngleAxis(const T* R, T* angle_axis) {
+  RotationMatrixToAngleAxis(ColumnMajorAdapter3x3(R), angle_axis);
+}
+
+template <typename T, int row_stride, int col_stride>
+void RotationMatrixToAngleAxis(
+    const MatrixAdapter<const T, row_stride, col_stride>& R,
+    T* angle_axis) {
+  T quaternion[4];
+  RotationMatrixToQuaternion(R, quaternion);
+  QuaternionToAngleAxis(quaternion, angle_axis);
+  return;
+}
+
+template <typename T>
+inline void AngleAxisToRotationMatrix(const T* angle_axis, T* R) {
+  AngleAxisToRotationMatrix(angle_axis, ColumnMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride>
+void AngleAxisToRotationMatrix(
+    const T* angle_axis,
+    const MatrixAdapter<T, row_stride, col_stride>& R) {
+  static const T kOne = T(1.0);
+  const T theta2 = DotProduct(angle_axis, angle_axis);
+  if (theta2 > T(std::numeric_limits<double>::epsilon())) {
+    // We want to be careful to only evaluate the square root if the
+    // norm of the angle_axis vector is greater than zero. Otherwise
+    // we get a division by zero.
+    const T theta = sqrt(theta2);
+    const T wx = angle_axis[0] / theta;
+    const T wy = angle_axis[1] / theta;
+    const T wz = angle_axis[2] / theta;
+
+    const T costheta = cos(theta);
+    const T sintheta = sin(theta);
+
+    R(0, 0) =     costheta   + wx*wx*(kOne -    costheta);
+    R(1, 0) =  wz*sintheta   + wx*wy*(kOne -    costheta);
+    R(2, 0) = -wy*sintheta   + wx*wz*(kOne -    costheta);
+    R(0, 1) =  wx*wy*(kOne - costheta)     - wz*sintheta;
+    R(1, 1) =     costheta   + wy*wy*(kOne -    costheta);
+    R(2, 1) =  wx*sintheta   + wy*wz*(kOne -    costheta);
+    R(0, 2) =  wy*sintheta   + wx*wz*(kOne -    costheta);
+    R(1, 2) = -wx*sintheta   + wy*wz*(kOne -    costheta);
+    R(2, 2) =     costheta   + wz*wz*(kOne -    costheta);
+  } else {
+    // Near zero, we switch to using the first order Taylor expansion.
+    R(0, 0) =  kOne;
+    R(1, 0) =  angle_axis[2];
+    R(2, 0) = -angle_axis[1];
+    R(0, 1) = -angle_axis[2];
+    R(1, 1) =  kOne;
+    R(2, 1) =  angle_axis[0];
+    R(0, 2) =  angle_axis[1];
+    R(1, 2) = -angle_axis[0];
+    R(2, 2) = kOne;
+  }
+}
+
+template <typename T>
+inline void EulerAnglesToRotationMatrix(const T* euler,
+                                        const int row_stride_parameter,
+                                        T* R) {
+  EulerAnglesToRotationMatrix(euler, RowMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride>
+void EulerAnglesToRotationMatrix(
+    const T* euler,
+    const MatrixAdapter<T, row_stride, col_stride>& R) {
+  const double kPi = 3.14159265358979323846;
+  const T degrees_to_radians(kPi / 180.0);
+
+  const T pitch(euler[0] * degrees_to_radians);
+  const T roll(euler[1] * degrees_to_radians);
+  const T yaw(euler[2] * degrees_to_radians);
+
+  const T c1 = cos(yaw);
+  const T s1 = sin(yaw);
+  const T c2 = cos(roll);
+  const T s2 = sin(roll);
+  const T c3 = cos(pitch);
+  const T s3 = sin(pitch);
+
+  R(0, 0) = c1*c2;
+  R(0, 1) = -s1*c3 + c1*s2*s3;
+  R(0, 2) = s1*s3 + c1*s2*c3;
+
+  R(1, 0) = s1*c2;
+  R(1, 1) = c1*c3 + s1*s2*s3;
+  R(1, 2) = -c1*s3 + s1*s2*c3;
+
+  R(2, 0) = -s2;
+  R(2, 1) = c2*s3;
+  R(2, 2) = c2*c3;
+}
+
+template <typename T> inline
+void QuaternionToScaledRotation(const T q[4], T R[3 * 3]) {
+  QuaternionToScaledRotation(q, RowMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToScaledRotation(
+    const T q[4],
+    const MatrixAdapter<T, row_stride, col_stride>& R) {
+  // Make convenient names for elements of q.
+  T a = q[0];
+  T b = q[1];
+  T c = q[2];
+  T d = q[3];
+  // This is not to eliminate common sub-expression, but to
+  // make the lines shorter so that they fit in 80 columns!
+  T aa = a * a;
+  T ab = a * b;
+  T ac = a * c;
+  T ad = a * d;
+  T bb = b * b;
+  T bc = b * c;
+  T bd = b * d;
+  T cc = c * c;
+  T cd = c * d;
+  T dd = d * d;
+
+  R(0, 0) = aa + bb - cc - dd; R(0, 1) = T(2) * (bc - ad);  R(0, 2) = T(2) * (ac + bd);  // NOLINT
+  R(1, 0) = T(2) * (ad + bc);  R(1, 1) = aa - bb + cc - dd; R(1, 2) = T(2) * (cd - ab);  // NOLINT
+  R(2, 0) = T(2) * (bd - ac);  R(2, 1) = T(2) * (ab + cd);  R(2, 2) = aa - bb - cc + dd; // NOLINT
+}
+
+template <typename T> inline
+void QuaternionToRotation(const T q[4], T R[3 * 3]) {
+  QuaternionToRotation(q, RowMajorAdapter3x3(R));
+}
+
+template <typename T, int row_stride, int col_stride> inline
+void QuaternionToRotation(const T q[4],
+                          const MatrixAdapter<T, row_stride, col_stride>& R) {
+  QuaternionToScaledRotation(q, R);
+
+  T normalizer = q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
+  normalizer = T(1) / normalizer;
+
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j) {
+      R(i, j) *= normalizer;
+    }
+  }
+}
+
+template <typename T> inline
+void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+  const T t2 =  q[0] * q[1];
+  const T t3 =  q[0] * q[2];
+  const T t4 =  q[0] * q[3];
+  const T t5 = -q[1] * q[1];
+  const T t6 =  q[1] * q[2];
+  const T t7 =  q[1] * q[3];
+  const T t8 = -q[2] * q[2];
+  const T t9 =  q[2] * q[3];
+  const T t1 = -q[3] * q[3];
+  result[0] = T(2) * ((t8 + t1) * pt[0] + (t6 - t4) * pt[1] + (t3 + t7) * pt[2]) + pt[0];  // NOLINT
+  result[1] = T(2) * ((t4 + t6) * pt[0] + (t5 + t1) * pt[1] + (t9 - t2) * pt[2]) + pt[1];  // NOLINT
+  result[2] = T(2) * ((t7 - t3) * pt[0] + (t2 + t9) * pt[1] + (t5 + t8) * pt[2]) + pt[2];  // NOLINT
+}
+
+template <typename T> inline
+void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+  // 'scale' is 1 / norm(q).
+  const T scale = T(1) / sqrt(q[0] * q[0] +
+                              q[1] * q[1] +
+                              q[2] * q[2] +
+                              q[3] * q[3]);
+
+  // Make unit-norm version of q.
+  const T unit[4] = {
+    scale * q[0],
+    scale * q[1],
+    scale * q[2],
+    scale * q[3],
+  };
+
+  UnitQuaternionRotatePoint(unit, pt, result);
+}
+
+template<typename T> inline
+void QuaternionProduct(const T z[4], const T w[4], T zw[4]) {
+  zw[0] = z[0] * w[0] - z[1] * w[1] - z[2] * w[2] - z[3] * w[3];
+  zw[1] = z[0] * w[1] + z[1] * w[0] + z[2] * w[3] - z[3] * w[2];
+  zw[2] = z[0] * w[2] - z[1] * w[3] + z[2] * w[0] + z[3] * w[1];
+  zw[3] = z[0] * w[3] + z[1] * w[2] - z[2] * w[1] + z[3] * w[0];
+}
+
+// xy = x cross y;
+template<typename T> inline
+void CrossProduct(const T x[3], const T y[3], T x_cross_y[3]) {
+  x_cross_y[0] = x[1] * y[2] - x[2] * y[1];
+  x_cross_y[1] = x[2] * y[0] - x[0] * y[2];
+  x_cross_y[2] = x[0] * y[1] - x[1] * y[0];
+}
+
+template<typename T> inline
+T DotProduct(const T x[3], const T y[3]) {
+  return (x[0] * y[0] + x[1] * y[1] + x[2] * y[2]);
+}
+
+template<typename T> inline
+void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]) {
+  const T theta2 = DotProduct(angle_axis, angle_axis);
+  if (theta2 > T(std::numeric_limits<double>::epsilon())) {
+    // Away from zero, use the rodriguez formula
+    //
+    //   result = pt costheta +
+    //            (w x pt) * sintheta +
+    //            w (w . pt) (1 - costheta)
+    //
+    // We want to be careful to only evaluate the square root if the
+    // norm of the angle_axis vector is greater than zero. Otherwise
+    // we get a division by zero.
+    //
+    const T theta = sqrt(theta2);
+    const T costheta = cos(theta);
+    const T sintheta = sin(theta);
+    const T theta_inverse = T(1.0) / theta;
+
+    const T w[3] = { angle_axis[0] * theta_inverse,
+                     angle_axis[1] * theta_inverse,
+                     angle_axis[2] * theta_inverse };
+
+    // Explicitly inlined evaluation of the cross product for
+    // performance reasons.
+    const T w_cross_pt[3] = { w[1] * pt[2] - w[2] * pt[1],
+                              w[2] * pt[0] - w[0] * pt[2],
+                              w[0] * pt[1] - w[1] * pt[0] };
+    const T tmp =
+        (w[0] * pt[0] + w[1] * pt[1] + w[2] * pt[2]) * (T(1.0) - costheta);
+
+    result[0] = pt[0] * costheta + w_cross_pt[0] * sintheta + w[0] * tmp;
+    result[1] = pt[1] * costheta + w_cross_pt[1] * sintheta + w[1] * tmp;
+    result[2] = pt[2] * costheta + w_cross_pt[2] * sintheta + w[2] * tmp;
+  } else {
+    // Near zero, the first order Taylor approximation of the rotation
+    // matrix R corresponding to a vector w and angle w is
+    //
+    //   R = I + hat(w) * sin(theta)
+    //
+    // But sintheta ~ theta and theta * w = angle_axis, which gives us
+    //
+    //  R = I + hat(w)
+    //
+    // and actually performing multiplication with the point pt, gives us
+    // R * pt = pt + w x pt.
+    //
+    // Switching to the Taylor expansion near zero provides meaningful
+    // derivatives when evaluated using Jets.
+    //
+    // Explicitly inlined evaluation of the cross product for
+    // performance reasons.
+    const T w_cross_pt[3] = { angle_axis[1] * pt[2] - angle_axis[2] * pt[1],
+                              angle_axis[2] * pt[0] - angle_axis[0] * pt[2],
+                              angle_axis[0] * pt[1] - angle_axis[1] * pt[0] };
+
+    result[0] = pt[0] + w_cross_pt[0];
+    result[1] = pt[1] + w_cross_pt[1];
+    result[2] = pt[2] + w_cross_pt[2];
+  }
+}
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_ROTATION_H_
diff --git a/include/ceres/sized_cost_function.h b/include/ceres/sized_cost_function.h
new file mode 100644
index 0000000..b10421e
--- /dev/null
+++ b/include/ceres/sized_cost_function.h
@@ -0,0 +1,96 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A convenience class for cost functions which are statically sized.
+// Compared to the dynamically-sized base class, this reduces boilerplate.
+//
+// The kNumResiduals template parameter can be a constant such as 2 or 5, or it
+// can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses
+// are responsible for calling set_num_residuals() at runtime.
+
+#ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_
+#define CERES_PUBLIC_SIZED_COST_FUNCTION_H_
+
+#include "ceres/types.h"
+#include "ceres/cost_function.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+template<int kNumResiduals,
+         int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+         int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+class SizedCostFunction : public CostFunction {
+ public:
+  SizedCostFunction() {
+    CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
+        << "Cost functions must have at least one residual block.";
+
+    // This block breaks the 80 column rule to keep it somewhat readable.
+    CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+          ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+          ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                                   // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                              // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||                         // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||                    // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||               // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||          // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||     // NOLINT
+          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))  // NOLINT
+        << "Zero block cannot precede a non-zero block. Block sizes are "
+        << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+        << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+        << N8 << ", " << N9;
+
+    set_num_residuals(kNumResiduals);
+
+#define CERES_ADD_PARAMETER_BLOCK(N) \
+    if (N) mutable_parameter_block_sizes()->push_back(N);
+    CERES_ADD_PARAMETER_BLOCK(N0);
+    CERES_ADD_PARAMETER_BLOCK(N1);
+    CERES_ADD_PARAMETER_BLOCK(N2);
+    CERES_ADD_PARAMETER_BLOCK(N3);
+    CERES_ADD_PARAMETER_BLOCK(N4);
+    CERES_ADD_PARAMETER_BLOCK(N5);
+    CERES_ADD_PARAMETER_BLOCK(N6);
+    CERES_ADD_PARAMETER_BLOCK(N7);
+    CERES_ADD_PARAMETER_BLOCK(N8);
+    CERES_ADD_PARAMETER_BLOCK(N9);
+#undef CERES_ADD_PARAMETER_BLOCK
+  }
+
+  virtual ~SizedCostFunction() { }
+
+  // Subclasses must implement Evaluate().
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_SIZED_COST_FUNCTION_H_
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
new file mode 100644
index 0000000..96391ba
--- /dev/null
+++ b/include/ceres/solver.h
@@ -0,0 +1,1059 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_SOLVER_H_
+#define CERES_PUBLIC_SOLVER_H_
+
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/types.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+class Problem;
+
+// Interface for non-linear least squares solvers.
+class CERES_EXPORT Solver {
+ public:
+  virtual ~Solver();
+
+  // The options structure contains, not surprisingly, options that control how
+  // the solver operates. The defaults should be suitable for a wide range of
+  // problems; however, better performance is often obtainable with tweaking.
+  //
+  // The constants are defined inside types.h
+  struct CERES_EXPORT Options {
+    // Default constructor that sets up a generic sparse problem.
+    Options() {
+      minimizer_type = TRUST_REGION;
+      line_search_direction_type = LBFGS;
+      line_search_type = WOLFE;
+      nonlinear_conjugate_gradient_type = FLETCHER_REEVES;
+      max_lbfgs_rank = 20;
+      use_approximate_eigenvalue_bfgs_scaling = false;
+      line_search_interpolation_type = CUBIC;
+      min_line_search_step_size = 1e-9;
+      line_search_sufficient_function_decrease = 1e-4;
+      max_line_search_step_contraction = 1e-3;
+      min_line_search_step_contraction = 0.6;
+      max_num_line_search_step_size_iterations = 20;
+      max_num_line_search_direction_restarts = 5;
+      line_search_sufficient_curvature_decrease = 0.9;
+      max_line_search_step_expansion = 10.0;
+      trust_region_strategy_type = LEVENBERG_MARQUARDT;
+      dogleg_type = TRADITIONAL_DOGLEG;
+      use_nonmonotonic_steps = false;
+      max_consecutive_nonmonotonic_steps = 5;
+      max_num_iterations = 50;
+      max_solver_time_in_seconds = 1e9;
+      num_threads = 1;
+      initial_trust_region_radius = 1e4;
+      max_trust_region_radius = 1e16;
+      min_trust_region_radius = 1e-32;
+      min_relative_decrease = 1e-3;
+      min_lm_diagonal = 1e-6;
+      max_lm_diagonal = 1e32;
+      max_num_consecutive_invalid_steps = 5;
+      function_tolerance = 1e-6;
+      gradient_tolerance = 1e-10;
+      parameter_tolerance = 1e-8;
+
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE) && !defined(CERES_ENABLE_LGPL_CODE)  // NOLINT
+      linear_solver_type = DENSE_QR;
+#else
+      linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+#endif
+
+      preconditioner_type = JACOBI;
+      visibility_clustering_type = CANONICAL_VIEWS;
+      dense_linear_algebra_library_type = EIGEN;
+
+      // Choose a default sparse linear algebra library in the order:
+      //
+      //   SUITE_SPARSE > CX_SPARSE > EIGEN_SPARSE > NO_SPARSE
+      sparse_linear_algebra_library_type = NO_SPARSE;
+#if !defined(CERES_NO_SUITESPARSE)
+      sparse_linear_algebra_library_type = SUITE_SPARSE;
+#else
+  #if !defined(CERES_NO_CXSPARSE)
+      sparse_linear_algebra_library_type = CX_SPARSE;
+  #else
+    #if defined(CERES_USE_EIGEN_SPARSE)
+      sparse_linear_algebra_library_type = EIGEN_SPARSE;
+    #endif
+  #endif
+#endif
+
+      num_linear_solver_threads = 1;
+      use_explicit_schur_complement = false;
+      use_postordering = false;
+      dynamic_sparsity = false;
+      min_linear_solver_iterations = 0;
+      max_linear_solver_iterations = 500;
+      eta = 1e-1;
+      jacobi_scaling = true;
+      use_inner_iterations = false;
+      inner_iteration_tolerance = 1e-3;
+      logging_type = PER_MINIMIZER_ITERATION;
+      minimizer_progress_to_stdout = false;
+      trust_region_problem_dump_directory = "/tmp";
+      trust_region_problem_dump_format_type = TEXTFILE;
+      check_gradients = false;
+      gradient_check_relative_precision = 1e-8;
+      gradient_check_numeric_derivative_relative_step_size = 1e-6;
+      update_state_every_iteration = false;
+    }
+
+    // Returns true if the options struct has a valid
+    // configuration. Returns false otherwise, and fills in *error
+    // with a message describing the problem.
+    bool IsValid(std::string* error) const;
+
+    // Minimizer options ----------------------------------------
+
+    // Ceres supports the two major families of optimization strategies -
+    // Trust Region and Line Search.
+    //
+    // 1. The line search approach first finds a descent direction
+    // along which the objective function will be reduced and then
+    // computes a step size that decides how far should move along
+    // that direction. The descent direction can be computed by
+    // various methods, such as gradient descent, Newton's method and
+    // Quasi-Newton method. The step size can be determined either
+    // exactly or inexactly.
+    //
+    // 2. The trust region approach approximates the objective
+    // function using using a model function (often a quadratic) over
+    // a subset of the search space known as the trust region. If the
+    // model function succeeds in minimizing the true objective
+    // function the trust region is expanded; conversely, otherwise it
+    // is contracted and the model optimization problem is solved
+    // again.
+    //
+    // Trust region methods are in some sense dual to line search methods:
+    // trust region methods first choose a step size (the size of the
+    // trust region) and then a step direction while line search methods
+    // first choose a step direction and then a step size.
+    MinimizerType minimizer_type;
+
+    LineSearchDirectionType line_search_direction_type;
+    LineSearchType line_search_type;
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+    // The LBFGS hessian approximation is a low rank approximation to
+    // the inverse of the Hessian matrix. The rank of the
+    // approximation determines (linearly) the space and time
+    // complexity of using the approximation. Higher the rank, the
+    // better is the quality of the approximation. The increase in
+    // quality is however is bounded for a number of reasons.
+    //
+    // 1. The method only uses secant information and not actual
+    // derivatives.
+    //
+    // 2. The Hessian approximation is constrained to be positive
+    // definite.
+    //
+    // So increasing this rank to a large number will cost time and
+    // space complexity without the corresponding increase in solution
+    // quality. There are no hard and fast rules for choosing the
+    // maximum rank. The best choice usually requires some problem
+    // specific experimentation.
+    //
+    // For more theoretical and implementation details of the LBFGS
+    // method, please see:
+    //
+    // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with
+    // Limited Storage". Mathematics of Computation 35 (151): 773–782.
+    int max_lbfgs_rank;
+
+    // As part of the (L)BFGS update step (BFGS) / right-multiply step (L-BFGS),
+    // the initial inverse Hessian approximation is taken to be the Identity.
+    // However, Oren showed that using instead I * \gamma, where \gamma is
+    // chosen to approximate an eigenvalue of the true inverse Hessian can
+    // result in improved convergence in a wide variety of cases. Setting
+    // use_approximate_eigenvalue_bfgs_scaling to true enables this scaling.
+    //
+    // It is important to note that approximate eigenvalue scaling does not
+    // always improve convergence, and that it can in fact significantly degrade
+    // performance for certain classes of problem, which is why it is disabled
+    // by default.  In particular it can degrade performance when the
+    // sensitivity of the problem to different parameters varies significantly,
+    // as in this case a single scalar factor fails to capture this variation
+    // and detrimentally downscales parts of the jacobian approximation which
+    // correspond to low-sensitivity parameters. It can also reduce the
+    // robustness of the solution to errors in the jacobians.
+    //
+    // Oren S.S., Self-scaling variable metric (SSVM) algorithms
+    // Part II: Implementation and experiments, Management Science,
+    // 20(5), 863-874, 1974.
+    bool use_approximate_eigenvalue_bfgs_scaling;
+
+    // Degree of the polynomial used to approximate the objective
+    // function. Valid values are BISECTION, QUADRATIC and CUBIC.
+    //
+    // BISECTION corresponds to pure backtracking search with no
+    // interpolation.
+    LineSearchInterpolationType line_search_interpolation_type;
+
+    // If during the line search, the step_size falls below this
+    // value, it is truncated to zero.
+    double min_line_search_step_size;
+
+    // Line search parameters.
+
+    // Solving the line search problem exactly is computationally
+    // prohibitive. Fortunately, line search based optimization
+    // algorithms can still guarantee convergence if instead of an
+    // exact solution, the line search algorithm returns a solution
+    // which decreases the value of the objective function
+    // sufficiently. More precisely, we are looking for a step_size
+    // s.t.
+    //
+    //   f(step_size) <= f(0) + sufficient_decrease * f'(0) * step_size
+    //
+    double line_search_sufficient_function_decrease;
+
+    // In each iteration of the line search,
+    //
+    //  new_step_size >= max_line_search_step_contraction * step_size
+    //
+    // Note that by definition, for contraction:
+    //
+    //  0 < max_step_contraction < min_step_contraction < 1
+    //
+    double max_line_search_step_contraction;
+
+    // In each iteration of the line search,
+    //
+    //  new_step_size <= min_line_search_step_contraction * step_size
+    //
+    // Note that by definition, for contraction:
+    //
+    //  0 < max_step_contraction < min_step_contraction < 1
+    //
+    double min_line_search_step_contraction;
+
+    // Maximum number of trial step size iterations during each line search,
+    // if a step size satisfying the search conditions cannot be found within
+    // this number of trials, the line search will terminate.
+    int max_num_line_search_step_size_iterations;
+
+    // Maximum number of restarts of the line search direction algorithm before
+    // terminating the optimization. Restarts of the line search direction
+    // algorithm occur when the current algorithm fails to produce a new descent
+    // direction. This typically indicates a numerical failure, or a breakdown
+    // in the validity of the approximations used.
+    int max_num_line_search_direction_restarts;
+
+    // The strong Wolfe conditions consist of the Armijo sufficient
+    // decrease condition, and an additional requirement that the
+    // step-size be chosen s.t. the _magnitude_ ('strong' Wolfe
+    // conditions) of the gradient along the search direction
+    // decreases sufficiently. Precisely, this second condition
+    // is that we seek a step_size s.t.
+    //
+    //   |f'(step_size)| <= sufficient_curvature_decrease * |f'(0)|
+    //
+    // Where f() is the line search objective and f'() is the derivative
+    // of f w.r.t step_size (d f / d step_size).
+    double line_search_sufficient_curvature_decrease;
+
+    // During the bracketing phase of the Wolfe search, the step size is
+    // increased until either a point satisfying the Wolfe conditions is
+    // found, or an upper bound for a bracket containing a point satisfying
+    // the conditions is found.  Precisely, at each iteration of the
+    // expansion:
+    //
+    //   new_step_size <= max_step_expansion * step_size.
+    //
+    // By definition for expansion, max_step_expansion > 1.0.
+    double max_line_search_step_expansion;
+
+    TrustRegionStrategyType trust_region_strategy_type;
+
+    // Type of dogleg strategy to use.
+    DoglegType dogleg_type;
+
+    // The classical trust region methods are descent methods, in that
+    // they only accept a point if it strictly reduces the value of
+    // the objective function.
+    //
+    // Relaxing this requirement allows the algorithm to be more
+    // efficient in the long term at the cost of some local increase
+    // in the value of the objective function.
+    //
+    // This is because allowing for non-decreasing objective function
+    // values in a princpled manner allows the algorithm to "jump over
+    // boulders" as the method is not restricted to move into narrow
+    // valleys while preserving its convergence properties.
+    //
+    // Setting use_nonmonotonic_steps to true enables the
+    // non-monotonic trust region algorithm as described by Conn,
+    // Gould & Toint in "Trust Region Methods", Section 10.1.
+    //
+    // The parameter max_consecutive_nonmonotonic_steps controls the
+    // window size used by the step selection algorithm to accept
+    // non-monotonic steps.
+    //
+    // Even though the value of the objective function may be larger
+    // than the minimum value encountered over the course of the
+    // optimization, the final parameters returned to the user are the
+    // ones corresponding to the minimum cost over all iterations.
+    bool use_nonmonotonic_steps;
+    int max_consecutive_nonmonotonic_steps;
+
+    // Maximum number of iterations for the minimizer to run for.
+    int max_num_iterations;
+
+    // Maximum time for which the minimizer should run for.
+    double max_solver_time_in_seconds;
+
+    // Number of threads used by Ceres for evaluating the cost and
+    // jacobians.
+    int num_threads;
+
+    // Trust region minimizer settings.
+    double initial_trust_region_radius;
+    double max_trust_region_radius;
+
+    // Minimizer terminates when the trust region radius becomes
+    // smaller than this value.
+    double min_trust_region_radius;
+
+    // Lower bound for the relative decrease before a step is
+    // accepted.
+    double min_relative_decrease;
+
+    // For the Levenberg-Marquadt algorithm, the scaled diagonal of
+    // the normal equations J'J is used to control the size of the
+    // trust region. Extremely small and large values along the
+    // diagonal can make this regularization scheme
+    // fail. max_lm_diagonal and min_lm_diagonal, clamp the values of
+    // diag(J'J) from above and below. In the normal course of
+    // operation, the user should not have to modify these parameters.
+    double min_lm_diagonal;
+    double max_lm_diagonal;
+
+    // Sometimes due to numerical conditioning problems or linear
+    // solver flakiness, the trust region strategy may return a
+    // numerically invalid step that can be fixed by reducing the
+    // trust region size. So the TrustRegionMinimizer allows for a few
+    // successive invalid steps before it declares NUMERICAL_FAILURE.
+    int max_num_consecutive_invalid_steps;
+
+    // Minimizer terminates when
+    //
+    //   (new_cost - old_cost) < function_tolerance * old_cost;
+    //
+    double function_tolerance;
+
+    // Minimizer terminates when
+    //
+    //   max_i |x - Project(Plus(x, -g(x))| < gradient_tolerance
+    //
+    // This value should typically be 1e-4 * function_tolerance.
+    double gradient_tolerance;
+
+    // Minimizer terminates when
+    //
+    //   |step|_2 <= parameter_tolerance * ( |x|_2 +  parameter_tolerance)
+    //
+    double parameter_tolerance;
+
+    // Linear least squares solver options -------------------------------------
+
+    LinearSolverType linear_solver_type;
+
+    // Type of preconditioner to use with the iterative linear solvers.
+    PreconditionerType preconditioner_type;
+
+    // Type of clustering algorithm to use for visibility based
+    // preconditioning. This option is used only when the
+    // preconditioner_type is CLUSTER_JACOBI or CLUSTER_TRIDIAGONAL.
+    VisibilityClusteringType visibility_clustering_type;
+
+    // Ceres supports using multiple dense linear algebra libraries
+    // for dense matrix factorizations. Currently EIGEN and LAPACK are
+    // the valid choices. EIGEN is always available, LAPACK refers to
+    // the system BLAS + LAPACK library which may or may not be
+    // available.
+    //
+    // This setting affects the DENSE_QR, DENSE_NORMAL_CHOLESKY and
+    // DENSE_SCHUR solvers. For small to moderate sized probem EIGEN
+    // is a fine choice but for large problems, an optimized LAPACK +
+    // BLAS implementation can make a substantial difference in
+    // performance.
+    DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+
+    // Ceres supports using multiple sparse linear algebra libraries
+    // for sparse matrix ordering and factorizations. Currently,
+    // SUITE_SPARSE and CX_SPARSE are the valid choices, depending on
+    // whether they are linked into Ceres at build time.
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+    // Number of threads used by Ceres to solve the Newton
+    // step. Currently only the SPARSE_SCHUR solver is capable of
+    // using this setting.
+    int num_linear_solver_threads;
+
+    // The order in which variables are eliminated in a linear solver
+    // can have a significant of impact on the efficiency and accuracy
+    // of the method. e.g., when doing sparse Cholesky factorization,
+    // there are matrices for which a good ordering will give a
+    // Cholesky factor with O(n) storage, where as a bad ordering will
+    // result in an completely dense factor.
+    //
+    // Ceres allows the user to provide varying amounts of hints to
+    // the solver about the variable elimination ordering to use. This
+    // can range from no hints, where the solver is free to decide the
+    // best possible ordering based on the user's choices like the
+    // linear solver being used, to an exact order in which the
+    // variables should be eliminated, and a variety of possibilities
+    // in between.
+    //
+    // Instances of the ParameterBlockOrdering class are used to
+    // communicate this information to Ceres.
+    //
+    // Formally an ordering is an ordered partitioning of the
+    // parameter blocks, i.e, each parameter block belongs to exactly
+    // one group, and each group has a unique non-negative integer
+    // associated with it, that determines its order in the set of
+    // groups.
+    //
+    // Given such an ordering, Ceres ensures that the parameter blocks in
+    // the lowest numbered group are eliminated first, and then the
+    // parmeter blocks in the next lowest numbered group and so on. Within
+    // each group, Ceres is free to order the parameter blocks as it
+    // chooses.
+    //
+    // If NULL, then all parameter blocks are assumed to be in the
+    // same group and the solver is free to decide the best
+    // ordering.
+    //
+    // e.g. Consider the linear system
+    //
+    //   x + y = 3
+    //   2x + 3y = 7
+    //
+    // There are two ways in which it can be solved. First eliminating x
+    // from the two equations, solving for y and then back substituting
+    // for x, or first eliminating y, solving for x and back substituting
+    // for y. The user can construct three orderings here.
+    //
+    //   {0: x}, {1: y} - eliminate x first.
+    //   {0: y}, {1: x} - eliminate y first.
+    //   {0: x, y}      - Solver gets to decide the elimination order.
+    //
+    // Thus, to have Ceres determine the ordering automatically using
+    // heuristics, put all the variables in group 0 and to control the
+    // ordering for every variable, create groups 0..N-1, one per
+    // variable, in the desired order.
+    //
+    // Bundle Adjustment
+    // -----------------
+    //
+    // A particular case of interest is bundle adjustment, where the user
+    // has two options. The default is to not specify an ordering at all,
+    // the solver will see that the user wants to use a Schur type solver
+    // and figure out the right elimination ordering.
+    //
+    // But if the user already knows what parameter blocks are points and
+    // what are cameras, they can save preprocessing time by partitioning
+    // the parameter blocks into two groups, one for the points and one
+    // for the cameras, where the group containing the points has an id
+    // smaller than the group containing cameras.
+    shared_ptr<ParameterBlockOrdering> linear_solver_ordering;
+
+    // Use an explicitly computed Schur complement matrix with
+    // ITERATIVE_SCHUR.
+    //
+    // By default this option is disabled and ITERATIVE_SCHUR
+    // evaluates evaluates matrix-vector products between the Schur
+    // complement and a vector implicitly by exploiting the algebraic
+    // expression for the Schur complement.
+    //
+    // The cost of this evaluation scales with the number of non-zeros
+    // in the Jacobian.
+    //
+    // For small to medium sized problems there is a sweet spot where
+    // computing the Schur complement is cheap enough that it is much
+    // more efficient to explicitly compute it and use it for evaluating
+    // the matrix-vector products.
+    //
+    // Enabling this option tells ITERATIVE_SCHUR to use an explicitly
+    // computed Schur complement.
+    //
+    // NOTE: This option can only be used with the SCHUR_JACOBI
+    // preconditioner.
+    bool use_explicit_schur_complement;
+
+    // Sparse Cholesky factorization algorithms use a fill-reducing
+    // ordering to permute the columns of the Jacobian matrix. There
+    // are two ways of doing this.
+
+    // 1. Compute the Jacobian matrix in some order and then have the
+    //    factorization algorithm permute the columns of the Jacobian.
+
+    // 2. Compute the Jacobian with its columns already permuted.
+
+    // The first option incurs a significant memory penalty. The
+    // factorization algorithm has to make a copy of the permuted
+    // Jacobian matrix, thus Ceres pre-permutes the columns of the
+    // Jacobian matrix and generally speaking, there is no performance
+    // penalty for doing so.
+
+    // In some rare cases, it is worth using a more complicated
+    // reordering algorithm which has slightly better runtime
+    // performance at the expense of an extra copy of the Jacobian
+    // matrix. Setting use_postordering to true enables this tradeoff.
+    bool use_postordering;
+
+    // Some non-linear least squares problems are symbolically dense but
+    // numerically sparse. i.e. at any given state only a small number
+    // of jacobian entries are non-zero, but the position and number of
+    // non-zeros is different depending on the state. For these problems
+    // it can be useful to factorize the sparse jacobian at each solver
+    // iteration instead of including all of the zero entries in a single
+    // general factorization.
+    //
+    // If your problem does not have this property (or you do not know),
+    // then it is probably best to keep this false, otherwise it will
+    // likely lead to worse performance.
+
+    // This settings affects the SPARSE_NORMAL_CHOLESKY solver.
+    bool dynamic_sparsity;
+
+    // Some non-linear least squares problems have additional
+    // structure in the way the parameter blocks interact that it is
+    // beneficial to modify the way the trust region step is computed.
+    //
+    // e.g., consider the following regression problem
+    //
+    //   y = a_1 exp(b_1 x) + a_2 exp(b_3 x^2 + c_1)
+    //
+    // Given a set of pairs{(x_i, y_i)}, the user wishes to estimate
+    // a_1, a_2, b_1, b_2, and c_1.
+    //
+    // Notice here that the expression on the left is linear in a_1
+    // and a_2, and given any value for b_1, b_2 and c_1, it is
+    // possible to use linear regression to estimate the optimal
+    // values of a_1 and a_2. Indeed, its possible to analytically
+    // eliminate the variables a_1 and a_2 from the problem all
+    // together. Problems like these are known as separable least
+    // squares problem and the most famous algorithm for solving them
+    // is the Variable Projection algorithm invented by Golub &
+    // Pereyra.
+    //
+    // Similar structure can be found in the matrix factorization with
+    // missing data problem. There the corresponding algorithm is
+    // known as Wiberg's algorithm.
+    //
+    // Ruhe & Wedin (Algorithms for Separable Nonlinear Least Squares
+    // Problems, SIAM Reviews, 22(3), 1980) present an analyis of
+    // various algorithms for solving separable non-linear least
+    // squares problems and refer to "Variable Projection" as
+    // Algorithm I in their paper.
+    //
+    // Implementing Variable Projection is tedious and expensive, and
+    // they present a simpler algorithm, which they refer to as
+    // Algorithm II, where once the Newton/Trust Region step has been
+    // computed for the whole problem (a_1, a_2, b_1, b_2, c_1) and
+    // additional optimization step is performed to estimate a_1 and
+    // a_2 exactly.
+    //
+    // This idea can be generalized to cases where the residual is not
+    // linear in a_1 and a_2, i.e., Solve for the trust region step
+    // for the full problem, and then use it as the starting point to
+    // further optimize just a_1 and a_2. For the linear case, this
+    // amounts to doing a single linear least squares solve. For
+    // non-linear problems, any method for solving the a_1 and a_2
+    // optimization problems will do. The only constraint on a_1 and
+    // a_2 is that they do not co-occur in any residual block.
+    //
+    // This idea can be further generalized, by not just optimizing
+    // (a_1, a_2), but decomposing the graph corresponding to the
+    // Hessian matrix's sparsity structure in a collection of
+    // non-overlapping independent sets and optimizing each of them.
+    //
+    // Setting "use_inner_iterations" to true enables the use of this
+    // non-linear generalization of Ruhe & Wedin's Algorithm II.  This
+    // version of Ceres has a higher iteration complexity, but also
+    // displays better convergence behaviour per iteration. Setting
+    // Solver::Options::num_threads to the maximum number possible is
+    // highly recommended.
+    bool use_inner_iterations;
+
+    // If inner_iterations is true, then the user has two choices.
+    //
+    // 1. Let the solver heuristically decide which parameter blocks
+    //    to optimize in each inner iteration. To do this leave
+    //    Solver::Options::inner_iteration_ordering untouched.
+    //
+    // 2. Specify a collection of of ordered independent sets. Where
+    //    the lower numbered groups are optimized before the higher
+    //    number groups. Each group must be an independent set. Not
+    //    all parameter blocks need to be present in the ordering.
+    shared_ptr<ParameterBlockOrdering> inner_iteration_ordering;
+
+    // Generally speaking, inner iterations make significant progress
+    // in the early stages of the solve and then their contribution
+    // drops down sharply, at which point the time spent doing inner
+    // iterations is not worth it.
+    //
+    // Once the relative decrease in the objective function due to
+    // inner iterations drops below inner_iteration_tolerance, the use
+    // of inner iterations in subsequent trust region minimizer
+    // iterations is disabled.
+    double inner_iteration_tolerance;
+
+    // Minimum number of iterations for which the linear solver should
+    // run, even if the convergence criterion is satisfied.
+    int min_linear_solver_iterations;
+
+    // Maximum number of iterations for which the linear solver should
+    // run. If the solver does not converge in less than
+    // max_linear_solver_iterations, then it returns MAX_ITERATIONS,
+    // as its termination type.
+    int max_linear_solver_iterations;
+
+    // Forcing sequence parameter. The truncated Newton solver uses
+    // this number to control the relative accuracy with which the
+    // Newton step is computed.
+    //
+    // This constant is passed to ConjugateGradientsSolver which uses
+    // it to terminate the iterations when
+    //
+    //  (Q_i - Q_{i-1})/Q_i < eta/i
+    double eta;
+
+    // Normalize the jacobian using Jacobi scaling before calling
+    // the linear least squares solver.
+    bool jacobi_scaling;
+
+    // Logging options ---------------------------------------------------------
+
+    LoggingType logging_type;
+
+    // By default the Minimizer progress is logged to VLOG(1), which
+    // is sent to STDERR depending on the vlog level. If this flag is
+    // set to true, and logging_type is not SILENT, the logging output
+    // is sent to STDOUT.
+    bool minimizer_progress_to_stdout;
+
+    // List of iterations at which the minimizer should dump the trust
+    // region problem. Useful for testing and benchmarking. If empty
+    // (default), no problems are dumped.
+    std::vector<int> trust_region_minimizer_iterations_to_dump;
+
+    // Directory to which the problems should be written to. Should be
+    // non-empty if trust_region_minimizer_iterations_to_dump is
+    // non-empty and trust_region_problem_dump_format_type is not
+    // CONSOLE.
+    std::string trust_region_problem_dump_directory;
+    DumpFormatType trust_region_problem_dump_format_type;
+
+    // Finite differences options ----------------------------------------------
+
+    // Check all jacobians computed by each residual block with finite
+    // differences. This is expensive since it involves computing the
+    // derivative by normal means (e.g. user specified, autodiff,
+    // etc), then also computing it using finite differences. The
+    // results are compared, and if they differ substantially, details
+    // are printed to the log.
+    bool check_gradients;
+
+    // Relative precision to check for in the gradient checker. If the
+    // relative difference between an element in a jacobian exceeds
+    // this number, then the jacobian for that cost term is dumped.
+    double gradient_check_relative_precision;
+
+    // WARNING: This option only applies to the to the numeric
+    // differentiation used for checking the user provided derivatives
+    // when when Solver::Options::check_gradients is true. If you are
+    // using NumericDiffCostFunction and are interested in changing
+    // the step size for numeric differentiation in your cost
+    // function, please have a look at
+    // include/ceres/numeric_diff_options.h.
+    //
+    // Relative shift used for taking numeric derivatives when
+    // Solver::Options::check_gradients is true.
+    //
+    // For finite differencing, each dimension is evaluated at
+    // slightly shifted values; for the case of central difference,
+    // this is what gets evaluated:
+    //
+    //   delta = gradient_check_numeric_derivative_relative_step_size;
+    //   f_initial  = f(x)
+    //   f_forward  = f((1 + delta) * x)
+    //   f_backward = f((1 - delta) * x)
+    //
+    // The finite differencing is done along each dimension. The
+    // reason to use a relative (rather than absolute) step size is
+    // that this way, numeric differentation works for functions where
+    // the arguments are typically large (e.g. 1e9) and when the
+    // values are small (e.g. 1e-5). It is possible to construct
+    // "torture cases" which break this finite difference heuristic,
+    // but they do not come up often in practice.
+    //
+    // TODO(keir): Pick a smarter number than the default above! In
+    // theory a good choice is sqrt(eps) * x, which for doubles means
+    // about 1e-8 * x. However, I have found this number too
+    // optimistic. This number should be exposed for users to change.
+    double gradient_check_numeric_derivative_relative_step_size;
+
+    // If true, the user's parameter blocks are updated at the end of
+    // every Minimizer iteration, otherwise they are updated when the
+    // Minimizer terminates. This is useful if, for example, the user
+    // wishes to visualize the state of the optimization every
+    // iteration.
+    bool update_state_every_iteration;
+
+    // Callbacks that are executed at the end of each iteration of the
+    // Minimizer. An iteration may terminate midway, either due to
+    // numerical failures or because one of the convergence tests has
+    // been satisfied. In this case none of the callbacks are
+    // executed.
+
+    // Callbacks are executed in the order that they are specified in
+    // this vector. By default, parameter blocks are updated only at
+    // the end of the optimization, i.e when the Minimizer
+    // terminates. This behaviour is controlled by
+    // update_state_every_variable. If the user wishes to have access
+    // to the update parameter blocks when his/her callbacks are
+    // executed, then set update_state_every_iteration to true.
+    //
+    // The solver does NOT take ownership of these pointers.
+    std::vector<IterationCallback*> callbacks;
+  };
+
+  struct CERES_EXPORT Summary {
+    Summary();
+
+    // A brief one line description of the state of the solver after
+    // termination.
+    std::string BriefReport() const;
+
+    // A full multiline description of the state of the solver after
+    // termination.
+    std::string FullReport() const;
+
+    bool IsSolutionUsable() const;
+
+    // Minimizer summary -------------------------------------------------
+    MinimizerType minimizer_type;
+
+    TerminationType termination_type;
+
+    // Reason why the solver terminated.
+    std::string message;
+
+    // Cost of the problem (value of the objective function) before
+    // the optimization.
+    double initial_cost;
+
+    // Cost of the problem (value of the objective function) after the
+    // optimization.
+    double final_cost;
+
+    // The part of the total cost that comes from residual blocks that
+    // were held fixed by the preprocessor because all the parameter
+    // blocks that they depend on were fixed.
+    double fixed_cost;
+
+    // IterationSummary for each minimizer iteration in order.
+    std::vector<IterationSummary> iterations;
+
+    // Number of minimizer iterations in which the step was
+    // accepted. Unless use_non_monotonic_steps is true this is also
+    // the number of steps in which the objective function value/cost
+    // went down.
+    int num_successful_steps;
+
+    // Number of minimizer iterations in which the step was rejected
+    // either because it did not reduce the cost enough or the step
+    // was not numerically valid.
+    int num_unsuccessful_steps;
+
+    // Number of times inner iterations were performed.
+    int num_inner_iteration_steps;
+
+    // Total number of iterations inside the line search algorithm
+    // across all invocations. We call these iterations "steps" to
+    // distinguish them from the outer iterations of the line search
+    // and trust region minimizer algorithms which call the line
+    // search algorithm as a subroutine.
+    int num_line_search_steps;
+
+    // All times reported below are wall times.
+
+    // When the user calls Solve, before the actual optimization
+    // occurs, Ceres performs a number of preprocessing steps. These
+    // include error checks, memory allocations, and reorderings. This
+    // time is accounted for as preprocessing time.
+    double preprocessor_time_in_seconds;
+
+    // Time spent in the TrustRegionMinimizer.
+    double minimizer_time_in_seconds;
+
+    // After the Minimizer is finished, some time is spent in
+    // re-evaluating residuals etc. This time is accounted for in the
+    // postprocessor time.
+    double postprocessor_time_in_seconds;
+
+    // Some total of all time spent inside Ceres when Solve is called.
+    double total_time_in_seconds;
+
+    // Time (in seconds) spent in the linear solver computing the
+    // trust region step.
+    double linear_solver_time_in_seconds;
+
+    // Time (in seconds) spent evaluating the residual vector.
+    double residual_evaluation_time_in_seconds;
+
+    // Time (in seconds) spent evaluating the jacobian matrix.
+    double jacobian_evaluation_time_in_seconds;
+
+    // Time (in seconds) spent doing inner iterations.
+    double inner_iteration_time_in_seconds;
+
+    // Cumulative timing information for line searches performed as part of the
+    // solve.  Note that in addition to the case when the Line Search minimizer
+    // is used, the Trust Region minimizer also uses a line search when
+    // solving a constrained problem.
+
+    // Time (in seconds) spent evaluating the univariate cost function as part
+    // of a line search.
+    double line_search_cost_evaluation_time_in_seconds;
+
+    // Time (in seconds) spent evaluating the gradient of the univariate cost
+    // function as part of a line search.
+    double line_search_gradient_evaluation_time_in_seconds;
+
+    // Time (in seconds) spent minimizing the interpolating polynomial
+    // to compute the next candidate step size as part of a line search.
+    double line_search_polynomial_minimization_time_in_seconds;
+
+    // Total time (in seconds) spent performing line searches.
+    double line_search_total_time_in_seconds;
+
+    // Number of parameter blocks in the problem.
+    int num_parameter_blocks;
+
+    // Number of parameters in the probem.
+    int num_parameters;
+
+    // Dimension of the tangent space of the problem (or the number of
+    // columns in the Jacobian for the problem). This is different
+    // from num_parameters if a parameter block is associated with a
+    // LocalParameterization
+    int num_effective_parameters;
+
+    // Number of residual blocks in the problem.
+    int num_residual_blocks;
+
+    // Number of residuals in the problem.
+    int num_residuals;
+
+    // Number of parameter blocks in the problem after the inactive
+    // and constant parameter blocks have been removed. A parameter
+    // block is inactive if no residual block refers to it.
+    int num_parameter_blocks_reduced;
+
+    // Number of parameters in the reduced problem.
+    int num_parameters_reduced;
+
+    // Dimension of the tangent space of the reduced problem (or the
+    // number of columns in the Jacobian for the reduced
+    // problem). This is different from num_parameters_reduced if a
+    // parameter block in the reduced problem is associated with a
+    // LocalParameterization.
+    int num_effective_parameters_reduced;
+
+    // Number of residual blocks in the reduced problem.
+    int num_residual_blocks_reduced;
+
+    //  Number of residuals in the reduced problem.
+    int num_residuals_reduced;
+
+    // Is the reduced problem bounds constrained.
+    bool is_constrained;
+
+    //  Number of threads specified by the user for Jacobian and
+    //  residual evaluation.
+    int num_threads_given;
+
+    // Number of threads actually used by the solver for Jacobian and
+    // residual evaluation. This number is not equal to
+    // num_threads_given if OpenMP is not available.
+    int num_threads_used;
+
+    //  Number of threads specified by the user for solving the trust
+    // region problem.
+    int num_linear_solver_threads_given;
+
+    // Number of threads actually used by the solver for solving the
+    // trust region problem. This number is not equal to
+    // num_threads_given if OpenMP is not available.
+    int num_linear_solver_threads_used;
+
+    // Type of the linear solver requested by the user.
+    LinearSolverType linear_solver_type_given;
+
+    // Type of the linear solver actually used. This may be different
+    // from linear_solver_type_given if Ceres determines that the
+    // problem structure is not compatible with the linear solver
+    // requested or if the linear solver requested by the user is not
+    // available, e.g. The user requested SPARSE_NORMAL_CHOLESKY but
+    // no sparse linear algebra library was available.
+    LinearSolverType linear_solver_type_used;
+
+    // Size of the elimination groups given by the user as hints to
+    // the linear solver.
+    std::vector<int> linear_solver_ordering_given;
+
+    // Size of the parameter groups used by the solver when ordering
+    // the columns of the Jacobian.  This maybe different from
+    // linear_solver_ordering_given if the user left
+    // linear_solver_ordering_given blank and asked for an automatic
+    // ordering, or if the problem contains some constant or inactive
+    // parameter blocks.
+    std::vector<int> linear_solver_ordering_used;
+
+    // For Schur type linear solvers, this string describes the
+    // template specialization which was detected in the problem and
+    // should be used.
+    std::string schur_structure_given;
+
+    // This is the Schur template specialization that was actually
+    // instantiated and used. The reason this will be different from
+    // schur_structure_given is because the corresponding template
+    // specialization does not exist.
+    //
+    // Template specializations can be added to ceres by editing
+    // internal/ceres/generate_template_specializations.py
+    std::string schur_structure_used;
+
+    // True if the user asked for inner iterations to be used as part
+    // of the optimization.
+    bool inner_iterations_given;
+
+    // True if the user asked for inner iterations to be used as part
+    // of the optimization and the problem structure was such that
+    // they were actually performed. e.g., in a problem with just one
+    // parameter block, inner iterations are not performed.
+    bool inner_iterations_used;
+
+    // Size of the parameter groups given by the user for performing
+    // inner iterations.
+    std::vector<int> inner_iteration_ordering_given;
+
+    // Size of the parameter groups given used by the solver for
+    // performing inner iterations. This maybe different from
+    // inner_iteration_ordering_given if the user left
+    // inner_iteration_ordering_given blank and asked for an automatic
+    // ordering, or if the problem contains some constant or inactive
+    // parameter blocks.
+    std::vector<int> inner_iteration_ordering_used;
+
+    // Type of the preconditioner requested by the user.
+    PreconditionerType preconditioner_type_given;
+
+    // Type of the preconditioner actually used. This may be different
+    // from linear_solver_type_given if Ceres determines that the
+    // problem structure is not compatible with the linear solver
+    // requested or if the linear solver requested by the user is not
+    // available.
+    PreconditionerType preconditioner_type_used;
+
+    // Type of clustering algorithm used for visibility based
+    // preconditioning. Only meaningful when the preconditioner_type
+    // is CLUSTER_JACOBI or CLUSTER_TRIDIAGONAL.
+    VisibilityClusteringType visibility_clustering_type;
+
+    //  Type of trust region strategy.
+    TrustRegionStrategyType trust_region_strategy_type;
+
+    //  Type of dogleg strategy used for solving the trust region
+    //  problem.
+    DoglegType dogleg_type;
+
+    //  Type of the dense linear algebra library used.
+    DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+
+    // Type of the sparse linear algebra library used.
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+    // Type of line search direction used.
+    LineSearchDirectionType line_search_direction_type;
+
+    // Type of the line search algorithm used.
+    LineSearchType line_search_type;
+
+    //  When performing line search, the degree of the polynomial used
+    //  to approximate the objective function.
+    LineSearchInterpolationType line_search_interpolation_type;
+
+    // If the line search direction is NONLINEAR_CONJUGATE_GRADIENT,
+    // then this indicates the particular variant of non-linear
+    // conjugate gradient used.
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+
+    // If the type of the line search direction is LBFGS, then this
+    // indicates the rank of the Hessian approximation.
+    int max_lbfgs_rank;
+  };
+
+  // Once a least squares problem has been built, this function takes
+  // the problem and optimizes it based on the values of the options
+  // parameters. Upon return, a detailed summary of the work performed
+  // by the preprocessor, the non-linear minmizer and the linear
+  // solver are reported in the summary object.
+  virtual void Solve(const Options& options,
+                     Problem* problem,
+                     Solver::Summary* summary);
+};
+
+// Helper function which avoids going through the interface.
+CERES_EXPORT void Solve(const Solver::Options& options,
+           Problem* problem,
+           Solver::Summary* summary);
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_SOLVER_H_
diff --git a/include/ceres/types.h b/include/ceres/types.h
new file mode 100644
index 0000000..a4a4861
--- /dev/null
+++ b/include/ceres/types.h
@@ -0,0 +1,514 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Enums and other top level class definitions.
+//
+// Note: internal/types.cc defines stringification routines for some
+// of these enums. Please update those routines if you extend or
+// remove enums from here.
+
+#ifndef CERES_PUBLIC_TYPES_H_
+#define CERES_PUBLIC_TYPES_H_
+
+#include <string>
+
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+namespace ceres {
+
+// Basic integer types. These typedefs are in the Ceres namespace to avoid
+// conflicts with other packages having similar typedefs.
+typedef int   int32;
+
+// Argument type used in interfaces that can optionally take ownership
+// of a passed in argument. If TAKE_OWNERSHIP is passed, the called
+// object takes ownership of the pointer argument, and will call
+// delete on it upon completion.
+enum Ownership {
+  DO_NOT_TAKE_OWNERSHIP,
+  TAKE_OWNERSHIP
+};
+
+// TODO(keir): Considerably expand the explanations of each solver type.
+enum LinearSolverType {
+  // These solvers are for general rectangular systems formed from the
+  // normal equations A'A x = A'b. They are direct solvers and do not
+  // assume any special problem structure.
+
+  // Solve the normal equations using a dense Cholesky solver; based
+  // on Eigen.
+  DENSE_NORMAL_CHOLESKY,
+
+  // Solve the normal equations using a dense QR solver; based on
+  // Eigen.
+  DENSE_QR,
+
+  // Solve the normal equations using a sparse cholesky solver; requires
+  // SuiteSparse or CXSparse.
+  SPARSE_NORMAL_CHOLESKY,
+
+  // Specialized solvers, specific to problems with a generalized
+  // bi-partitite structure.
+
+  // Solves the reduced linear system using a dense Cholesky solver;
+  // based on Eigen.
+  DENSE_SCHUR,
+
+  // Solves the reduced linear system using a sparse Cholesky solver;
+  // based on CHOLMOD.
+  SPARSE_SCHUR,
+
+  // Solves the reduced linear system using Conjugate Gradients, based
+  // on a new Ceres implementation.  Suitable for large scale
+  // problems.
+  ITERATIVE_SCHUR,
+
+  // Conjugate gradients on the normal equations.
+  CGNR
+};
+
+enum PreconditionerType {
+  // Trivial preconditioner - the identity matrix.
+  IDENTITY,
+
+  // Block diagonal of the Gauss-Newton Hessian.
+  JACOBI,
+
+  // Note: The following three preconditioners can only be used with
+  // the ITERATIVE_SCHUR solver. They are well suited for Structure
+  // from Motion problems.
+
+  // Block diagonal of the Schur complement. This preconditioner may
+  // only be used with the ITERATIVE_SCHUR solver.
+  SCHUR_JACOBI,
+
+  // Visibility clustering based preconditioners.
+  //
+  // The following two preconditioners use the visibility structure of
+  // the scene to determine the sparsity structure of the
+  // preconditioner. This is done using a clustering algorithm. The
+  // available visibility clustering algorithms are described below.
+  //
+  // Note: Requires SuiteSparse.
+  CLUSTER_JACOBI,
+  CLUSTER_TRIDIAGONAL
+};
+
+enum VisibilityClusteringType {
+  // Canonical views algorithm as described in
+  //
+  // "Scene Summarization for Online Image Collections", Ian Simon, Noah
+  // Snavely, Steven M. Seitz, ICCV 2007.
+  //
+  // This clustering algorithm can be quite slow, but gives high
+  // quality clusters. The original visibility based clustering paper
+  // used this algorithm.
+  CANONICAL_VIEWS,
+
+  // The classic single linkage algorithm. It is extremely fast as
+  // compared to CANONICAL_VIEWS, but can give slightly poorer
+  // results. For problems with large number of cameras though, this
+  // is generally a pretty good option.
+  //
+  // If you are using SCHUR_JACOBI preconditioner and have SuiteSparse
+  // available, CLUSTER_JACOBI and CLUSTER_TRIDIAGONAL in combination
+  // with the SINGLE_LINKAGE algorithm will generally give better
+  // results.
+  SINGLE_LINKAGE
+};
+
+enum SparseLinearAlgebraLibraryType {
+  // High performance sparse Cholesky factorization and approximate
+  // minimum degree ordering.
+  SUITE_SPARSE,
+
+  // A lightweight replacment for SuiteSparse, which does not require
+  // a LAPACK/BLAS implementation. Consequently, its performance is
+  // also a bit lower than SuiteSparse.
+  CX_SPARSE,
+
+  // Eigen's sparse linear algebra routines. In particular Ceres uses
+  // the Simplicial LDLT routines.
+  EIGEN_SPARSE,
+
+  // No sparse linear solver should be used.  This does not necessarily
+  // imply that Ceres was built without any sparse library, although that
+  // is the likely use case, merely that one should not be used.
+  NO_SPARSE
+};
+
+enum DenseLinearAlgebraLibraryType {
+  EIGEN,
+  LAPACK
+};
+
+// Logging options
+// The options get progressively noisier.
+enum LoggingType {
+  SILENT,
+  PER_MINIMIZER_ITERATION
+};
+
+enum MinimizerType {
+  LINE_SEARCH,
+  TRUST_REGION
+};
+
+enum LineSearchDirectionType {
+  // Negative of the gradient.
+  STEEPEST_DESCENT,
+
+  // A generalization of the Conjugate Gradient method to non-linear
+  // functions. The generalization can be performed in a number of
+  // different ways, resulting in a variety of search directions. The
+  // precise choice of the non-linear conjugate gradient algorithm
+  // used is determined by NonlinerConjuateGradientType.
+  NONLINEAR_CONJUGATE_GRADIENT,
+
+  // BFGS, and it's limited memory approximation L-BFGS, are quasi-Newton
+  // algorithms that approximate the Hessian matrix by iteratively refining
+  // an initial estimate with rank-one updates using the gradient at each
+  // iteration. They are a generalisation of the Secant method and satisfy
+  // the Secant equation.  The Secant equation has an infinium of solutions
+  // in multiple dimensions, as there are N*(N+1)/2 degrees of freedom in a
+  // symmetric matrix but only N conditions are specified by the Secant
+  // equation. The requirement that the Hessian approximation be positive
+  // definite imposes another N additional constraints, but that still leaves
+  // remaining degrees-of-freedom.  (L)BFGS methods uniquely deteremine the
+  // approximate Hessian by imposing the additional constraints that the
+  // approximation at the next iteration must be the 'closest' to the current
+  // approximation (the nature of how this proximity is measured is actually
+  // the defining difference between a family of quasi-Newton methods including
+  // (L)BFGS & DFP). (L)BFGS is currently regarded as being the best known
+  // general quasi-Newton method.
+  //
+  // The principal difference between BFGS and L-BFGS is that whilst BFGS
+  // maintains a full, dense approximation to the (inverse) Hessian, L-BFGS
+  // maintains only a window of the last M observations of the parameters and
+  // gradients. Using this observation history, the calculation of the next
+  // search direction can be computed without requiring the construction of the
+  // full dense inverse Hessian approximation. This is particularly important
+  // for problems with a large number of parameters, where storage of an N-by-N
+  // matrix in memory would be prohibitive.
+  //
+  // For more details on BFGS see:
+  //
+  // Broyden, C.G., "The Convergence of a Class of Double-rank Minimization
+  // Algorithms,"; J. Inst. Maths. Applics., Vol. 6, pp 76–90, 1970.
+  //
+  // Fletcher, R., "A New Approach to Variable Metric Algorithms,"
+  // Computer Journal, Vol. 13, pp 317–322, 1970.
+  //
+  // Goldfarb, D., "A Family of Variable Metric Updates Derived by Variational
+  // Means," Mathematics of Computing, Vol. 24, pp 23–26, 1970.
+  //
+  // Shanno, D.F., "Conditioning of Quasi-Newton Methods for Function
+  // Minimization," Mathematics of Computing, Vol. 24, pp 647–656, 1970.
+  //
+  // For more details on L-BFGS see:
+  //
+  // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with Limited
+  // Storage". Mathematics of Computation 35 (151): 773–782.
+  //
+  // Byrd, R. H.; Nocedal, J.; Schnabel, R. B. (1994).
+  // "Representations of Quasi-Newton Matrices and their use in
+  // Limited Memory Methods". Mathematical Programming 63 (4):
+  // 129–156.
+  //
+  // A general reference for both methods:
+  //
+  // Nocedal J., Wright S., Numerical Optimization, 2nd Ed. Springer, 1999.
+  LBFGS,
+  BFGS,
+};
+
+// Nonliner conjugate gradient methods are a generalization of the
+// method of Conjugate Gradients for linear systems. The
+// generalization can be carried out in a number of different ways
+// leading to number of different rules for computing the search
+// direction. Ceres provides a number of different variants. For more
+// details see Numerical Optimization by Nocedal & Wright.
+enum NonlinearConjugateGradientType {
+  FLETCHER_REEVES,
+  POLAK_RIBIERE,
+  HESTENES_STIEFEL,
+};
+
+enum LineSearchType {
+  // Backtracking line search with polynomial interpolation or
+  // bisection.
+  ARMIJO,
+  WOLFE,
+};
+
+// Ceres supports different strategies for computing the trust region
+// step.
+enum TrustRegionStrategyType {
+  // The default trust region strategy is to use the step computation
+  // used in the Levenberg-Marquardt algorithm. For more details see
+  // levenberg_marquardt_strategy.h
+  LEVENBERG_MARQUARDT,
+
+  // Powell's dogleg algorithm interpolates between the Cauchy point
+  // and the Gauss-Newton step. It is particularly useful if the
+  // LEVENBERG_MARQUARDT algorithm is making a large number of
+  // unsuccessful steps. For more details see dogleg_strategy.h.
+  //
+  // NOTES:
+  //
+  // 1. This strategy has not been experimented with or tested as
+  // extensively as LEVENBERG_MARQUARDT, and therefore it should be
+  // considered EXPERIMENTAL for now.
+  //
+  // 2. For now this strategy should only be used with exact
+  // factorization based linear solvers, i.e., SPARSE_SCHUR,
+  // DENSE_SCHUR, DENSE_QR and SPARSE_NORMAL_CHOLESKY.
+  DOGLEG
+};
+
+// Ceres supports two different dogleg strategies.
+// The "traditional" dogleg method by Powell and the
+// "subspace" method described in
+// R. H. Byrd, R. B. Schnabel, and G. A. Shultz,
+// "Approximate solution of the trust region problem by minimization
+//  over two-dimensional subspaces", Mathematical Programming,
+// 40 (1988), pp. 247--263
+enum DoglegType {
+  // The traditional approach constructs a dogleg path
+  // consisting of two line segments and finds the furthest
+  // point on that path that is still inside the trust region.
+  TRADITIONAL_DOGLEG,
+
+  // The subspace approach finds the exact minimum of the model
+  // constrained to the subspace spanned by the dogleg path.
+  SUBSPACE_DOGLEG
+};
+
+enum TerminationType {
+  // Minimizer terminated because one of the convergence criterion set
+  // by the user was satisfied.
+  //
+  // 1.  (new_cost - old_cost) < function_tolerance * old_cost;
+  // 2.  max_i |gradient_i| < gradient_tolerance
+  // 3.  |step|_2 <= parameter_tolerance * ( |x|_2 +  parameter_tolerance)
+  //
+  // The user's parameter blocks will be updated with the solution.
+  CONVERGENCE,
+
+  // The solver ran for maximum number of iterations or maximum amount
+  // of time specified by the user, but none of the convergence
+  // criterion specified by the user were met. The user's parameter
+  // blocks will be updated with the solution found so far.
+  NO_CONVERGENCE,
+
+  // The minimizer terminated because of an error.  The user's
+  // parameter blocks will not be updated.
+  FAILURE,
+
+  // Using an IterationCallback object, user code can control the
+  // minimizer. The following enums indicate that the user code was
+  // responsible for termination.
+  //
+  // Minimizer terminated successfully because a user
+  // IterationCallback returned SOLVER_TERMINATE_SUCCESSFULLY.
+  //
+  // The user's parameter blocks will be updated with the solution.
+  USER_SUCCESS,
+
+  // Minimizer terminated because because a user IterationCallback
+  // returned SOLVER_ABORT.
+  //
+  // The user's parameter blocks will not be updated.
+  USER_FAILURE
+};
+
+// Enums used by the IterationCallback instances to indicate to the
+// solver whether it should continue solving, the user detected an
+// error or the solution is good enough and the solver should
+// terminate.
+enum CallbackReturnType {
+  // Continue solving to next iteration.
+  SOLVER_CONTINUE,
+
+  // Terminate solver, and do not update the parameter blocks upon
+  // return. Unless the user has set
+  // Solver:Options:::update_state_every_iteration, in which case the
+  // state would have been updated every iteration
+  // anyways. Solver::Summary::termination_type is set to USER_ABORT.
+  SOLVER_ABORT,
+
+  // Terminate solver, update state and
+  // return. Solver::Summary::termination_type is set to USER_SUCCESS.
+  SOLVER_TERMINATE_SUCCESSFULLY
+};
+
+// The format in which linear least squares problems should be logged
+// when Solver::Options::lsqp_iterations_to_dump is non-empty.
+enum DumpFormatType {
+  // Print the linear least squares problem in a human readable format
+  // to stderr. The Jacobian is printed as a dense matrix. The vectors
+  // D, x and f are printed as dense vectors. This should only be used
+  // for small problems.
+  CONSOLE,
+
+  // Write out the linear least squares problem to the directory
+  // pointed to by Solver::Options::lsqp_dump_directory as text files
+  // which can be read into MATLAB/Octave. The Jacobian is dumped as a
+  // text file containing (i,j,s) triplets, the vectors D, x and f are
+  // dumped as text files containing a list of their values.
+  //
+  // A MATLAB/octave script called lm_iteration_???.m is also output,
+  // which can be used to parse and load the problem into memory.
+  TEXTFILE
+};
+
+// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be
+// specified for the number of residuals. If specified, then the
+// number of residuas for that cost function can vary at runtime.
+enum DimensionType {
+  DYNAMIC = -1
+};
+
+// The differentiation method used to compute numerical derivatives in
+// NumericDiffCostFunction and DynamicNumericDiffCostFunction.
+enum NumericDiffMethodType {
+  // Compute central finite difference: f'(x) ~ (f(x+h) - f(x-h)) / 2h.
+  CENTRAL,
+
+  // Compute forward finite difference: f'(x) ~ (f(x+h) - f(x)) / h.
+  FORWARD,
+
+  // Adaptive numerical differentiation using Ridders' method. Provides more
+  // accurate and robust derivatives at the expense of additional cost
+  // function evaluations.
+  RIDDERS
+};
+
+enum LineSearchInterpolationType {
+  BISECTION,
+  QUADRATIC,
+  CUBIC
+};
+
+enum CovarianceAlgorithmType {
+  DENSE_SVD,
+  SPARSE_QR,
+};
+
+// It is a near impossibility that user code generates this exact
+// value in normal operation, thus we will use it to fill arrays
+// before passing them to user code. If on return an element of the
+// array still contains this value, we will assume that the user code
+// did not write to that memory location.
+const double kImpossibleValue = 1e302;
+
+CERES_EXPORT const char* LinearSolverTypeToString(
+    LinearSolverType type);
+CERES_EXPORT bool StringToLinearSolverType(std::string value,
+                                           LinearSolverType* type);
+
+CERES_EXPORT const char* PreconditionerTypeToString(PreconditionerType type);
+CERES_EXPORT bool StringToPreconditionerType(std::string value,
+                                             PreconditionerType* type);
+
+CERES_EXPORT const char* VisibilityClusteringTypeToString(
+    VisibilityClusteringType type);
+CERES_EXPORT bool StringToVisibilityClusteringType(std::string value,
+                                      VisibilityClusteringType* type);
+
+CERES_EXPORT const char* SparseLinearAlgebraLibraryTypeToString(
+    SparseLinearAlgebraLibraryType type);
+CERES_EXPORT bool StringToSparseLinearAlgebraLibraryType(
+    std::string value,
+    SparseLinearAlgebraLibraryType* type);
+
+CERES_EXPORT const char* DenseLinearAlgebraLibraryTypeToString(
+    DenseLinearAlgebraLibraryType type);
+CERES_EXPORT bool StringToDenseLinearAlgebraLibraryType(
+    std::string value,
+    DenseLinearAlgebraLibraryType* type);
+
+CERES_EXPORT const char* TrustRegionStrategyTypeToString(
+    TrustRegionStrategyType type);
+CERES_EXPORT bool StringToTrustRegionStrategyType(std::string value,
+                                     TrustRegionStrategyType* type);
+
+CERES_EXPORT const char* DoglegTypeToString(DoglegType type);
+CERES_EXPORT bool StringToDoglegType(std::string value, DoglegType* type);
+
+CERES_EXPORT const char* MinimizerTypeToString(MinimizerType type);
+CERES_EXPORT bool StringToMinimizerType(std::string value, MinimizerType* type);
+
+CERES_EXPORT const char* LineSearchDirectionTypeToString(
+    LineSearchDirectionType type);
+CERES_EXPORT bool StringToLineSearchDirectionType(std::string value,
+                                     LineSearchDirectionType* type);
+
+CERES_EXPORT const char* LineSearchTypeToString(LineSearchType type);
+CERES_EXPORT bool StringToLineSearchType(std::string value, LineSearchType* type);
+
+CERES_EXPORT const char* NonlinearConjugateGradientTypeToString(
+    NonlinearConjugateGradientType type);
+CERES_EXPORT bool StringToNonlinearConjugateGradientType(
+    std::string value,
+    NonlinearConjugateGradientType* type);
+
+CERES_EXPORT const char* LineSearchInterpolationTypeToString(
+    LineSearchInterpolationType type);
+CERES_EXPORT bool StringToLineSearchInterpolationType(
+    std::string value,
+    LineSearchInterpolationType* type);
+
+CERES_EXPORT const char* CovarianceAlgorithmTypeToString(
+    CovarianceAlgorithmType type);
+CERES_EXPORT bool StringToCovarianceAlgorithmType(
+    std::string value,
+    CovarianceAlgorithmType* type);
+
+CERES_EXPORT const char* NumericDiffMethodTypeToString(
+    NumericDiffMethodType type);
+CERES_EXPORT bool StringToNumericDiffMethodType(
+    std::string value,
+    NumericDiffMethodType* type);
+
+CERES_EXPORT const char* TerminationTypeToString(TerminationType type);
+
+CERES_EXPORT bool IsSchurType(LinearSolverType type);
+CERES_EXPORT bool IsSparseLinearAlgebraLibraryTypeAvailable(
+    SparseLinearAlgebraLibraryType type);
+CERES_EXPORT bool IsDenseLinearAlgebraLibraryTypeAvailable(
+    DenseLinearAlgebraLibraryType type);
+
+}  // namespace ceres
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERES_PUBLIC_TYPES_H_
diff --git a/include/ceres/version.h b/include/ceres/version.h
new file mode 100644
index 0000000..beab7d9
--- /dev/null
+++ b/include/ceres/version.h
@@ -0,0 +1,48 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_VERSION_H_
+#define CERES_PUBLIC_VERSION_H_
+
+#define CERES_VERSION_MAJOR 1
+#define CERES_VERSION_MINOR 13
+#define CERES_VERSION_REVISION 0
+
+// Classic CPP stringifcation; the extra level of indirection allows the
+// preprocessor to expand the macro before being converted to a string.
+#define CERES_TO_STRING_HELPER(x) #x
+#define CERES_TO_STRING(x) CERES_TO_STRING_HELPER(x)
+
+// The Ceres version as a string; for example "1.9.0".
+#define CERES_VERSION_STRING CERES_TO_STRING(CERES_VERSION_MAJOR) "." \
+                             CERES_TO_STRING(CERES_VERSION_MINOR) "." \
+                             CERES_TO_STRING(CERES_VERSION_REVISION)
+
+#endif  // CERES_PUBLIC_VERSION_H_
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
new file mode 100644
index 0000000..21669d0
--- /dev/null
+++ b/internal/ceres/CMakeLists.txt
@@ -0,0 +1,363 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com (Keir Mierle)
+
+set(CERES_INTERNAL_SRC
+    array_utils.cc
+    blas.cc
+    block_evaluate_preparer.cc
+    block_jacobi_preconditioner.cc
+    block_jacobian_writer.cc
+    block_random_access_dense_matrix.cc
+    block_random_access_diagonal_matrix.cc
+    block_random_access_matrix.cc
+    block_random_access_sparse_matrix.cc
+    block_sparse_matrix.cc
+    block_structure.cc
+    c_api.cc
+    canonical_views_clustering.cc
+    cgnr_solver.cc
+    callbacks.cc
+    compressed_col_sparse_matrix_utils.cc
+    compressed_row_jacobian_writer.cc
+    compressed_row_sparse_matrix.cc
+    conditioned_cost_function.cc
+    conjugate_gradients_solver.cc
+    coordinate_descent_minimizer.cc
+    corrector.cc
+    covariance.cc
+    covariance_impl.cc
+    cxsparse.cc
+    dense_normal_cholesky_solver.cc
+    dense_qr_solver.cc
+    dense_sparse_matrix.cc
+    detect_structure.cc
+    dogleg_strategy.cc
+    dynamic_compressed_row_jacobian_writer.cc
+    dynamic_compressed_row_sparse_matrix.cc
+    dynamic_sparse_normal_cholesky_solver.cc
+    evaluator.cc
+    eigensparse.cc
+    file.cc
+    function_sample.cc
+    gradient_checker.cc
+    gradient_checking_cost_function.cc
+    gradient_problem.cc
+    gradient_problem_solver.cc
+    implicit_schur_complement.cc
+    inner_product_computer.cc
+    is_close.cc
+    iterative_schur_complement_solver.cc
+    levenberg_marquardt_strategy.cc
+    lapack.cc
+    line_search.cc
+    line_search_direction.cc
+    line_search_minimizer.cc
+    line_search_preprocessor.cc
+    linear_least_squares_problems.cc
+    linear_operator.cc
+    linear_solver.cc
+    local_parameterization.cc
+    loss_function.cc
+    low_rank_inverse_hessian.cc
+    minimizer.cc
+    normal_prior.cc
+    parameter_block_ordering.cc
+    partitioned_matrix_view.cc
+    polynomial.cc
+    preconditioner.cc
+    preprocessor.cc
+    problem.cc
+    problem_impl.cc
+    program.cc
+    reorder_program.cc
+    residual_block.cc
+    residual_block_utils.cc
+    schur_complement_solver.cc
+    schur_eliminator.cc
+    schur_jacobi_preconditioner.cc
+    schur_templates.cc
+    scratch_evaluate_preparer.cc
+    single_linkage_clustering.cc
+    solver.cc
+    solver_utils.cc
+    sparse_matrix.cc
+    sparse_cholesky.cc
+    sparse_normal_cholesky_solver.cc
+    split.cc
+    stringprintf.cc
+    suitesparse.cc
+    triplet_sparse_matrix.cc
+    trust_region_preprocessor.cc
+    trust_region_minimizer.cc
+    trust_region_step_evaluator.cc
+    trust_region_strategy.cc
+    types.cc
+    visibility.cc
+    visibility_based_preconditioner.cc
+    wall_time.cc
+)
+
+# Also depend on the header files so that they appear in IDEs.
+file(GLOB CERES_INTERNAL_HDRS *.h)
+if (MINIGLOG)
+  file(GLOB MINIGLOG_HDRS miniglog/glog/*.h)
+  list(APPEND CERES_INTERNAL_HDRS ${MINIGLOG_HDRS})
+endif()
+
+# Depend also on public headers so they appear in IDEs.
+file(GLOB CERES_PUBLIC_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
+file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
+
+# Include the specialized schur solvers.
+if (SCHUR_SPECIALIZATIONS)
+  file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
+else (SCHUR_SPECIALIZATIONS)
+  # Only the fully dynamic solver. The build is much faster this way.
+  file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
+endif (SCHUR_SPECIALIZATIONS)
+
+# Build the list of dependencies for Ceres based on the current configuration.
+if (NOT MINIGLOG AND GLOG_FOUND)
+  list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
+  if (GFLAGS_FOUND)
+    # If glog & gflags are both found, we assume that glog was built with
+    # gflags, as it is awkward to perform a try_compile() to verify this
+    # when gflags is an imported target (as it is in newer versions).
+    # As glog #includes gflags/gflags.h in glog/logging.h if compiled with
+    # gflags, it is thus a public dependency for Ceres in this case.
+    list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GFLAGS_LIBRARIES})
+  endif()
+endif (NOT MINIGLOG AND GLOG_FOUND)
+
+if (SUITESPARSE AND SUITESPARSE_FOUND)
+  # Define version information for use in Solver::FullReport.
+  add_definitions(-DCERES_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
+  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
+endif (SUITESPARSE AND SUITESPARSE_FOUND)
+
+if (CXSPARSE AND CXSPARSE_FOUND)
+  # Define version information for use in Solver::FullReport.
+  add_definitions(-DCERES_CXSPARSE_VERSION="${CXSPARSE_VERSION}")
+  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES})
+endif (CXSPARSE AND CXSPARSE_FOUND)
+
+if (BLAS_FOUND AND LAPACK_FOUND)
+  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
+  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES})
+endif (BLAS_FOUND AND LAPACK_FOUND)
+
+if (OPENMP_FOUND)
+  # OpenMP support in Clang requires a non-GNU OpenMP library.
+  if (CMAKE_COMPILER_IS_GNUCXX)
+    list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
+  endif()
+  if (NOT MSVC)
+    list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+endif (OPENMP_FOUND)
+
+set(CERES_LIBRARY_SOURCE
+    ${CERES_INTERNAL_SRC}
+    ${CERES_INTERNAL_HDRS}
+    ${CERES_PUBLIC_HDRS}
+    ${CERES_PUBLIC_INTERNAL_HDRS}
+    ${CERES_INTERNAL_SCHUR_FILES})
+
+# Primarily for Android, but optionally for others, compile the minimal
+# glog implementation into Ceres.
+if (MINIGLOG)
+  list(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
+endif (MINIGLOG)
+
+add_library(ceres ${CERES_LIBRARY_SOURCE})
+set_target_properties(ceres PROPERTIES
+  VERSION ${CERES_VERSION}
+  SOVERSION ${CERES_VERSION_MAJOR})
+
+include(AppendTargetProperty)
+# Always build position-independent code (PIC), even when building Ceres as a
+# static library so that shared libraries can link against it, not just
+# executables (PIC does not apply on Windows).
+if (NOT WIN32 AND NOT BUILD_SHARED_LIBS)
+  # Use the explicit POSITION_INDEPENDENT_CODE target property on CMake versions
+  # that support it (>= 2.8.9).  Otherwise, manually add the -fPIC flag as an
+  # additional compile definitions for the target.
+  if (CMAKE_VERSION VERSION_LESS "2.8.9")
+    append_target_property(ceres COMPILE_FLAGS "-fPIC")
+  else()
+    # Use set_target_properties() not append_target_property() here as
+    # POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
+    set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
+  endif()
+endif()
+
+if (CXX11)
+  include(AddCeresCXX11RequirementsToTarget)
+  add_ceres_cxx11_requirements_to_target(ceres)
+endif()
+
+if (BUILD_SHARED_LIBS)
+  # When building a shared library, mark all external libraries as
+  # PRIVATE so they don't show up as a dependency.
+  target_link_libraries(ceres
+        LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
+        LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
+else (BUILD_SHARED_LIBS)
+  # When building a static library, all external libraries are
+  # PUBLIC(default) since the user needs to link to them.
+  # They will be listed in CeresTargets.cmake.
+  set(CERES_LIBRARY_DEPENDENCIES
+        ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
+        ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
+  target_link_libraries(ceres ${CERES_LIBRARY_DEPENDENCIES})
+endif (BUILD_SHARED_LIBS)
+
+install(TARGETS ceres
+        EXPORT  CeresExport
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib${LIB_SUFFIX}
+        ARCHIVE DESTINATION lib${LIB_SUFFIX})
+
+if (BUILD_TESTING AND GFLAGS)
+  add_library(gtest gmock_gtest_all.cc gmock_main.cc)
+  if (BUILD_SHARED_LIBS)
+    # Define gtest-specific shared library flags for compilation.
+    append_target_property(gtest COMPILE_DEFINITIONS
+      GTEST_CREATE_SHARED_LIBRARY)
+  endif()
+
+  add_library(test_util
+              evaluator_test_utils.cc
+              numeric_diff_test_utils.cc
+              test_util.cc)
+
+  if (MINIGLOG)
+    # When using miniglog, it is compiled into Ceres, thus Ceres becomes
+    # the library against which other libraries should link for logging.
+    target_link_libraries(gtest ${GFLAGS_LIBRARIES} ceres)
+    target_link_libraries(test_util ceres gtest)
+  else (MINIGLOG)
+    target_link_libraries(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
+    target_link_libraries(test_util ceres gtest ${GLOG_LIBRARIES})
+  endif (MINIGLOG)
+
+  macro (CERES_TEST NAME)
+    add_executable(${NAME}_test ${NAME}_test.cc)
+    target_link_libraries(${NAME}_test test_util ceres gtest)
+    if (BUILD_SHARED_LIBS)
+      # Define gtest-specific shared library flags for linking.
+      append_target_property(${NAME}_test COMPILE_DEFINITIONS
+        GTEST_LINKED_AS_SHARED_LIBRARY)
+    endif()
+    add_test(NAME ${NAME}_test
+             COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
+             --test_srcdir
+             ${Ceres_SOURCE_DIR}/data)
+  endmacro (CERES_TEST)
+
+  ceres_test(array_utils)
+  ceres_test(autodiff)
+  ceres_test(autodiff_cost_function)
+  ceres_test(autodiff_local_parameterization)
+  ceres_test(block_jacobi_preconditioner)
+  ceres_test(block_random_access_dense_matrix)
+  ceres_test(block_random_access_diagonal_matrix)
+  ceres_test(block_random_access_sparse_matrix)
+  ceres_test(block_sparse_matrix)
+  ceres_test(c_api)
+  ceres_test(canonical_views_clustering)
+  ceres_test(compressed_col_sparse_matrix_utils)
+  ceres_test(compressed_row_sparse_matrix)
+  ceres_test(conditioned_cost_function)
+  ceres_test(conjugate_gradients_solver)
+  ceres_test(corrector)
+  ceres_test(cost_function_to_functor)
+  ceres_test(covariance)
+  ceres_test(cubic_interpolation)
+  ceres_test(dense_linear_solver)
+  ceres_test(dense_sparse_matrix)
+  ceres_test(detect_structure)
+  ceres_test(dogleg_strategy)
+  ceres_test(dynamic_autodiff_cost_function)
+  ceres_test(dynamic_compressed_row_sparse_matrix)
+  ceres_test(dynamic_numeric_diff_cost_function)
+  ceres_test(dynamic_sparse_normal_cholesky_solver)
+  ceres_test(dynamic_sparsity)
+  ceres_test(evaluator)
+  ceres_test(gradient_checker)
+  ceres_test(gradient_checking_cost_function)
+  ceres_test(gradient_problem)
+  ceres_test(gradient_problem_solver)
+  ceres_test(graph)
+  ceres_test(graph_algorithms)
+  ceres_test(householder_vector)
+  ceres_test(implicit_schur_complement)
+  ceres_test(inner_product_computer)
+  ceres_test(invert_psd_matrix)
+  ceres_test(is_close)
+  ceres_test(iterative_schur_complement_solver)
+  ceres_test(jet)
+  ceres_test(levenberg_marquardt_strategy)
+  ceres_test(line_search_minimizer)
+  ceres_test(line_search_preprocessor)
+  ceres_test(local_parameterization)
+  ceres_test(loss_function)
+  ceres_test(minimizer)
+  ceres_test(normal_prior)
+  ceres_test(numeric_diff_cost_function)
+  ceres_test(ordered_groups)
+  ceres_test(parameter_block)
+  ceres_test(parameter_block_ordering)
+  ceres_test(partitioned_matrix_view)
+  ceres_test(polynomial)
+  ceres_test(problem)
+  ceres_test(program)
+  ceres_test(reorder_program)
+  ceres_test(residual_block)
+  ceres_test(residual_block_utils)
+  ceres_test(rotation)
+  ceres_test(schur_complement_solver)
+  ceres_test(schur_eliminator)
+  ceres_test(single_linkage_clustering)
+  ceres_test(small_blas)
+  ceres_test(solver)
+  ceres_test(sparse_cholesky)
+  ceres_test(sparse_normal_cholesky_solver)
+  ceres_test(system)
+  ceres_test(triplet_sparse_matrix)
+  ceres_test(trust_region_minimizer)
+  ceres_test(trust_region_preprocessor)
+  ceres_test(visibility)
+  ceres_test(visibility_based_preconditioner)
+
+  # Put the large end to end test last.
+  ceres_test(bundle_adjustment)
+
+endif (BUILD_TESTING AND GFLAGS)
diff --git a/internal/ceres/array_utils.cc b/internal/ceres/array_utils.cc
new file mode 100644
index 0000000..a165a1b
--- /dev/null
+++ b/internal/ceres/array_utils.cc
@@ -0,0 +1,108 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/array_utils.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstddef>
+#include <string>
+#include <vector>
+#include "ceres/fpclassify.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+bool IsArrayValid(const int size, const double* x) {
+  if (x != NULL) {
+    for (int i = 0; i < size; ++i) {
+      if (!IsFinite(x[i]) || (x[i] == kImpossibleValue))  {
+        return false;
+      }
+    }
+  }
+  return true;
+}
+
+int FindInvalidValue(const int size, const double* x) {
+  if (x == NULL) {
+    return size;
+  }
+
+  for (int i = 0; i < size; ++i) {
+    if (!IsFinite(x[i]) || (x[i] == kImpossibleValue))  {
+      return i;
+    }
+  }
+
+  return size;
+}
+
+void InvalidateArray(const int size, double* x) {
+  if (x != NULL) {
+    for (int i = 0; i < size; ++i) {
+      x[i] = kImpossibleValue;
+    }
+  }
+}
+
+void AppendArrayToString(const int size, const double* x, string* result) {
+  for (int i = 0; i < size; ++i) {
+    if (x == NULL) {
+      StringAppendF(result, "Not Computed  ");
+    } else {
+      if (x[i] == kImpossibleValue) {
+        StringAppendF(result, "Uninitialized ");
+      } else {
+        StringAppendF(result, "%12g ", x[i]);
+      }
+    }
+  }
+}
+
+void MapValuesToContiguousRange(const int size, int* array) {
+  std::vector<int> unique_values(array, array + size);
+  std::sort(unique_values.begin(), unique_values.end());
+  unique_values.erase(std::unique(unique_values.begin(),
+                                  unique_values.end()),
+                      unique_values.end());
+
+  for (int i = 0; i < size; ++i) {
+    array[i] = std::lower_bound(unique_values.begin(),
+                                unique_values.end(),
+                                array[i]) - unique_values.begin();
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/array_utils.h b/internal/ceres/array_utils.h
new file mode 100644
index 0000000..baf112e
--- /dev/null
+++ b/internal/ceres/array_utils.h
@@ -0,0 +1,87 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Utility routines for validating arrays.
+//
+// These are useful for detecting two common class of errors.
+//
+// 1. Uninitialized memory - where the user for some reason did not
+// compute part of an array, but the code expects it.
+//
+// 2. Numerical failure while computing the cost/residual/jacobian,
+// e.g. NaN, infinities etc. This is particularly useful since the
+// automatic differentiation code does computations that are not
+// evident to the user and can silently generate hard to debug errors.
+
+#ifndef CERES_INTERNAL_ARRAY_UTILS_H_
+#define CERES_INTERNAL_ARRAY_UTILS_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+// Fill the array x with an impossible value that the user code is
+// never expected to compute.
+void InvalidateArray(int size, double* x);
+
+// Check if all the entries of the array x are valid, i.e. all the
+// values in the array should be finite and none of them should be
+// equal to the "impossible" value used by InvalidateArray.
+bool IsArrayValid(int size, const double* x);
+
+// If the array contains an invalid value, return the index for it,
+// otherwise return size.
+int FindInvalidValue(const int size, const double* x);
+
+// Utility routine to print an array of doubles to a string. If the
+// array pointer is NULL, it is treated as an array of zeros.
+void AppendArrayToString(const int size, const double* x, std::string* result);
+
+// This routine takes an array of integer values, sorts and uniques
+// them and then maps each value in the array to its position in the
+// sorted+uniqued array. By doing this, if there are are k unique
+// values in the array, each value is replaced by an integer in the
+// range [0, k-1], while preserving their relative order.
+//
+// For example
+//
+// [1 0 3 5 0 1 5]
+//
+// gets mapped to
+//
+// [1 0 2 3 0 1 3]
+void MapValuesToContiguousRange(int size, int* array);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_ARRAY_UTILS_H_
diff --git a/internal/ceres/array_utils_test.cc b/internal/ceres/array_utils_test.cc
new file mode 100644
index 0000000..77379d9
--- /dev/null
+++ b/internal/ceres/array_utils_test.cc
@@ -0,0 +1,124 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/array_utils.h"
+
+#include <limits>
+#include <cmath>
+#include <vector>
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+TEST(ArrayUtils, IsArrayValid) {
+  double x[3];
+  x[0] = 0.0;
+  x[1] = 1.0;
+  x[2] = 2.0;
+  EXPECT_TRUE(IsArrayValid(3, x));
+  x[1] = std::numeric_limits<double>::infinity();
+  EXPECT_FALSE(IsArrayValid(3, x));
+  x[1] = std::numeric_limits<double>::quiet_NaN();
+  EXPECT_FALSE(IsArrayValid(3, x));
+  x[1] = std::numeric_limits<double>::signaling_NaN();
+  EXPECT_FALSE(IsArrayValid(3, x));
+  EXPECT_TRUE(IsArrayValid(1, NULL));
+  InvalidateArray(3, x);
+  EXPECT_FALSE(IsArrayValid(3, x));
+}
+
+TEST(ArrayUtils, FindInvalidIndex) {
+  double x[3];
+  x[0] = 0.0;
+  x[1] = 1.0;
+  x[2] = 2.0;
+  EXPECT_EQ(FindInvalidValue(3, x), 3);
+  x[1] = std::numeric_limits<double>::infinity();
+  EXPECT_EQ(FindInvalidValue(3, x), 1);
+  x[1] = std::numeric_limits<double>::quiet_NaN();
+  EXPECT_EQ(FindInvalidValue(3, x), 1);
+  x[1] = std::numeric_limits<double>::signaling_NaN();
+  EXPECT_EQ(FindInvalidValue(3, x), 1);
+  EXPECT_EQ(FindInvalidValue(1, NULL), 1);
+  InvalidateArray(3, x);
+  EXPECT_EQ(FindInvalidValue(3, x), 0);
+}
+
+TEST(MapValuesToContiguousRange, ContiguousEntries) {
+  vector<int> array;
+  array.push_back(0);
+  array.push_back(1);
+  vector<int> expected = array;
+  MapValuesToContiguousRange(array.size(), &array[0]);
+  EXPECT_EQ(array, expected);
+  array.clear();
+
+  array.push_back(1);
+  array.push_back(0);
+  expected = array;
+  MapValuesToContiguousRange(array.size(), &array[0]);
+  EXPECT_EQ(array, expected);
+}
+
+TEST(MapValuesToContiguousRange, NonContiguousEntries) {
+  vector<int> array;
+  array.push_back(0);
+  array.push_back(2);
+  vector<int> expected;
+  expected.push_back(0);
+  expected.push_back(1);
+  MapValuesToContiguousRange(array.size(), &array[0]);
+  EXPECT_EQ(array, expected);
+}
+
+TEST(MapValuesToContiguousRange, NonContiguousRepeatingEntries) {
+  vector<int> array;
+  array.push_back(3);
+  array.push_back(1);
+  array.push_back(0);
+  array.push_back(0);
+  array.push_back(0);
+  array.push_back(5);
+  vector<int> expected;
+  expected.push_back(2);
+  expected.push_back(1);
+  expected.push_back(0);
+  expected.push_back(0);
+  expected.push_back(0);
+  expected.push_back(3);
+  MapValuesToContiguousRange(array.size(), &array[0]);
+  EXPECT_EQ(array, expected);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/autodiff_cost_function_test.cc b/internal/ceres/autodiff_cost_function_test.cc
new file mode 100644
index 0000000..d14fb82
--- /dev/null
+++ b/internal/ceres/autodiff_cost_function_test.cc
@@ -0,0 +1,172 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/autodiff_cost_function.h"
+
+#include <cstddef>
+
+#include "gtest/gtest.h"
+#include "ceres/cost_function.h"
+#include "ceres/array_utils.h"
+
+namespace ceres {
+namespace internal {
+
+class BinaryScalarCost {
+ public:
+  explicit BinaryScalarCost(double a): a_(a) {}
+  template <typename T>
+  bool operator()(const T* const x, const T* const y,
+                  T* cost) const {
+    cost[0] = x[0] * y[0] + x[1] * y[1]  - T(a_);
+    return true;
+  }
+ private:
+  double a_;
+};
+
+TEST(AutodiffCostFunction, BilinearDifferentiationTest) {
+  CostFunction* cost_function  =
+    new AutoDiffCostFunction<BinaryScalarCost, 1, 2, 2>(
+        new BinaryScalarCost(1.0));
+
+  double** parameters = new double*[2];
+  parameters[0] = new double[2];
+  parameters[1] = new double[2];
+
+  parameters[0][0] = 1;
+  parameters[0][1] = 2;
+
+  parameters[1][0] = 3;
+  parameters[1][1] = 4;
+
+  double** jacobians = new double*[2];
+  jacobians[0] = new double[2];
+  jacobians[1] = new double[2];
+
+  double residuals = 0.0;
+
+  cost_function->Evaluate(parameters, &residuals, NULL);
+  EXPECT_EQ(10.0, residuals);
+  cost_function->Evaluate(parameters, &residuals, jacobians);
+
+  EXPECT_EQ(3, jacobians[0][0]);
+  EXPECT_EQ(4, jacobians[0][1]);
+  EXPECT_EQ(1, jacobians[1][0]);
+  EXPECT_EQ(2, jacobians[1][1]);
+
+  delete[] jacobians[0];
+  delete[] jacobians[1];
+  delete[] parameters[0];
+  delete[] parameters[1];
+  delete[] jacobians;
+  delete[] parameters;
+  delete cost_function;
+}
+
+struct TenParameterCost {
+  template <typename T>
+  bool operator()(const T* const x0,
+                  const T* const x1,
+                  const T* const x2,
+                  const T* const x3,
+                  const T* const x4,
+                  const T* const x5,
+                  const T* const x6,
+                  const T* const x7,
+                  const T* const x8,
+                  const T* const x9,
+                  T* cost) const {
+    cost[0] = *x0 + *x1 + *x2 + *x3 + *x4 + *x5 + *x6 + *x7 + *x8 + *x9;
+    return true;
+  }
+};
+
+TEST(AutodiffCostFunction, ManyParameterAutodiffInstantiates) {
+  CostFunction* cost_function  =
+      new AutoDiffCostFunction<
+          TenParameterCost, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1>(
+              new TenParameterCost);
+
+  double** parameters = new double*[10];
+  double** jacobians = new double*[10];
+  for (int i = 0; i < 10; ++i) {
+    parameters[i] = new double[1];
+    parameters[i][0] = i;
+    jacobians[i] = new double[1];
+  }
+
+  double residuals = 0.0;
+
+  cost_function->Evaluate(parameters, &residuals, NULL);
+  EXPECT_EQ(45.0, residuals);
+
+  cost_function->Evaluate(parameters, &residuals, jacobians);
+  EXPECT_EQ(residuals, 45.0);
+  for (int i = 0; i < 10; ++i) {
+    EXPECT_EQ(1.0, jacobians[i][0]);
+  }
+
+  for (int i = 0; i < 10; ++i) {
+    delete[] jacobians[i];
+    delete[] parameters[i];
+  }
+  delete[] jacobians;
+  delete[] parameters;
+  delete cost_function;
+}
+
+struct OnlyFillsOneOutputFunctor {
+  template <typename T>
+  bool operator()(const T* x, T* output) const {
+    output[0] = x[0];
+    return true;
+  }
+};
+
+TEST(AutoDiffCostFunction, PartiallyFilledResidualShouldFailEvaluation) {
+  double parameter = 1.0;
+  double jacobian[2];
+  double residuals[2];
+  double* parameters[] = {&parameter};
+  double* jacobians[] = {jacobian};
+
+  scoped_ptr<CostFunction> cost_function(
+      new AutoDiffCostFunction<OnlyFillsOneOutputFunctor, 2, 1>(
+          new OnlyFillsOneOutputFunctor));
+  InvalidateArray(2, jacobian);
+  InvalidateArray(2, residuals);
+  EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, jacobians));
+  EXPECT_FALSE(IsArrayValid(2, jacobian));
+  EXPECT_FALSE(IsArrayValid(2, residuals));
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/autodiff_local_parameterization_test.cc b/internal/ceres/autodiff_local_parameterization_test.cc
new file mode 100644
index 0000000..2a0d2f0
--- /dev/null
+++ b/internal/ceres/autodiff_local_parameterization_test.cc
@@ -0,0 +1,224 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include "ceres/autodiff_local_parameterization.h"
+#include "ceres/fpclassify.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/rotation.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+struct IdentityPlus {
+  template <typename T>
+  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+    for (int i = 0; i < 3; ++i) {
+      x_plus_delta[i] = x[i] + delta[i];
+    }
+    return true;
+  }
+};
+
+TEST(AutoDiffLocalParameterizationTest, IdentityParameterization) {
+  AutoDiffLocalParameterization<IdentityPlus, 3, 3>
+      parameterization;
+
+  double x[3] = {1.0, 2.0, 3.0};
+  double delta[3] = {0.0, 1.0, 2.0};
+  double x_plus_delta[3] = {0.0, 0.0, 0.0};
+  parameterization.Plus(x, delta, x_plus_delta);
+
+  EXPECT_EQ(x_plus_delta[0], 1.0);
+  EXPECT_EQ(x_plus_delta[1], 3.0);
+  EXPECT_EQ(x_plus_delta[2], 5.0);
+
+  double jacobian[9];
+  parameterization.ComputeJacobian(x, jacobian);
+  int k = 0;
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j, ++k) {
+      EXPECT_EQ(jacobian[k], (i == j) ? 1.0 : 0.0);
+    }
+  }
+}
+
+struct ScaledPlus {
+  explicit ScaledPlus(const double &scale_factor)
+     : scale_factor_(scale_factor)
+  {}
+
+  template <typename T>
+  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+    for (int i = 0; i < 3; ++i) {
+      x_plus_delta[i] = x[i] + T(scale_factor_) * delta[i];
+    }
+    return true;
+  }
+
+  const double scale_factor_;
+};
+
+TEST(AutoDiffLocalParameterizationTest, ScaledParameterization) {
+  const double kTolerance = 1e-14;
+
+  AutoDiffLocalParameterization<ScaledPlus, 3, 3>
+      parameterization(new ScaledPlus(1.2345));
+
+  double x[3] = {1.0, 2.0, 3.0};
+  double delta[3] = {0.0, 1.0, 2.0};
+  double x_plus_delta[3] = {0.0, 0.0, 0.0};
+  parameterization.Plus(x, delta, x_plus_delta);
+
+  EXPECT_NEAR(x_plus_delta[0], 1.0, kTolerance);
+  EXPECT_NEAR(x_plus_delta[1], 3.2345, kTolerance);
+  EXPECT_NEAR(x_plus_delta[2], 5.469, kTolerance);
+
+  double jacobian[9];
+  parameterization.ComputeJacobian(x, jacobian);
+  int k = 0;
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j, ++k) {
+      EXPECT_NEAR(jacobian[k], (i == j) ? 1.2345 : 0.0, kTolerance);
+    }
+  }
+}
+
+struct QuaternionPlus {
+  template<typename T>
+  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+    const T squared_norm_delta =
+        delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+    T q_delta[4];
+    if (squared_norm_delta > T(0.0)) {
+      T norm_delta = sqrt(squared_norm_delta);
+      const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+      q_delta[0] = cos(norm_delta);
+      q_delta[1] = sin_delta_by_delta * delta[0];
+      q_delta[2] = sin_delta_by_delta * delta[1];
+      q_delta[3] = sin_delta_by_delta * delta[2];
+    } else {
+      // We do not just use q_delta = [1,0,0,0] here because that is a
+      // constant and when used for automatic differentiation will
+      // lead to a zero derivative. Instead we take a first order
+      // approximation and evaluate it at zero.
+      q_delta[0] = T(1.0);
+      q_delta[1] = delta[0];
+      q_delta[2] = delta[1];
+      q_delta[3] = delta[2];
+    }
+
+    QuaternionProduct(q_delta, x, x_plus_delta);
+    return true;
+  }
+};
+
+void QuaternionParameterizationTestHelper(const double* x,
+                                          const double* delta) {
+  const double kTolerance = 1e-14;
+  double x_plus_delta_ref[4] = {0.0, 0.0, 0.0, 0.0};
+  double jacobian_ref[12];
+
+
+  QuaternionParameterization ref_parameterization;
+  ref_parameterization.Plus(x, delta, x_plus_delta_ref);
+  ref_parameterization.ComputeJacobian(x, jacobian_ref);
+
+  double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+  double jacobian[12];
+  AutoDiffLocalParameterization<QuaternionPlus, 4, 3> parameterization;
+  parameterization.Plus(x, delta, x_plus_delta);
+  parameterization.ComputeJacobian(x, jacobian);
+
+  for (int i = 0; i < 4; ++i) {
+    EXPECT_NEAR(x_plus_delta[i], x_plus_delta_ref[i], kTolerance);
+  }
+
+  const double x_plus_delta_norm =
+      sqrt(x_plus_delta[0] * x_plus_delta[0] +
+           x_plus_delta[1] * x_plus_delta[1] +
+           x_plus_delta[2] * x_plus_delta[2] +
+           x_plus_delta[3] * x_plus_delta[3]);
+
+  EXPECT_NEAR(x_plus_delta_norm, 1.0, kTolerance);
+
+  for (int i = 0; i < 12; ++i) {
+    EXPECT_TRUE(IsFinite(jacobian[i]));
+    EXPECT_NEAR(jacobian[i], jacobian_ref[i], kTolerance)
+        << "Jacobian mismatch: i = " << i
+        << "\n Expected \n" << ConstMatrixRef(jacobian_ref, 4, 3)
+        << "\n Actual \n" << ConstMatrixRef(jacobian, 4, 3);
+  }
+}
+
+TEST(AutoDiffLocalParameterization, QuaternionParameterizationZeroTest) {
+  double x[4] = {0.5, 0.5, 0.5, 0.5};
+  double delta[3] = {0.0, 0.0, 0.0};
+  QuaternionParameterizationTestHelper(x, delta);
+}
+
+
+TEST(AutoDiffLocalParameterization, QuaternionParameterizationNearZeroTest) {
+  double x[4] = {0.52, 0.25, 0.15, 0.45};
+  double norm_x = sqrt(x[0] * x[0] +
+                       x[1] * x[1] +
+                       x[2] * x[2] +
+                       x[3] * x[3]);
+  for (int i = 0; i < 4; ++i) {
+    x[i] = x[i] / norm_x;
+  }
+
+  double delta[3] = {0.24, 0.15, 0.10};
+  for (int i = 0; i < 3; ++i) {
+    delta[i] = delta[i] * 1e-14;
+  }
+
+  QuaternionParameterizationTestHelper(x, delta);
+}
+
+TEST(AutoDiffLocalParameterization, QuaternionParameterizationNonZeroTest) {
+  double x[4] = {0.52, 0.25, 0.15, 0.45};
+  double norm_x = sqrt(x[0] * x[0] +
+                       x[1] * x[1] +
+                       x[2] * x[2] +
+                       x[3] * x[3]);
+
+  for (int i = 0; i < 4; ++i) {
+    x[i] = x[i] / norm_x;
+  }
+
+  double delta[3] = {0.24, 0.15, 0.10};
+  QuaternionParameterizationTestHelper(x, delta);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/autodiff_test.cc b/internal/ceres/autodiff_test.cc
new file mode 100644
index 0000000..20f4437
--- /dev/null
+++ b/internal/ceres/autodiff_test.cc
@@ -0,0 +1,677 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/internal/autodiff.h"
+
+#include "gtest/gtest.h"
+#include "ceres/random.h"
+
+namespace ceres {
+namespace internal {
+
+template <typename T> inline
+T &RowMajorAccess(T *base, int rows, int cols, int i, int j) {
+  return base[cols * i + j];
+}
+
+// Do (symmetric) finite differencing using the given function object 'b' of
+// type 'B' and scalar type 'T' with step size 'del'.
+//
+// The type B should have a signature
+//
+//   bool operator()(T const *, T *) const;
+//
+// which maps a vector of parameters to a vector of outputs.
+template <typename B, typename T, int M, int N> inline
+bool SymmetricDiff(const B& b,
+                   const T par[N],
+                   T del,           // step size.
+                   T fun[M],
+                   T jac[M * N]) {  // row-major.
+  if (!b(par, fun)) {
+    return false;
+  }
+
+  // Temporary parameter vector.
+  T tmp_par[N];
+  for (int j = 0; j < N; ++j) {
+    tmp_par[j] = par[j];
+  }
+
+  // For each dimension, we do one forward step and one backward step in
+  // parameter space, and store the output vector vectors in these vectors.
+  T fwd_fun[M];
+  T bwd_fun[M];
+
+  for (int j = 0; j < N; ++j) {
+    // Forward step.
+    tmp_par[j] = par[j] + del;
+    if (!b(tmp_par, fwd_fun)) {
+      return false;
+    }
+
+    // Backward step.
+    tmp_par[j] = par[j] - del;
+    if (!b(tmp_par, bwd_fun)) {
+      return false;
+    }
+
+    // Symmetric differencing:
+    //   f'(a) = (f(a + h) - f(a - h)) / (2 h)
+    for (int i = 0; i < M; ++i) {
+      RowMajorAccess(jac, M, N, i, j) =
+          (fwd_fun[i] - bwd_fun[i]) / (T(2) * del);
+    }
+
+    // Restore our temporary vector.
+    tmp_par[j] = par[j];
+  }
+
+  return true;
+}
+
+template <typename A> inline
+void QuaternionToScaledRotation(A const q[4], A R[3 * 3]) {
+  // Make convenient names for elements of q.
+  A a = q[0];
+  A b = q[1];
+  A c = q[2];
+  A d = q[3];
+  // This is not to eliminate common sub-expression, but to
+  // make the lines shorter so that they fit in 80 columns!
+  A aa = a*a;
+  A ab = a*b;
+  A ac = a*c;
+  A ad = a*d;
+  A bb = b*b;
+  A bc = b*c;
+  A bd = b*d;
+  A cc = c*c;
+  A cd = c*d;
+  A dd = d*d;
+#define R(i, j) RowMajorAccess(R, 3, 3, (i), (j))
+  R(0, 0) =  aa+bb-cc-dd; R(0, 1) = A(2)*(bc-ad); R(0, 2) = A(2)*(ac+bd);  // NOLINT
+  R(1, 0) = A(2)*(ad+bc); R(1, 1) =  aa-bb+cc-dd; R(1, 2) = A(2)*(cd-ab);  // NOLINT
+  R(2, 0) = A(2)*(bd-ac); R(2, 1) = A(2)*(ab+cd); R(2, 2) =  aa-bb-cc+dd;  // NOLINT
+#undef R
+}
+
+// A structure for projecting a 3x4 camera matrix and a
+// homogeneous 3D point, to a 2D inhomogeneous point.
+struct Projective {
+  // Function that takes P and X as separate vectors:
+  //   P, X -> x
+  template <typename A>
+  bool operator()(A const P[12], A const X[4], A x[2]) const {
+    A PX[3];
+    for (int i = 0; i < 3; ++i) {
+      PX[i] = RowMajorAccess(P, 3, 4, i, 0) * X[0] +
+              RowMajorAccess(P, 3, 4, i, 1) * X[1] +
+              RowMajorAccess(P, 3, 4, i, 2) * X[2] +
+              RowMajorAccess(P, 3, 4, i, 3) * X[3];
+    }
+    if (PX[2] != 0.0) {
+      x[0] = PX[0] / PX[2];
+      x[1] = PX[1] / PX[2];
+      return true;
+    }
+    return false;
+  }
+
+  // Version that takes P and X packed in one vector:
+  //
+  //   (P, X) -> x
+  //
+  template <typename A>
+  bool operator()(A const P_X[12 + 4], A x[2]) const {
+    return operator()(P_X + 0, P_X + 12, x);
+  }
+};
+
+// Test projective camera model projector.
+TEST(AutoDiff, ProjectiveCameraModel) {
+  srand(5);
+  double const tol = 1e-10;  // floating-point tolerance.
+  double const del = 1e-4;   // finite-difference step.
+  double const err = 1e-6;   // finite-difference tolerance.
+
+  Projective b;
+
+  // Make random P and X, in a single vector.
+  double PX[12 + 4];
+  for (int i = 0; i < 12 + 4; ++i) {
+    PX[i] = RandDouble();
+  }
+
+  // Handy names for the P and X parts.
+  double *P = PX + 0;
+  double *X = PX + 12;
+
+  // Apply the mapping, to get image point b_x.
+  double b_x[2];
+  b(P, X, b_x);
+
+  // Use finite differencing to estimate the Jacobian.
+  double fd_x[2];
+  double fd_J[2 * (12 + 4)];
+  ASSERT_TRUE((SymmetricDiff<Projective, double, 2, 12 + 4>(b, PX, del,
+                                                            fd_x, fd_J)));
+
+  for (int i = 0; i < 2; ++i) {
+    ASSERT_NEAR(fd_x[i], b_x[i], tol);
+  }
+
+  // Use automatic differentiation to compute the Jacobian.
+  double ad_x1[2];
+  double J_PX[2 * (12 + 4)];
+  {
+    double *parameters[] = { PX };
+    double *jacobians[] = { J_PX };
+    ASSERT_TRUE((AutoDiff<Projective, double, 12 + 4>::Differentiate(
+        b, parameters, 2, ad_x1, jacobians)));
+
+    for (int i = 0; i < 2; ++i) {
+      ASSERT_NEAR(ad_x1[i], b_x[i], tol);
+    }
+  }
+
+  // Use automatic differentiation (again), with two arguments.
+  {
+    double ad_x2[2];
+    double J_P[2 * 12];
+    double J_X[2 * 4];
+    double *parameters[] = { P, X };
+    double *jacobians[] = { J_P, J_X };
+    ASSERT_TRUE((AutoDiff<Projective, double, 12, 4>::Differentiate(
+        b, parameters, 2, ad_x2, jacobians)));
+
+    for (int i = 0; i < 2; ++i) {
+      ASSERT_NEAR(ad_x2[i], b_x[i], tol);
+    }
+
+    // Now compare the jacobians we got.
+    for (int i = 0; i < 2; ++i) {
+      for (int j = 0; j < 12 + 4; ++j) {
+        ASSERT_NEAR(J_PX[(12 + 4) * i + j], fd_J[(12 + 4) * i + j], err);
+      }
+
+      for (int j = 0; j < 12; ++j) {
+        ASSERT_NEAR(J_PX[(12 + 4) * i + j], J_P[12 * i + j], tol);
+      }
+      for (int j = 0; j < 4; ++j) {
+        ASSERT_NEAR(J_PX[(12 + 4) * i + 12 + j], J_X[4 * i + j], tol);
+      }
+    }
+  }
+}
+
+// Object to implement the projection by a calibrated camera.
+struct Metric {
+  // The mapping is
+  //
+  //   q, c, X -> x = dehomg(R(q) (X - c))
+  //
+  // where q is a quaternion and c is the center of projection.
+  //
+  // This function takes three input vectors.
+  template <typename A>
+  bool operator()(A const q[4], A const c[3], A const X[3], A x[2]) const {
+    A R[3 * 3];
+    QuaternionToScaledRotation(q, R);
+
+    // Convert the quaternion mapping all the way to projective matrix.
+    A P[3 * 4];
+
+    // Set P(:, 1:3) = R
+    for (int i = 0; i < 3; ++i) {
+      for (int j = 0; j < 3; ++j) {
+        RowMajorAccess(P, 3, 4, i, j) = RowMajorAccess(R, 3, 3, i, j);
+      }
+    }
+
+    // Set P(:, 4) = - R c
+    for (int i = 0; i < 3; ++i) {
+      RowMajorAccess(P, 3, 4, i, 3) =
+        - (RowMajorAccess(R, 3, 3, i, 0) * c[0] +
+           RowMajorAccess(R, 3, 3, i, 1) * c[1] +
+           RowMajorAccess(R, 3, 3, i, 2) * c[2]);
+    }
+
+    A X1[4] = { X[0], X[1], X[2], A(1) };
+    Projective p;
+    return p(P, X1, x);
+  }
+
+  // A version that takes a single vector.
+  template <typename A>
+  bool operator()(A const q_c_X[4 + 3 + 3], A x[2]) const {
+    return operator()(q_c_X, q_c_X + 4, q_c_X + 4 + 3, x);
+  }
+};
+
+// This test is similar in structure to the previous one.
+TEST(AutoDiff, Metric) {
+  srand(5);
+  double const tol = 1e-10;  // floating-point tolerance.
+  double const del = 1e-4;   // finite-difference step.
+  double const err = 1e-5;   // finite-difference tolerance.
+
+  Metric b;
+
+  // Make random parameter vector.
+  double qcX[4 + 3 + 3];
+  for (int i = 0; i < 4 + 3 + 3; ++i)
+    qcX[i] = RandDouble();
+
+  // Handy names.
+  double *q = qcX;
+  double *c = qcX + 4;
+  double *X = qcX + 4 + 3;
+
+  // Compute projection, b_x.
+  double b_x[2];
+  ASSERT_TRUE(b(q, c, X, b_x));
+
+  // Finite differencing estimate of Jacobian.
+  double fd_x[2];
+  double fd_J[2 * (4 + 3 + 3)];
+  ASSERT_TRUE((SymmetricDiff<Metric, double, 2, 4 + 3 + 3>(b, qcX, del,
+                                                           fd_x, fd_J)));
+
+  for (int i = 0; i < 2; ++i) {
+    ASSERT_NEAR(fd_x[i], b_x[i], tol);
+  }
+
+  // Automatic differentiation.
+  double ad_x[2];
+  double J_q[2 * 4];
+  double J_c[2 * 3];
+  double J_X[2 * 3];
+  double *parameters[] = { q, c, X };
+  double *jacobians[] = { J_q, J_c, J_X };
+  ASSERT_TRUE((AutoDiff<Metric, double, 4, 3, 3>::Differentiate(
+      b, parameters, 2, ad_x, jacobians)));
+
+  for (int i = 0; i < 2; ++i) {
+    ASSERT_NEAR(ad_x[i], b_x[i], tol);
+  }
+
+  // Compare the pieces.
+  for (int i = 0; i < 2; ++i) {
+    for (int j = 0; j < 4; ++j) {
+      ASSERT_NEAR(J_q[4 * i + j], fd_J[(4 + 3 + 3) * i + j], err);
+    }
+    for (int j = 0; j < 3; ++j) {
+      ASSERT_NEAR(J_c[3 * i + j], fd_J[(4 + 3 + 3) * i + j + 4], err);
+    }
+    for (int j = 0; j < 3; ++j) {
+      ASSERT_NEAR(J_X[3 * i + j], fd_J[(4 + 3 + 3) * i + j + 4 + 3], err);
+    }
+  }
+}
+
+struct VaryingResidualFunctor {
+  template <typename T>
+  bool operator()(const T x[2], T* y) const {
+    for (int i = 0; i < num_residuals; ++i) {
+      y[i] = T(i) * x[0] * x[1] * x[1];
+    }
+    return true;
+  }
+
+  int num_residuals;
+};
+
+TEST(AutoDiff, VaryingNumberOfResidualsForOneCostFunctorType) {
+  double x[2] = { 1.0, 5.5 };
+  double *parameters[] = { x };
+  const int kMaxResiduals = 10;
+  double J_x[2 * kMaxResiduals];
+  double residuals[kMaxResiduals];
+  double *jacobians[] = { J_x };
+
+  // Use a single functor, but tweak it to produce different numbers of
+  // residuals.
+  VaryingResidualFunctor functor;
+
+  for (int num_residuals = 1; num_residuals < kMaxResiduals; ++num_residuals) {
+    // Tweak the number of residuals to produce.
+    functor.num_residuals = num_residuals;
+
+    // Run autodiff with the new number of residuals.
+    ASSERT_TRUE((AutoDiff<VaryingResidualFunctor, double, 2>::Differentiate(
+        functor, parameters, num_residuals, residuals, jacobians)));
+
+    const double kTolerance = 1e-14;
+    for (int i = 0; i < num_residuals; ++i) {
+      EXPECT_NEAR(J_x[2 * i + 0], i * x[1] * x[1], kTolerance) << "i: " << i;
+      EXPECT_NEAR(J_x[2 * i + 1], 2 * i * x[0] * x[1], kTolerance)
+          << "i: " << i;
+    }
+  }
+}
+
+struct Residual1Param {
+  template <typename T>
+  bool operator()(const T* x0, T* y) const {
+    y[0] = *x0;
+    return true;
+  }
+};
+
+struct Residual2Param {
+  template <typename T>
+  bool operator()(const T* x0, const T* x1, T* y) const {
+    y[0] = *x0 + pow(*x1, 2);
+    return true;
+  }
+};
+
+struct Residual3Param {
+  template <typename T>
+  bool operator()(const T* x0, const T* x1, const T* x2, T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3);
+    return true;
+  }
+};
+
+struct Residual4Param {
+  template <typename T>
+  bool operator()(const T* x0,
+                  const T* x1,
+                  const T* x2,
+                  const T* x3,
+                  T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4);
+    return true;
+  }
+};
+
+struct Residual5Param {
+  template <typename T>
+  bool operator()(const T* x0,
+                  const T* x1,
+                  const T* x2,
+                  const T* x3,
+                  const T* x4,
+                  T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5);
+    return true;
+  }
+};
+
+struct Residual6Param {
+  template <typename T>
+  bool operator()(const T* x0,
+                  const T* x1,
+                  const T* x2,
+                  const T* x3,
+                  const T* x4,
+                  const T* x5,
+                  T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+        pow(*x5, 6);
+    return true;
+  }
+};
+
+struct Residual7Param {
+  template <typename T>
+  bool operator()(const T* x0,
+                  const T* x1,
+                  const T* x2,
+                  const T* x3,
+                  const T* x4,
+                  const T* x5,
+                  const T* x6,
+                  T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+        pow(*x5, 6) + pow(*x6, 7);
+    return true;
+  }
+};
+
+struct Residual8Param {
+  template <typename T>
+  bool operator()(const T* x0,
+                  const T* x1,
+                  const T* x2,
+                  const T* x3,
+                  const T* x4,
+                  const T* x5,
+                  const T* x6,
+                  const T* x7,
+                  T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+        pow(*x5, 6) + pow(*x6, 7) + pow(*x7, 8);
+    return true;
+  }
+};
+
+struct Residual9Param {
+  template <typename T>
+  bool operator()(const T* x0,
+                  const T* x1,
+                  const T* x2,
+                  const T* x3,
+                  const T* x4,
+                  const T* x5,
+                  const T* x6,
+                  const T* x7,
+                  const T* x8,
+                  T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+        pow(*x5, 6) + pow(*x6, 7) + pow(*x7, 8) + pow(*x8, 9);
+    return true;
+  }
+};
+
+struct Residual10Param {
+  template <typename T>
+  bool operator()(const T* x0,
+                  const T* x1,
+                  const T* x2,
+                  const T* x3,
+                  const T* x4,
+                  const T* x5,
+                  const T* x6,
+                  const T* x7,
+                  const T* x8,
+                  const T* x9,
+                  T* y) const {
+    y[0] = *x0 + pow(*x1, 2) + pow(*x2, 3) + pow(*x3, 4) + pow(*x4, 5) +
+        pow(*x5, 6) + pow(*x6, 7) + pow(*x7, 8) + pow(*x8, 9) + pow(*x9, 10);
+    return true;
+  }
+};
+
+TEST(AutoDiff, VariadicAutoDiff) {
+  double x[10];
+  double residual = 0;
+  double* parameters[10];
+  double jacobian_values[10];
+  double* jacobians[10];
+
+  for (int i = 0; i < 10; ++i) {
+    x[i] = 2.0;
+    parameters[i] = x + i;
+    jacobians[i] = jacobian_values + i;
+  }
+
+  {
+    Residual1Param functor;
+    int num_variables = 1;
+    EXPECT_TRUE((AutoDiff<Residual1Param, double, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual2Param functor;
+    int num_variables = 2;
+    EXPECT_TRUE((AutoDiff<Residual2Param, double, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual3Param functor;
+    int num_variables = 3;
+    EXPECT_TRUE((AutoDiff<Residual3Param, double, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual4Param functor;
+    int num_variables = 4;
+    EXPECT_TRUE((AutoDiff<Residual4Param, double, 1, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual5Param functor;
+    int num_variables = 5;
+    EXPECT_TRUE((AutoDiff<Residual5Param, double, 1, 1, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual6Param functor;
+    int num_variables = 6;
+    EXPECT_TRUE((AutoDiff<Residual6Param,
+                 double,
+                 1, 1, 1, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual7Param functor;
+    int num_variables = 7;
+    EXPECT_TRUE((AutoDiff<Residual7Param,
+                 double,
+                 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual8Param functor;
+    int num_variables = 8;
+    EXPECT_TRUE((AutoDiff<
+                 Residual8Param,
+                 double, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual9Param functor;
+    int num_variables = 9;
+    EXPECT_TRUE((AutoDiff<
+                 Residual9Param,
+                 double,
+                 1, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+
+  {
+    Residual10Param functor;
+    int num_variables = 10;
+    EXPECT_TRUE((AutoDiff<
+                 Residual10Param,
+                 double,
+                 1, 1, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
+                     functor, parameters, 1, &residual, jacobians)));
+    EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
+    for (int i = 0; i < num_variables; ++i) {
+      EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
+    }
+  }
+}
+
+// This is fragile test that triggers the alignment bug on
+// i686-apple-darwin10-llvm-g++-4.2 (GCC) 4.2.1. It is quite possible,
+// that other combinations of operating system + compiler will
+// re-arrange the operations in this test.
+//
+// But this is the best (and only) way we know of to trigger this
+// problem for now. A more robust solution that guarantees the
+// alignment of Eigen types used for automatic differentiation would
+// be nice.
+TEST(AutoDiff, AlignedAllocationTest) {
+  // This int is needed to allocate 16 bits on the stack, so that the
+  // next allocation is not aligned by default.
+  char y = 0;
+
+  // This is needed to prevent the compiler from optimizing y out of
+  // this function.
+  y += 1;
+
+  typedef Jet<double, 2> JetT;
+  FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(3);
+
+  // Need this to makes sure that x does not get optimized out.
+  x[0] = x[0] + JetT(1.0);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/blas.cc b/internal/ceres/blas.cc
new file mode 100644
index 0000000..3ba63bb
--- /dev/null
+++ b/internal/ceres/blas.cc
@@ -0,0 +1,81 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/blas.h"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+#ifndef CERES_NO_LAPACK
+extern "C" void dsyrk_(char* uplo,
+                       char* trans,
+                       int* n,
+                       int* k,
+                       double* alpha,
+                       double* a,
+                       int* lda,
+                       double* beta,
+                       double* c,
+                       int* ldc);
+#endif
+
+namespace ceres {
+namespace internal {
+
+void BLAS::SymmetricRankKUpdate(int num_rows,
+                                int num_cols,
+                                const double* a,
+                                bool transpose,
+                                double alpha,
+                                double beta,
+                                double* c) {
+#ifdef CERES_NO_LAPACK
+  LOG(FATAL) << "Ceres was built without a BLAS library.";
+#else
+  char uplo = 'L';
+  char trans = transpose ? 'T' : 'N';
+  int n = transpose ? num_cols : num_rows;
+  int k = transpose ? num_rows : num_cols;
+  int lda = k;
+  int ldc = n;
+  dsyrk_(&uplo,
+         &trans,
+         &n,
+         &k,
+         &alpha,
+         const_cast<double*>(a),
+         &lda,
+         &beta,
+         c,
+         &ldc);
+#endif
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/blas.h b/internal/ceres/blas.h
new file mode 100644
index 0000000..a43301c
--- /dev/null
+++ b/internal/ceres/blas.h
@@ -0,0 +1,57 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Wrapper functions around BLAS functions.
+
+#ifndef CERES_INTERNAL_BLAS_H_
+#define CERES_INTERNAL_BLAS_H_
+
+namespace ceres {
+namespace internal {
+
+class BLAS {
+ public:
+  // transpose = true  : c = alpha * a'a + beta * c;
+  // transpose = false : c = alpha * aa' + beta * c;
+  //
+  // Assumes column major matrices.
+  static void SymmetricRankKUpdate(int num_rows,
+                                   int num_cols,
+                                   const double* a,
+                                   bool transpose,
+                                   double alpha,
+                                   double beta,
+                                   double* c);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLAS_H_
diff --git a/internal/ceres/block_evaluate_preparer.cc b/internal/ceres/block_evaluate_preparer.cc
new file mode 100644
index 0000000..59c0d3e
--- /dev/null
+++ b/internal/ceres/block_evaluate_preparer.cc
@@ -0,0 +1,83 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/block_evaluate_preparer.h"
+
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+void BlockEvaluatePreparer::Init(int const* const* jacobian_layout,
+                                 int max_derivatives_per_residual_block) {
+  jacobian_layout_ = jacobian_layout;
+  scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block);
+}
+
+// Point the jacobian blocks directly into the block sparse matrix.
+void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+                                    int residual_block_index,
+                                    SparseMatrix* jacobian,
+                                    double** jacobians) {
+  // If the overall jacobian is not available, use the scratch space.
+  if (jacobian == NULL) {
+    scratch_evaluate_preparer_.Prepare(residual_block,
+                                       residual_block_index,
+                                       jacobian,
+                                       jacobians);
+    return;
+  }
+
+  double* jacobian_values =
+      down_cast<BlockSparseMatrix*>(jacobian)->mutable_values();
+
+  const int* jacobian_block_offset = jacobian_layout_[residual_block_index];
+  const int num_parameter_blocks = residual_block->NumParameterBlocks();
+  for (int j = 0; j < num_parameter_blocks; ++j) {
+    if (!residual_block->parameter_blocks()[j]->IsConstant()) {
+      jacobians[j] = jacobian_values + *jacobian_block_offset;
+
+      // The jacobian_block_offset can't be indexed with 'j' since the code
+      // that creates the layout strips out any blocks for inactive
+      // parameters. Instead, bump the pointer for active parameters only.
+      jacobian_block_offset++;
+    } else {
+      jacobians[j] = NULL;
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_evaluate_preparer.h b/internal/ceres/block_evaluate_preparer.h
new file mode 100644
index 0000000..4378689
--- /dev/null
+++ b/internal/ceres/block_evaluate_preparer.h
@@ -0,0 +1,77 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A evaluate preparer which puts jacobian the evaluated jacobian blocks
+// directly into their final resting place in an overall block sparse matrix.
+// The evaluator takes care to avoid evaluating the jacobian for fixed
+// parameters.
+
+#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
+#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
+
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class ResidualBlock;
+class SparseMatrix;
+
+class BlockEvaluatePreparer {
+ public:
+  // Using Init() instead of a constructor allows for allocating this structure
+  // with new[]. This is because C++ doesn't allow passing arguments to objects
+  // constructed with new[] (as opposed to plain 'new').
+  void Init(int const* const* jacobian_layout,
+            int max_derivatives_per_residual_block);
+
+  // EvaluatePreparer interface
+
+  // Point the jacobian blocks directly into the block sparse matrix, if
+  // jacobian is non-null. Otherwise, uses an internal per-thread buffer to
+  // store the jacobians temporarily.
+  void Prepare(const ResidualBlock* residual_block,
+               int residual_block_index,
+               SparseMatrix* jacobian,
+               double** jacobians);
+
+ private:
+  int const* const* jacobian_layout_;
+
+  // For the case that the overall jacobian is not available, but the
+  // individual jacobians are requested, use a pass-through scratch evaluate
+  // preparer.
+  ScratchEvaluatePreparer scratch_evaluate_preparer_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
diff --git a/internal/ceres/block_jacobi_preconditioner.cc b/internal/ceres/block_jacobi_preconditioner.cc
new file mode 100644
index 0000000..22d4b35
--- /dev/null
+++ b/internal/ceres/block_jacobi_preconditioner.cc
@@ -0,0 +1,106 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/block_jacobi_preconditioner.h"
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+BlockJacobiPreconditioner::BlockJacobiPreconditioner(
+    const BlockSparseMatrix& A) {
+  const CompressedRowBlockStructure* bs = A.block_structure();
+  std::vector<int> blocks(bs->cols.size());
+  for (int i = 0; i < blocks.size(); ++i) {
+    blocks[i] = bs->cols[i].size;
+  }
+
+  m_.reset(new BlockRandomAccessDiagonalMatrix(blocks));
+}
+
+BlockJacobiPreconditioner::~BlockJacobiPreconditioner() {}
+
+bool BlockJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
+                                           const double* D) {
+  const CompressedRowBlockStructure* bs = A.block_structure();
+  const double* values = A.values();
+  m_->SetZero();
+  for (int i = 0; i < bs->rows.size(); ++i) {
+    const int row_block_size = bs->rows[i].block.size;
+    const std::vector<Cell>& cells = bs->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      const int block_id = cells[j].block_id;
+      const int col_block_size = bs->cols[block_id].size;
+
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = m_->GetCell(block_id, block_id,
+                                        &r, &c,
+                                        &row_stride, &col_stride);
+      MatrixRef m(cell_info->values, row_stride, col_stride);
+      ConstMatrixRef b(values + cells[j].position,
+                       row_block_size,
+                       col_block_size);
+      m.block(r, c, col_block_size, col_block_size) += b.transpose() * b;
+    }
+  }
+
+  if (D != NULL) {
+    // Add the diagonal.
+    int position = 0;
+    for (int i = 0; i < bs->cols.size(); ++i) {
+      const int block_size = bs->cols[i].size;
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = m_->GetCell(i, i,
+                                        &r, &c,
+                                        &row_stride, &col_stride);
+      MatrixRef m(cell_info->values, row_stride, col_stride);
+      m.block(r, c, block_size, block_size).diagonal() +=
+          ConstVectorRef(D + position, block_size).array().square().matrix();
+      position += block_size;
+    }
+  }
+
+  m_->Invert();
+  return true;
+}
+
+void BlockJacobiPreconditioner::RightMultiply(const double* x,
+                                              double* y) const {
+  m_->RightMultiply(x, y);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_jacobi_preconditioner.h b/internal/ceres/block_jacobi_preconditioner.h
new file mode 100644
index 0000000..0541db5
--- /dev/null
+++ b/internal/ceres/block_jacobi_preconditioner.h
@@ -0,0 +1,75 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
+#define CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
+
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/preconditioner.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+struct CompressedRowBlockStructure;
+
+// A block Jacobi preconditioner. This is intended for use with
+// conjugate gradients, or other iterative symmetric solvers. To use
+// the preconditioner, create one by passing a BlockSparseMatrix "A"
+// to the constructor. This fixes the sparsity pattern to the pattern
+// of the matrix A^TA.
+//
+// Before each use of the preconditioner in a solve with conjugate gradients,
+// update the matrix by running Update(A, D). The values of the matrix A are
+// inspected to construct the preconditioner. The vector D is applied as the
+// D^TD diagonal term.
+class BlockJacobiPreconditioner : public BlockSparseMatrixPreconditioner {
+ public:
+  // A must remain valid while the BlockJacobiPreconditioner is.
+  explicit BlockJacobiPreconditioner(const BlockSparseMatrix& A);
+  virtual ~BlockJacobiPreconditioner();
+
+  // Preconditioner interface
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual int num_rows() const { return m_->num_rows(); }
+  virtual int num_cols() const { return m_->num_rows(); }
+  const BlockRandomAccessDiagonalMatrix& matrix() const { return *m_; }
+
+ private:
+  virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
+
+  scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
diff --git a/internal/ceres/block_jacobi_preconditioner_test.cc b/internal/ceres/block_jacobi_preconditioner_test.cc
new file mode 100644
index 0000000..0fb9dc6
--- /dev/null
+++ b/internal/ceres/block_jacobi_preconditioner_test.cc
@@ -0,0 +1,105 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_jacobi_preconditioner.h"
+
+#include <vector>
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "gtest/gtest.h"
+#include "Eigen/Dense"
+
+namespace ceres {
+namespace internal {
+
+
+class BlockJacobiPreconditionerTest : public ::testing::Test {
+ protected:
+  void SetUpFromProblemId(int problem_id) {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(problem_id));
+
+    CHECK_NOTNULL(problem.get());
+    A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+    D.reset(problem->D.release());
+
+    Matrix dense_a;
+    A->ToDenseMatrix(&dense_a);
+    dense_ata = dense_a.transpose() * dense_a;
+    dense_ata += VectorRef(D.get(), A->num_cols())
+        .array().square().matrix().asDiagonal();
+  }
+
+  void VerifyDiagonalBlocks(const int problem_id) {
+    SetUpFromProblemId(problem_id);
+
+    BlockJacobiPreconditioner pre(*A);
+    pre.Update(*A, D.get());
+    BlockRandomAccessDiagonalMatrix* m =
+        const_cast<BlockRandomAccessDiagonalMatrix*>(&pre.matrix());
+    EXPECT_EQ(m->num_rows(), A->num_cols());
+    EXPECT_EQ(m->num_cols(), A->num_cols());
+
+    const CompressedRowBlockStructure* bs = A->block_structure();
+    for (int i = 0; i < bs->cols.size(); ++i) {
+      const int block_size = bs->cols[i].size;
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = m->GetCell(i, i,
+                                       &r, &c,
+                                       &row_stride, &col_stride);
+      MatrixRef m(cell_info->values, row_stride, col_stride);
+      Matrix actual_block_inverse = m.block(r, c, block_size, block_size);
+      Matrix expected_block = dense_ata.block(bs->cols[i].position,
+                                              bs->cols[i].position,
+                                              block_size,
+                                              block_size);
+      const double residual = (actual_block_inverse * expected_block -
+                               Matrix::Identity(block_size, block_size)).norm();
+      EXPECT_NEAR(residual, 0.0, 1e-12) << "Block: " << i;
+    }
+  }
+
+  scoped_ptr<BlockSparseMatrix> A;
+  scoped_array<double> D;
+  Matrix dense_ata;
+};
+
+TEST_F(BlockJacobiPreconditionerTest, SmallProblem) {
+  VerifyDiagonalBlocks(2);
+}
+
+TEST_F(BlockJacobiPreconditionerTest, LargeProblem) {
+  VerifyDiagonalBlocks(3);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_jacobian_writer.cc b/internal/ceres/block_jacobian_writer.cc
new file mode 100644
index 0000000..7a3fee4
--- /dev/null
+++ b/internal/ceres/block_jacobian_writer.cc
@@ -0,0 +1,214 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/block_jacobian_writer.h"
+
+#include "ceres/block_evaluate_preparer.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// Given the residual block ordering, build a lookup table to determine which
+// per-parameter jacobian goes where in the overall program jacobian.
+//
+// Since we expect to use a Schur type linear solver to solve the LM step, take
+// extra care to place the E blocks and the F blocks contiguously. E blocks are
+// the first num_eliminate_blocks parameter blocks as indicated by the parameter
+// block ordering. The remaining parameter blocks are the F blocks.
+//
+// TODO(keir): Consider if we should use a boolean for each parameter block
+// instead of num_eliminate_blocks.
+void BuildJacobianLayout(const Program& program,
+                         int num_eliminate_blocks,
+                         vector<int*>* jacobian_layout,
+                         vector<int>* jacobian_layout_storage) {
+  const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+
+  // Iterate over all the active residual blocks and determine how many E blocks
+  // are there. This will determine where the F blocks start in the jacobian
+  // matrix. Also compute the number of jacobian blocks.
+  int f_block_pos = 0;
+  int num_jacobian_blocks = 0;
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    ResidualBlock* residual_block = residual_blocks[i];
+    const int num_residuals = residual_block->NumResiduals();
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+    // Advance f_block_pos over each E block for this residual.
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+      if (!parameter_block->IsConstant()) {
+        // Only count blocks for active parameters.
+        num_jacobian_blocks++;
+        if (parameter_block->index() < num_eliminate_blocks) {
+          f_block_pos += num_residuals * parameter_block->LocalSize();
+        }
+      }
+    }
+  }
+
+  // We now know that the E blocks are laid out starting at zero, and the F
+  // blocks are laid out starting at f_block_pos. Iterate over the residual
+  // blocks again, and this time fill the jacobian_layout array with the
+  // position information.
+
+  jacobian_layout->resize(program.NumResidualBlocks());
+  jacobian_layout_storage->resize(num_jacobian_blocks);
+
+  int e_block_pos = 0;
+  int* jacobian_pos = &(*jacobian_layout_storage)[0];
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    const ResidualBlock* residual_block = residual_blocks[i];
+    const int num_residuals = residual_block->NumResiduals();
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+    (*jacobian_layout)[i] = jacobian_pos;
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+      const int parameter_block_index = parameter_block->index();
+      if (parameter_block->IsConstant()) {
+        continue;
+      }
+      const int jacobian_block_size =
+          num_residuals * parameter_block->LocalSize();
+      if (parameter_block_index < num_eliminate_blocks) {
+        *jacobian_pos = e_block_pos;
+        e_block_pos += jacobian_block_size;
+      } else {
+        *jacobian_pos = f_block_pos;
+        f_block_pos += jacobian_block_size;
+      }
+      jacobian_pos++;
+    }
+  }
+}
+
+}  // namespace
+
+BlockJacobianWriter::BlockJacobianWriter(const Evaluator::Options& options,
+                                         Program* program)
+    : program_(program) {
+  CHECK_GE(options.num_eliminate_blocks, 0)
+      << "num_eliminate_blocks must be greater than 0.";
+
+  BuildJacobianLayout(*program,
+                      options.num_eliminate_blocks,
+                      &jacobian_layout_,
+                      &jacobian_layout_storage_);
+}
+
+// Create evaluate prepareres that point directly into the final jacobian. This
+// makes the final Write() a nop.
+BlockEvaluatePreparer* BlockJacobianWriter::CreateEvaluatePreparers(
+    int num_threads) {
+  int max_derivatives_per_residual_block =
+      program_->MaxDerivativesPerResidualBlock();
+
+  BlockEvaluatePreparer* preparers = new BlockEvaluatePreparer[num_threads];
+  for (int i = 0; i < num_threads; i++) {
+    preparers[i].Init(&jacobian_layout_[0], max_derivatives_per_residual_block);
+  }
+  return preparers;
+}
+
+SparseMatrix* BlockJacobianWriter::CreateJacobian() const {
+  CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+
+  const vector<ParameterBlock*>& parameter_blocks =
+      program_->parameter_blocks();
+
+  // Construct the column blocks.
+  bs->cols.resize(parameter_blocks.size());
+  for (int i = 0, cursor = 0; i < parameter_blocks.size(); ++i) {
+    CHECK_NE(parameter_blocks[i]->index(), -1);
+    CHECK(!parameter_blocks[i]->IsConstant());
+    bs->cols[i].size = parameter_blocks[i]->LocalSize();
+    bs->cols[i].position = cursor;
+    cursor += bs->cols[i].size;
+  }
+
+  // Construct the cells in each row.
+  const vector<ResidualBlock*>& residual_blocks = program_->residual_blocks();
+  int row_block_position = 0;
+  bs->rows.resize(residual_blocks.size());
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    const ResidualBlock* residual_block = residual_blocks[i];
+    CompressedRow* row = &bs->rows[i];
+
+    row->block.size = residual_block->NumResiduals();
+    row->block.position = row_block_position;
+    row_block_position += row->block.size;
+
+    // Size the row by the number of active parameters in this residual.
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+    int num_active_parameter_blocks = 0;
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      if (residual_block->parameter_blocks()[j]->index() != -1) {
+        num_active_parameter_blocks++;
+      }
+    }
+    row->cells.resize(num_active_parameter_blocks);
+
+    // Add layout information for the active parameters in this row.
+    for (int j = 0, k = 0; j < num_parameter_blocks; ++j) {
+      const ParameterBlock* parameter_block =
+          residual_block->parameter_blocks()[j];
+      if (!parameter_block->IsConstant()) {
+        Cell& cell = row->cells[k];
+        cell.block_id = parameter_block->index();
+        cell.position = jacobian_layout_[i][k];
+
+        // Only increment k for active parameters, since there is only layout
+        // information for active parameters.
+        k++;
+      }
+    }
+
+    sort(row->cells.begin(), row->cells.end(), CellLessThan);
+  }
+
+  BlockSparseMatrix* jacobian = new BlockSparseMatrix(bs);
+  CHECK_NOTNULL(jacobian);
+  return jacobian;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_jacobian_writer.h b/internal/ceres/block_jacobian_writer.h
new file mode 100644
index 0000000..c94a0d3
--- /dev/null
+++ b/internal/ceres/block_jacobian_writer.h
@@ -0,0 +1,128 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that writes to block sparse matrices. The "writer" name is
+// misleading, since the Write() operation on the block jacobian writer does not
+// write anything. Instead, the Prepare() method on the BlockEvaluatePreparers
+// makes a jacobians array which has direct pointers into the block sparse
+// jacobian. When the cost function is evaluated, the jacobian blocks get placed
+// directly in their final location.
+
+#ifndef CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
+
+#include <vector>
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockEvaluatePreparer;
+class Program;
+class SparseMatrix;
+
+// TODO(sameeragarwal): This class needs documemtation.
+class BlockJacobianWriter {
+ public:
+  BlockJacobianWriter(const Evaluator::Options& options,
+                      Program* program);
+
+  // JacobianWriter interface.
+
+  // Create evaluate prepareres that point directly into the final jacobian.
+  // This makes the final Write() a nop.
+  BlockEvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+
+  SparseMatrix* CreateJacobian() const;
+
+  void Write(int /* residual_id */,
+             int /* residual_offset */,
+             double** /* jacobians */,
+             SparseMatrix* /* jacobian */) {
+    // This is a noop since the blocks were written directly into their final
+    // position by the outside evaluate call, thanks to the jacobians array
+    // prepared by the BlockEvaluatePreparers.
+  }
+
+ private:
+  Program* program_;
+
+  // Stores the position of each residual / parameter jacobian.
+  //
+  // The block sparse matrix that this writer writes to is stored as a set of
+  // contiguos dense blocks, one after each other; see BlockSparseMatrix. The
+  // "double* values_" member of the block sparse matrix contains all of these
+  // blocks. Given a pointer to the first element of a block and the size of
+  // that block, it's possible to write to it.
+  //
+  // In the case of a block sparse jacobian, the jacobian writer needs a way to
+  // find the offset in the values_ array of each residual/parameter jacobian
+  // block.
+  //
+  // That is the purpose of jacobian_layout_.
+  //
+  // In particular, jacobian_layout_[i][j] is the offset in the values_ array of
+  // the derivative of residual block i with respect to the parameter block at
+  // active argument position j.
+  //
+  // The active qualifier means that non-active parameters do not count. Care
+  // must be taken when indexing into jacobian_layout_ to account for this.
+  // Consider a single residual example:
+  //
+  //   r(x, y, z)
+  //
+  // with r in R^3, x in R^4, y in R^2, and z in R^5.
+  // Take y as a constant (non-active) parameter.
+  // Take r as residual number 0.
+  //
+  // In this case, the active arguments are only (x, z), so the active argument
+  // position for x is 0, and the active argument position for z is 1. This is
+  // similar to thinking of r as taking only 2 parameters:
+  //
+  //   r(x, z)
+  //
+  // There are only 2 jacobian blocks: dr/dx and dr/dz. jacobian_layout_ would
+  // have the following contents:
+  //
+  //   jacobian_layout_[0] = { 0, 12 }
+  //
+  // which indicates that dr/dx is located at values_[0], and dr/dz is at
+  // values_[12]. See BlockEvaluatePreparer::Prepare()'s comments about 'j'.
+  std::vector<int*> jacobian_layout_;
+
+  // The pointers in jacobian_layout_ point directly into this vector.
+  std::vector<int> jacobian_layout_storage_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
diff --git a/internal/ceres/block_random_access_dense_matrix.cc b/internal/ceres/block_random_access_dense_matrix.cc
new file mode 100644
index 0000000..61748ef
--- /dev/null
+++ b/internal/ceres/block_random_access_dense_matrix.cc
@@ -0,0 +1,88 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_random_access_dense_matrix.h"
+
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
+    const std::vector<int>& blocks) {
+  const int num_blocks = blocks.size();
+  block_layout_.resize(num_blocks, 0);
+  num_rows_ = 0;
+  for (int i = 0; i < num_blocks; ++i) {
+    block_layout_[i] = num_rows_;
+    num_rows_ += blocks[i];
+  }
+
+  values_.reset(new double[num_rows_ * num_rows_]);
+
+  cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);
+  for (int i = 0; i < num_blocks * num_blocks; ++i) {
+    cell_infos_[i].values = values_.get();
+  }
+
+  SetZero();
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
+}
+
+CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
+                                                const int col_block_id,
+                                                int* row,
+                                                int* col,
+                                                int* row_stride,
+                                                int* col_stride) {
+  *row = block_layout_[row_block_id];
+  *col = block_layout_[col_block_id];
+  *row_stride = num_rows_;
+  *col_stride = num_rows_;
+  return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessDenseMatrix::SetZero() {
+  if (num_rows_) {
+    VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_random_access_dense_matrix.h b/internal/ceres/block_random_access_dense_matrix.h
new file mode 100644
index 0000000..8968908
--- /dev/null
+++ b/internal/ceres/block_random_access_dense_matrix.h
@@ -0,0 +1,98 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
+
+#include "ceres/block_random_access_matrix.h"
+
+#include <vector>
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// A square block random accessible matrix with the same row and
+// column block structure. All cells are stored in the same single
+// array, so that its also accessible as a dense matrix of size
+// num_rows x num_cols.
+//
+// This class is NOT thread safe. Since all n^2 cells are stored,
+// GetCell never returns NULL for any (row_block_id, col_block_id)
+// pair.
+//
+// ReturnCell is a nop.
+class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix {
+ public:
+  // blocks is a vector of block sizes. The resulting matrix has
+  // blocks.size() * blocks.size() cells.
+  explicit BlockRandomAccessDenseMatrix(const std::vector<int>& blocks);
+
+  // The destructor is not thread safe. It assumes that no one is
+  // modifying any cells when the matrix is being destroyed.
+  virtual ~BlockRandomAccessDenseMatrix();
+
+  // BlockRandomAccessMatrix interface.
+  virtual CellInfo* GetCell(int row_block_id,
+                            int col_block_id,
+                            int* row,
+                            int* col,
+                            int* row_stride,
+                            int* col_stride);
+
+  // This is not a thread safe method, it assumes that no cell is
+  // locked.
+  virtual void SetZero();
+
+  // Since the matrix is square with the same row and column block
+  // structure, num_rows() = num_cols().
+  virtual int num_rows() const { return num_rows_; }
+  virtual int num_cols() const { return num_rows_; }
+
+  // The underlying matrix storing the cells.
+  const double* values() const { return values_.get(); }
+  double* mutable_values() { return values_.get(); }
+
+ private:
+  int num_rows_;
+  std::vector<int> block_layout_;
+  scoped_array<double> values_;
+  scoped_array<CellInfo> cell_infos_;
+
+  CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
diff --git a/internal/ceres/block_random_access_dense_matrix_test.cc b/internal/ceres/block_random_access_dense_matrix_test.cc
new file mode 100644
index 0000000..8a5ba59
--- /dev/null
+++ b/internal/ceres/block_random_access_dense_matrix_test.cc
@@ -0,0 +1,115 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(BlockRandomAccessDenseMatrix, GetCell) {
+  std::vector<int> blocks;
+  blocks.push_back(3);
+  blocks.push_back(4);
+  blocks.push_back(5);
+  const int num_rows = 3 + 4 + 5;
+  BlockRandomAccessDenseMatrix m(blocks);
+  EXPECT_EQ(m.num_rows(), num_rows);
+  EXPECT_EQ(m.num_cols(), num_rows);
+
+  int row_idx = 0;
+  for (int i = 0; i < blocks.size(); ++i) {
+    int col_idx = 0;
+    for (int j = 0; j < blocks.size(); ++j) {
+      int row;
+      int col;
+      int row_stride;
+      int col_stride;
+      CellInfo* cell =
+          m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
+
+      EXPECT_TRUE(cell != NULL);
+      EXPECT_EQ(row, row_idx);
+      EXPECT_EQ(col, col_idx);
+      EXPECT_EQ(row_stride, 3 + 4 + 5);
+      EXPECT_EQ(col_stride, 3 + 4 + 5);
+      col_idx += blocks[j];
+    }
+    row_idx += blocks[i];
+  }
+}
+
+TEST(BlockRandomAccessDenseMatrix, WriteCell) {
+  std::vector<int> blocks;
+  blocks.push_back(3);
+  blocks.push_back(4);
+  blocks.push_back(5);
+  const int num_rows = 3 + 4 + 5;
+
+  BlockRandomAccessDenseMatrix m(blocks);
+
+  // Fill the cell (i,j) with (i + 1) * (j + 1)
+  for (int i = 0; i < blocks.size(); ++i) {
+    for (int j = 0; j < blocks.size(); ++j) {
+      int row;
+      int col;
+      int row_stride;
+      int col_stride;
+      CellInfo* cell = m.GetCell(
+          i, j, &row, &col, &row_stride, &col_stride);
+      MatrixRef(cell->values, row_stride, col_stride).block(
+          row, col, blocks[i], blocks[j]) =
+          (i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]);
+    }
+  }
+
+  // Check the values in the array are correct by going over the
+  // entries of each block manually.
+  int row_idx = 0;
+  for (int i = 0; i < blocks.size(); ++i) {
+    int col_idx = 0;
+    for (int j = 0; j < blocks.size(); ++j) {
+      // Check the values of this block.
+      for (int r = 0; r < blocks[i]; ++r) {
+        for (int c = 0; c < blocks[j]; ++c) {
+          int pos = row_idx * num_rows + col_idx;
+          EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
+        }
+      }
+      col_idx += blocks[j];
+    }
+    row_idx += blocks[i];
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_random_access_diagonal_matrix.cc b/internal/ceres/block_random_access_diagonal_matrix.cc
new file mode 100644
index 0000000..052690d
--- /dev/null
+++ b/internal/ceres/block_random_access_diagonal_matrix.cc
@@ -0,0 +1,154 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_random_access_diagonal_matrix.h"
+
+#include <algorithm>
+#include <set>
+#include <utility>
+#include <vector>
+#include "Eigen/Dense"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/stl_util.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// TODO(sameeragarwal): Drop the dependence on TripletSparseMatrix.
+
+BlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix(
+    const vector<int>& blocks)
+    : blocks_(blocks) {
+  // Build the row/column layout vector and count the number of scalar
+  // rows/columns.
+  int num_cols = 0;
+  int num_nonzeros = 0;
+  vector<int> block_positions;
+  for (int i = 0; i < blocks_.size(); ++i) {
+    block_positions.push_back(num_cols);
+    num_cols += blocks_[i];
+    num_nonzeros += blocks_[i] * blocks_[i];
+  }
+
+  VLOG(1) << "Matrix Size [" << num_cols
+          << "," << num_cols
+          << "] " << num_nonzeros;
+
+  tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros));
+  tsm_->set_num_nonzeros(num_nonzeros);
+  int* rows = tsm_->mutable_rows();
+  int* cols = tsm_->mutable_cols();
+  double* values = tsm_->mutable_values();
+
+  int pos = 0;
+  for (int i = 0; i < blocks_.size(); ++i) {
+    const int block_size = blocks_[i];
+    layout_.push_back(new CellInfo(values + pos));
+    const int block_begin = block_positions[i];
+    for (int r = 0; r < block_size; ++r) {
+      for (int c = 0; c < block_size; ++c, ++pos) {
+        rows[pos] = block_begin + r;
+        cols[pos] = block_begin + c;
+      }
+    }
+  }
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessDiagonalMatrix::~BlockRandomAccessDiagonalMatrix() {
+  STLDeleteContainerPointers(layout_.begin(), layout_.end());
+}
+
+CellInfo* BlockRandomAccessDiagonalMatrix::GetCell(int row_block_id,
+                                                   int col_block_id,
+                                                   int* row,
+                                                   int* col,
+                                                   int* row_stride,
+                                                   int* col_stride) {
+  if (row_block_id != col_block_id) {
+    return NULL;
+  }
+  const int stride = blocks_[row_block_id];
+
+  // Each cell is stored contiguously as its own little dense matrix.
+  *row = 0;
+  *col = 0;
+  *row_stride = stride;
+  *col_stride = stride;
+  return layout_[row_block_id];
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessDiagonalMatrix::SetZero() {
+  if (tsm_->num_nonzeros()) {
+    VectorRef(tsm_->mutable_values(),
+              tsm_->num_nonzeros()).setZero();
+  }
+}
+
+void BlockRandomAccessDiagonalMatrix::Invert() {
+  double* values = tsm_->mutable_values();
+  for (int i = 0; i < blocks_.size(); ++i) {
+    const int block_size = blocks_[i];
+    MatrixRef block(values, block_size, block_size);
+    block =
+        block
+        .selfadjointView<Eigen::Upper>()
+        .llt()
+        .solve(Matrix::Identity(block_size, block_size));
+    values += block_size * block_size;
+  }
+}
+
+void BlockRandomAccessDiagonalMatrix::RightMultiply(const double* x,
+                                                    double* y) const {
+  CHECK_NOTNULL(x);
+  CHECK_NOTNULL(y);
+  const double* values = tsm_->values();
+  for (int i = 0; i < blocks_.size(); ++i) {
+    const int block_size = blocks_[i];
+    ConstMatrixRef block(values, block_size, block_size);
+    VectorRef(y, block_size).noalias() += block * ConstVectorRef(x, block_size);
+    x += block_size;
+    y += block_size;
+    values += block_size * block_size;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_random_access_diagonal_matrix.h b/internal/ceres/block_random_access_diagonal_matrix.h
new file mode 100644
index 0000000..07ffc9d
--- /dev/null
+++ b/internal/ceres/block_random_access_diagonal_matrix.h
@@ -0,0 +1,101 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/collections_port.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// A thread safe block diagonal matrix implementation of
+// BlockRandomAccessMatrix.
+class BlockRandomAccessDiagonalMatrix : public BlockRandomAccessMatrix {
+ public:
+  // blocks is an array of block sizes.
+  explicit BlockRandomAccessDiagonalMatrix(const std::vector<int>& blocks);
+
+  // The destructor is not thread safe. It assumes that no one is
+  // modifying any cells when the matrix is being destroyed.
+  virtual ~BlockRandomAccessDiagonalMatrix();
+
+  // BlockRandomAccessMatrix Interface.
+  virtual CellInfo* GetCell(int row_block_id,
+                            int col_block_id,
+                            int* row,
+                            int* col,
+                            int* row_stride,
+                            int* col_stride);
+
+  // This is not a thread safe method, it assumes that no cell is
+  // locked.
+  virtual void SetZero();
+
+  // Invert the matrix assuming that each block is positive definite.
+  void Invert();
+
+  // y += S * x
+  void RightMultiply(const double* x, double* y) const;
+
+  // Since the matrix is square, num_rows() == num_cols().
+  virtual int num_rows() const { return tsm_->num_rows(); }
+  virtual int num_cols() const { return tsm_->num_cols(); }
+
+  const TripletSparseMatrix* matrix() const { return tsm_.get(); }
+  TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
+
+ private:
+  // row/column block sizes.
+  const std::vector<int> blocks_;
+  std::vector<CellInfo*> layout_;
+
+  // The underlying matrix object which actually stores the cells.
+  scoped_ptr<TripletSparseMatrix> tsm_;
+
+  friend class BlockRandomAccessDiagonalMatrixTest;
+  CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDiagonalMatrix);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
diff --git a/internal/ceres/block_random_access_diagonal_matrix_test.cc b/internal/ceres/block_random_access_diagonal_matrix_test.cc
new file mode 100644
index 0000000..8fa3798
--- /dev/null
+++ b/internal/ceres/block_random_access_diagonal_matrix_test.cc
@@ -0,0 +1,160 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <limits>
+#include <vector>
+
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "Eigen/Cholesky"
+
+namespace ceres {
+namespace internal {
+
+class BlockRandomAccessDiagonalMatrixTest : public ::testing::Test {
+ public:
+  void SetUp() {
+    std::vector<int> blocks;
+    blocks.push_back(3);
+    blocks.push_back(4);
+    blocks.push_back(5);
+    const int num_rows = 3 + 4 + 5;
+    num_nonzeros_ =  3 * 3 + 4 * 4 + 5 * 5;
+
+    m_.reset(new BlockRandomAccessDiagonalMatrix(blocks));
+
+    EXPECT_EQ(m_->num_rows(), num_rows);
+    EXPECT_EQ(m_->num_cols(), num_rows);
+
+    for (int i = 0; i < blocks.size(); ++i) {
+      const int row_block_id = i;
+      int col_block_id;
+      int row;
+      int col;
+      int row_stride;
+      int col_stride;
+
+      for (int j = 0; j < blocks.size(); ++j) {
+        col_block_id = j;
+        CellInfo* cell =  m_->GetCell(row_block_id, col_block_id,
+                                    &row, &col,
+                                    &row_stride, &col_stride);
+        // Off diagonal entries are not present.
+        if (i != j) {
+          EXPECT_TRUE(cell == NULL);
+          continue;
+        }
+
+        EXPECT_TRUE(cell != NULL);
+        EXPECT_EQ(row, 0);
+        EXPECT_EQ(col, 0);
+        EXPECT_EQ(row_stride, blocks[row_block_id]);
+        EXPECT_EQ(col_stride, blocks[col_block_id]);
+
+        // Write into the block
+        MatrixRef(cell->values, row_stride, col_stride).block(
+            row, col, blocks[row_block_id], blocks[col_block_id]) =
+            (row_block_id + 1) * (col_block_id +1) *
+            Matrix::Ones(blocks[row_block_id], blocks[col_block_id])
+            + Matrix::Identity(blocks[row_block_id], blocks[row_block_id]);
+      }
+    }
+  }
+
+ protected:
+  int num_nonzeros_;
+  scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
+};
+
+TEST_F(BlockRandomAccessDiagonalMatrixTest, MatrixContents) {
+  const TripletSparseMatrix* tsm = m_->matrix();
+  EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros_);
+  EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros_);
+
+  Matrix dense;
+  tsm->ToDenseMatrix(&dense);
+
+  double kTolerance = 1e-14;
+
+  // (0,0)
+  EXPECT_NEAR((dense.block(0, 0, 3, 3) -
+               (Matrix::Ones(3, 3) + Matrix::Identity(3, 3))).norm(),
+              0.0,
+              kTolerance);
+
+  // (1,1)
+  EXPECT_NEAR((dense.block(3, 3, 4, 4) -
+               (2 * 2 * Matrix::Ones(4, 4) + Matrix::Identity(4, 4))).norm(),
+              0.0,
+              kTolerance);
+
+  // (1,1)
+  EXPECT_NEAR((dense.block(7, 7, 5, 5) -
+               (3 * 3 * Matrix::Ones(5, 5) + Matrix::Identity(5, 5))).norm(),
+              0.0,
+              kTolerance);
+
+  // There is nothing else in the matrix besides these four blocks.
+  EXPECT_NEAR(dense.norm(),
+              sqrt(6 * 1.0 + 3 * 4.0 +
+                   12 * 16.0 + 4 * 25.0 +
+                   20 * 81.0 + 5 * 100.0), kTolerance);
+}
+
+TEST_F(BlockRandomAccessDiagonalMatrixTest, RightMultiply) {
+  double kTolerance = 1e-14;
+  const TripletSparseMatrix* tsm = m_->matrix();
+  Matrix dense;
+  tsm->ToDenseMatrix(&dense);
+  Vector x = Vector::Random(dense.rows());
+  Vector expected_y = dense * x;
+  Vector actual_y = Vector::Zero(dense.rows());
+  m_->RightMultiply(x.data(),  actual_y.data());
+  EXPECT_NEAR((expected_y - actual_y).norm(), 0, kTolerance);
+}
+
+TEST_F(BlockRandomAccessDiagonalMatrixTest, Invert) {
+  double kTolerance = 1e-14;
+  const TripletSparseMatrix* tsm = m_->matrix();
+  Matrix dense;
+  tsm->ToDenseMatrix(&dense);
+  Matrix expected_inverse =
+      dense.llt().solve(Matrix::Identity(dense.rows(), dense.rows()));
+
+  m_->Invert();
+  tsm->ToDenseMatrix(&dense);
+
+  EXPECT_NEAR((expected_inverse - dense).norm(), 0.0, kTolerance);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_random_access_matrix.cc b/internal/ceres/block_random_access_matrix.cc
new file mode 100644
index 0000000..347d765
--- /dev/null
+++ b/internal/ceres/block_random_access_matrix.cc
@@ -0,0 +1,40 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_random_access_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessMatrix::~BlockRandomAccessMatrix() {
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_random_access_matrix.h b/internal/ceres/block_random_access_matrix.h
new file mode 100644
index 0000000..34c8bf5
--- /dev/null
+++ b/internal/ceres/block_random_access_matrix.h
@@ -0,0 +1,132 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Interface for matrices that allow block based random access.
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
+
+#include "ceres/mutex.h"
+
+namespace ceres {
+namespace internal {
+
+// A matrix implementing the BlockRandomAccessMatrix interface is a
+// matrix whose rows and columns are divided into blocks. For example
+// the matrix A:
+//
+//            3     4      5
+//  A =  5 [c_11  c_12  c_13]
+//       4 [c_21  c_22  c_23]
+//
+// has row blocks of size 5 and 4, and column blocks of size 3, 4 and
+// 5. It has six cells corresponding to the six row-column block
+// combinations.
+//
+// BlockRandomAccessMatrix objects provide access to cells c_ij using
+// the GetCell method. when a cell is present, GetCell will return a
+// CellInfo object containing a pointer to an array which contains the
+// cell as a submatrix and a mutex that guards this submatrix. If the
+// user is accessing the matrix concurrently, it is his responsibility
+// to use the mutex to exclude other writers from writing to the cell
+// concurrently.
+//
+// There is no requirement that all cells be present, i.e. the matrix
+// itself can be block sparse. When a cell is not present, the GetCell
+// method will return a NULL pointer.
+//
+// There is no requirement about how the cells are stored beyond that
+// form a dense submatrix of a larger dense matrix. Like everywhere
+// else in Ceres, RowMajor storage assumed.
+//
+// Example usage:
+//
+//  BlockRandomAccessMatrix* A = new BlockRandomAccessMatrixSubClass(...)
+//
+//  int row, col, row_stride, col_stride;
+//  CellInfo* cell = A->GetCell(row_block_id, col_block_id,
+//                              &row, &col,
+//                              &row_stride, &col_stride);
+//
+//  if (cell != NULL) {
+//     MatrixRef m(cell->values, row_stride, col_stride);
+//     CeresMutexLock l(&cell->m);
+//     m.block(row, col, row_block_size, col_block_size) = ...
+//  }
+
+// Structure to carry a pointer to the array containing a cell and the
+// Mutex guarding it.
+struct CellInfo {
+  CellInfo()
+      : values(NULL) {
+  }
+
+  explicit CellInfo(double* ptr)
+      : values(ptr) {
+  }
+
+  double* values;
+  Mutex m;
+};
+
+class BlockRandomAccessMatrix {
+ public:
+  virtual ~BlockRandomAccessMatrix();
+
+  // If the cell (row_block_id, col_block_id) is present, then return
+  // a CellInfo with a pointer to the dense matrix containing it,
+  // otherwise return NULL. The dense matrix containing this cell has
+  // size row_stride, col_stride and the cell is located at position
+  // (row, col) within this matrix.
+  //
+  // The size of the cell is row_block_size x col_block_size is
+  // assumed known to the caller. row_block_size less than or equal to
+  // row_stride and col_block_size is upper bounded by col_stride.
+  virtual CellInfo* GetCell(int row_block_id,
+                            int col_block_id,
+                            int* row,
+                            int* col,
+                            int* row_stride,
+                            int* col_stride) = 0;
+
+  // Zero out the values of the array. The structure of the matrix
+  // (size and sparsity) is preserved.
+  virtual void SetZero() = 0;
+
+  // Number of scalar rows and columns in the matrix, i.e the sum of
+  // all row blocks and column block sizes respectively.
+  virtual int num_rows() const = 0;
+  virtual int num_cols() const = 0;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
diff --git a/internal/ceres/block_random_access_sparse_matrix.cc b/internal/ceres/block_random_access_sparse_matrix.cc
new file mode 100644
index 0000000..5432ec1
--- /dev/null
+++ b/internal/ceres/block_random_access_sparse_matrix.cc
@@ -0,0 +1,196 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_random_access_sparse_matrix.h"
+
+#include <algorithm>
+#include <set>
+#include <utility>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/mutex.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::vector;
+
+BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix(
+    const vector<int>& blocks,
+    const set<pair<int, int> >& block_pairs)
+    : kMaxRowBlocks(10 * 1000 * 1000),
+      blocks_(blocks) {
+  CHECK_LT(blocks.size(), kMaxRowBlocks);
+
+  // Build the row/column layout vector and count the number of scalar
+  // rows/columns.
+  int num_cols = 0;
+  block_positions_.reserve(blocks_.size());
+  for (int i = 0; i < blocks_.size(); ++i) {
+    block_positions_.push_back(num_cols);
+    num_cols += blocks_[i];
+  }
+
+  // Count the number of scalar non-zero entries and build the layout
+  // object for looking into the values array of the
+  // TripletSparseMatrix.
+  int num_nonzeros = 0;
+  for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+       it != block_pairs.end();
+       ++it) {
+    const int row_block_size = blocks_[it->first];
+    const int col_block_size = blocks_[it->second];
+    num_nonzeros += row_block_size * col_block_size;
+  }
+
+  VLOG(1) << "Matrix Size [" << num_cols
+          << "," << num_cols
+          << "] " << num_nonzeros;
+
+  tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros));
+  tsm_->set_num_nonzeros(num_nonzeros);
+  int* rows = tsm_->mutable_rows();
+  int* cols = tsm_->mutable_cols();
+  double* values = tsm_->mutable_values();
+
+  int pos = 0;
+  for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+       it != block_pairs.end();
+       ++it) {
+    const int row_block_size = blocks_[it->first];
+    const int col_block_size = blocks_[it->second];
+    cell_values_.push_back(make_pair(make_pair(it->first, it->second),
+                                     values + pos));
+    layout_[IntPairToLong(it->first, it->second)] =
+        new CellInfo(values + pos);
+    pos += row_block_size * col_block_size;
+  }
+
+  // Fill the sparsity pattern of the underlying matrix.
+  for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+       it != block_pairs.end();
+       ++it) {
+    const int row_block_id = it->first;
+    const int col_block_id = it->second;
+    const int row_block_size = blocks_[row_block_id];
+    const int col_block_size = blocks_[col_block_id];
+    int pos =
+        layout_[IntPairToLong(row_block_id, col_block_id)]->values - values;
+    for (int r = 0; r < row_block_size; ++r) {
+      for (int c = 0; c < col_block_size; ++c, ++pos) {
+          rows[pos] = block_positions_[row_block_id] + r;
+          cols[pos] = block_positions_[col_block_id] + c;
+          values[pos] = 1.0;
+          DCHECK_LT(rows[pos], tsm_->num_rows());
+          DCHECK_LT(cols[pos], tsm_->num_rows());
+      }
+    }
+  }
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessSparseMatrix::~BlockRandomAccessSparseMatrix() {
+  for (LayoutType::iterator it = layout_.begin();
+       it != layout_.end();
+       ++it) {
+    delete it->second;
+  }
+}
+
+CellInfo* BlockRandomAccessSparseMatrix::GetCell(int row_block_id,
+                                                 int col_block_id,
+                                                 int* row,
+                                                 int* col,
+                                                 int* row_stride,
+                                                 int* col_stride) {
+  const LayoutType::iterator it  =
+      layout_.find(IntPairToLong(row_block_id, col_block_id));
+  if (it == layout_.end()) {
+    return NULL;
+  }
+
+  // Each cell is stored contiguously as its own little dense matrix.
+  *row = 0;
+  *col = 0;
+  *row_stride = blocks_[row_block_id];
+  *col_stride = blocks_[col_block_id];
+  return it->second;
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessSparseMatrix::SetZero() {
+  if (tsm_->num_nonzeros()) {
+    VectorRef(tsm_->mutable_values(),
+              tsm_->num_nonzeros()).setZero();
+  }
+}
+
+void BlockRandomAccessSparseMatrix::SymmetricRightMultiply(const double* x,
+                                                           double* y) const {
+  vector< pair<pair<int, int>, double*> >::const_iterator it =
+      cell_values_.begin();
+  for (; it != cell_values_.end(); ++it) {
+    const int row = it->first.first;
+    const int row_block_size = blocks_[row];
+    const int row_block_pos = block_positions_[row];
+
+    const int col = it->first.second;
+    const int col_block_size = blocks_[col];
+    const int col_block_pos = block_positions_[col];
+
+    MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+        it->second, row_block_size, col_block_size,
+        x + col_block_pos,
+        y + row_block_pos);
+
+    // Since the matrix is symmetric, but only the upper triangular
+    // part is stored, if the block being accessed is not a diagonal
+    // block, then use the same block to do the corresponding lower
+    // triangular multiply also.
+    if (row != col) {
+      MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+          it->second, row_block_size, col_block_size,
+          x + row_block_pos,
+          y + col_block_pos);
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_random_access_sparse_matrix.h b/internal/ceres/block_random_access_sparse_matrix.h
new file mode 100644
index 0000000..2b3c7fd
--- /dev/null
+++ b/internal/ceres/block_random_access_sparse_matrix.h
@@ -0,0 +1,129 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/collections_port.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "ceres/small_blas.h"
+
+namespace ceres {
+namespace internal {
+
+// A thread safe square block sparse implementation of
+// BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used
+// for doing the actual storage. This class augments this matrix with
+// an unordered_map that allows random read/write access.
+class BlockRandomAccessSparseMatrix : public BlockRandomAccessMatrix {
+ public:
+  // blocks is an array of block sizes. block_pairs is a set of
+  // <row_block_id, col_block_id> pairs to identify the non-zero cells
+  // of this matrix.
+  BlockRandomAccessSparseMatrix(
+      const std::vector<int>& blocks,
+      const std::set<std::pair<int, int> >& block_pairs);
+
+  // The destructor is not thread safe. It assumes that no one is
+  // modifying any cells when the matrix is being destroyed.
+  virtual ~BlockRandomAccessSparseMatrix();
+
+  // BlockRandomAccessMatrix Interface.
+  virtual CellInfo* GetCell(int row_block_id,
+                            int col_block_id,
+                            int* row,
+                            int* col,
+                            int* row_stride,
+                            int* col_stride);
+
+  // This is not a thread safe method, it assumes that no cell is
+  // locked.
+  virtual void SetZero();
+
+  // Assume that the matrix is symmetric and only one half of the
+  // matrix is stored.
+  //
+  // y += S * x
+  void SymmetricRightMultiply(const double* x, double* y) const;
+
+  // Since the matrix is square, num_rows() == num_cols().
+  virtual int num_rows() const { return tsm_->num_rows(); }
+  virtual int num_cols() const { return tsm_->num_cols(); }
+
+  // Access to the underlying matrix object.
+  const TripletSparseMatrix* matrix() const { return tsm_.get(); }
+  TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
+
+ private:
+  int64 IntPairToLong(int row, int col) const {
+    return row * kMaxRowBlocks + col;
+  }
+
+  void LongToIntPair(int64 index, int* row, int* col) const {
+    *row = index / kMaxRowBlocks;
+    *col = index % kMaxRowBlocks;
+  }
+
+  const int64 kMaxRowBlocks;
+
+  // row/column block sizes.
+  const std::vector<int> blocks_;
+  std::vector<int> block_positions_;
+
+  // A mapping from <row_block_id, col_block_id> to the position in
+  // the values array of tsm_ where the block is stored.
+  typedef HashMap<long int, CellInfo* > LayoutType;
+  LayoutType layout_;
+
+  // In order traversal of contents of the matrix. This allows us to
+  // implement a matrix-vector which is 20% faster than using the
+  // iterator in the Layout object instead.
+  std::vector<std::pair<std::pair<int, int>, double*> > cell_values_;
+  // The underlying matrix object which actually stores the cells.
+  scoped_ptr<TripletSparseMatrix> tsm_;
+
+  friend class BlockRandomAccessSparseMatrixTest;
+  CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessSparseMatrix);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
diff --git a/internal/ceres/block_random_access_sparse_matrix_test.cc b/internal/ceres/block_random_access_sparse_matrix_test.cc
new file mode 100644
index 0000000..e4d82d0
--- /dev/null
+++ b/internal/ceres/block_random_access_sparse_matrix_test.cc
@@ -0,0 +1,186 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <limits>
+#include <vector>
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::vector;
+
+TEST(BlockRandomAccessSparseMatrix, GetCell) {
+  vector<int> blocks;
+  blocks.push_back(3);
+  blocks.push_back(4);
+  blocks.push_back(5);
+  const int num_rows = 3 + 4 + 5;
+
+  set< pair<int, int> > block_pairs;
+  int num_nonzeros = 0;
+  block_pairs.insert(make_pair(0, 0));
+  num_nonzeros += blocks[0] * blocks[0];
+
+  block_pairs.insert(make_pair(1, 1));
+  num_nonzeros += blocks[1] * blocks[1];
+
+  block_pairs.insert(make_pair(1, 2));
+  num_nonzeros += blocks[1] * blocks[2];
+
+  block_pairs.insert(make_pair(0, 2));
+  num_nonzeros += blocks[2] * blocks[0];
+
+  BlockRandomAccessSparseMatrix m(blocks, block_pairs);
+  EXPECT_EQ(m.num_rows(), num_rows);
+  EXPECT_EQ(m.num_cols(), num_rows);
+
+  for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+       it != block_pairs.end();
+       ++it) {
+    const int row_block_id = it->first;
+    const int col_block_id = it->second;
+    int row;
+    int col;
+    int row_stride;
+    int col_stride;
+    CellInfo* cell =  m.GetCell(row_block_id, col_block_id,
+                                &row, &col,
+                                &row_stride, &col_stride);
+    EXPECT_TRUE(cell != NULL);
+    EXPECT_EQ(row, 0);
+    EXPECT_EQ(col, 0);
+    EXPECT_EQ(row_stride, blocks[row_block_id]);
+    EXPECT_EQ(col_stride, blocks[col_block_id]);
+
+    // Write into the block
+    MatrixRef(cell->values, row_stride, col_stride).block(
+        row, col, blocks[row_block_id], blocks[col_block_id]) =
+        (row_block_id + 1) * (col_block_id +1) *
+        Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
+  }
+
+  const TripletSparseMatrix* tsm = m.matrix();
+  EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros);
+  EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros);
+
+  Matrix dense;
+  tsm->ToDenseMatrix(&dense);
+
+  double kTolerance = 1e-14;
+
+  // (0, 0)
+  EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
+              0.0,
+              kTolerance);
+  // (1, 1)
+  EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
+              0.0,
+              kTolerance);
+  // (1, 2)
+  EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
+              0.0,
+              kTolerance);
+  // (0, 2)
+  EXPECT_NEAR((dense.block(0, 3 + 4, 3, 5) - 3 * 1 * Matrix::Ones(3, 5)).norm(),
+              0.0,
+              kTolerance);
+
+  // There is nothing else in the matrix besides these four blocks.
+  EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.),
+              kTolerance);
+
+  Vector x = Vector::Ones(dense.rows());
+  Vector actual_y = Vector::Zero(dense.rows());
+  Vector expected_y = Vector::Zero(dense.rows());
+
+  expected_y += dense.selfadjointView<Eigen::Upper>() * x;
+  m.SymmetricRightMultiply(x.data(), actual_y.data());
+  EXPECT_NEAR((expected_y - actual_y).norm(), 0.0, kTolerance)
+      << "actual: " << actual_y.transpose() << "\n"
+      << "expected: " << expected_y.transpose()
+      << "matrix: \n " << dense;
+}
+
+// IntPairToLong is private, thus this fixture is needed to access and
+// test it.
+class BlockRandomAccessSparseMatrixTest : public ::testing::Test {
+ public:
+  virtual void SetUp() {
+    vector<int> blocks;
+    blocks.push_back(1);
+    set< pair<int, int> > block_pairs;
+    block_pairs.insert(make_pair(0, 0));
+    m_.reset(new BlockRandomAccessSparseMatrix(blocks, block_pairs));
+  }
+
+  void CheckIntPairToLong(int a, int b) {
+    int64 value = m_->IntPairToLong(a, b);
+    EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b;
+    EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b;
+    EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b;
+  }
+
+  void CheckLongToIntPair() {
+    uint64 max_rows =  m_->kMaxRowBlocks;
+    for (int row = max_rows - 10; row < max_rows; ++row) {
+      for (int col = 0; col < 10; ++col) {
+        int row_computed;
+        int col_computed;
+        m_->LongToIntPair(m_->IntPairToLong(row, col),
+                          &row_computed,
+                          &col_computed);
+        EXPECT_EQ(row, row_computed);
+        EXPECT_EQ(col, col_computed);
+      }
+    }
+  }
+
+ private:
+  scoped_ptr<BlockRandomAccessSparseMatrix> m_;
+};
+
+TEST_F(BlockRandomAccessSparseMatrixTest, IntPairToLongOverflow) {
+  CheckIntPairToLong(std::numeric_limits<int>::max(),
+                     std::numeric_limits<int>::max());
+}
+
+TEST_F(BlockRandomAccessSparseMatrixTest, LongToIntPair) {
+  CheckLongToIntPair();
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_sparse_matrix.cc b/internal/ceres/block_sparse_matrix.cc
new file mode 100644
index 0000000..214daef
--- /dev/null
+++ b/internal/ceres/block_sparse_matrix.cc
@@ -0,0 +1,398 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_sparse_matrix.h"
+
+#include <cstddef>
+#include <algorithm>
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/random.h"
+#include "ceres/small_blas.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+BlockSparseMatrix::~BlockSparseMatrix() {}
+
+BlockSparseMatrix::BlockSparseMatrix(
+    CompressedRowBlockStructure* block_structure)
+    : num_rows_(0),
+      num_cols_(0),
+      num_nonzeros_(0),
+      values_(NULL),
+      block_structure_(block_structure) {
+  CHECK_NOTNULL(block_structure_.get());
+
+  // Count the number of columns in the matrix.
+  for (int i = 0; i < block_structure_->cols.size(); ++i) {
+    num_cols_ += block_structure_->cols[i].size;
+  }
+
+  // Count the number of non-zero entries and the number of rows in
+  // the matrix.
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    int row_block_size = block_structure_->rows[i].block.size;
+    num_rows_ += row_block_size;
+
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      int col_block_id = cells[j].block_id;
+      int col_block_size = block_structure_->cols[col_block_id].size;
+      num_nonzeros_ += col_block_size * row_block_size;
+    }
+  }
+
+  CHECK_GE(num_rows_, 0);
+  CHECK_GE(num_cols_, 0);
+  CHECK_GE(num_nonzeros_, 0);
+  VLOG(2) << "Allocating values array with "
+          << num_nonzeros_ * sizeof(double) << " bytes.";  // NOLINT
+  values_.reset(new double[num_nonzeros_]);
+  max_num_nonzeros_ = num_nonzeros_;
+  CHECK_NOTNULL(values_.get());
+}
+
+void BlockSparseMatrix::SetZero() {
+  std::fill(values_.get(), values_.get() + num_nonzeros_, 0.0);
+}
+
+void BlockSparseMatrix::RightMultiply(const double* x,  double* y) const {
+  CHECK_NOTNULL(x);
+  CHECK_NOTNULL(y);
+
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    int row_block_pos = block_structure_->rows[i].block.position;
+    int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      int col_block_id = cells[j].block_id;
+      int col_block_size = block_structure_->cols[col_block_id].size;
+      int col_block_pos = block_structure_->cols[col_block_id].position;
+      MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+          values_.get() + cells[j].position, row_block_size, col_block_size,
+          x + col_block_pos,
+          y + row_block_pos);
+    }
+  }
+}
+
+void BlockSparseMatrix::LeftMultiply(const double* x, double* y) const {
+  CHECK_NOTNULL(x);
+  CHECK_NOTNULL(y);
+
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    int row_block_pos = block_structure_->rows[i].block.position;
+    int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      int col_block_id = cells[j].block_id;
+      int col_block_size = block_structure_->cols[col_block_id].size;
+      int col_block_pos = block_structure_->cols[col_block_id].position;
+      MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+          values_.get() + cells[j].position, row_block_size, col_block_size,
+          x + row_block_pos,
+          y + col_block_pos);
+    }
+  }
+}
+
+void BlockSparseMatrix::SquaredColumnNorm(double* x) const {
+  CHECK_NOTNULL(x);
+  VectorRef(x, num_cols_).setZero();
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      int col_block_id = cells[j].block_id;
+      int col_block_size = block_structure_->cols[col_block_id].size;
+      int col_block_pos = block_structure_->cols[col_block_id].position;
+      const MatrixRef m(values_.get() + cells[j].position,
+                        row_block_size, col_block_size);
+      VectorRef(x + col_block_pos, col_block_size) += m.colwise().squaredNorm();
+    }
+  }
+}
+
+void BlockSparseMatrix::ScaleColumns(const double* scale) {
+  CHECK_NOTNULL(scale);
+
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      int col_block_id = cells[j].block_id;
+      int col_block_size = block_structure_->cols[col_block_id].size;
+      int col_block_pos = block_structure_->cols[col_block_id].position;
+      MatrixRef m(values_.get() + cells[j].position,
+                        row_block_size, col_block_size);
+      m *= ConstVectorRef(scale + col_block_pos, col_block_size).asDiagonal();
+    }
+  }
+}
+
+void BlockSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+  CHECK_NOTNULL(dense_matrix);
+
+  dense_matrix->resize(num_rows_, num_cols_);
+  dense_matrix->setZero();
+  Matrix& m = *dense_matrix;
+
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    int row_block_pos = block_structure_->rows[i].block.position;
+    int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      int col_block_id = cells[j].block_id;
+      int col_block_size = block_structure_->cols[col_block_id].size;
+      int col_block_pos = block_structure_->cols[col_block_id].position;
+      int jac_pos = cells[j].position;
+      m.block(row_block_pos, col_block_pos, row_block_size, col_block_size)
+          += MatrixRef(values_.get() + jac_pos, row_block_size, col_block_size);
+    }
+  }
+}
+
+void BlockSparseMatrix::ToTripletSparseMatrix(
+    TripletSparseMatrix* matrix) const {
+  CHECK_NOTNULL(matrix);
+
+  matrix->Reserve(num_nonzeros_);
+  matrix->Resize(num_rows_, num_cols_);
+  matrix->SetZero();
+
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    int row_block_pos = block_structure_->rows[i].block.position;
+    int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      int col_block_id = cells[j].block_id;
+      int col_block_size = block_structure_->cols[col_block_id].size;
+      int col_block_pos = block_structure_->cols[col_block_id].position;
+      int jac_pos = cells[j].position;
+       for (int r = 0; r < row_block_size; ++r) {
+        for (int c = 0; c < col_block_size; ++c, ++jac_pos) {
+          matrix->mutable_rows()[jac_pos] = row_block_pos + r;
+          matrix->mutable_cols()[jac_pos] = col_block_pos + c;
+          matrix->mutable_values()[jac_pos] = values_[jac_pos];
+        }
+      }
+    }
+  }
+  matrix->set_num_nonzeros(num_nonzeros_);
+}
+
+// Return a pointer to the block structure. We continue to hold
+// ownership of the object though.
+const CompressedRowBlockStructure* BlockSparseMatrix::block_structure()
+    const {
+  return block_structure_.get();
+}
+
+void BlockSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    const int row_block_pos = block_structure_->rows[i].block.position;
+    const int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      const int col_block_id = cells[j].block_id;
+      const int col_block_size = block_structure_->cols[col_block_id].size;
+      const int col_block_pos = block_structure_->cols[col_block_id].position;
+      int jac_pos = cells[j].position;
+      for (int r = 0; r < row_block_size; ++r) {
+        for (int c = 0; c < col_block_size; ++c) {
+          fprintf(file, "% 10d % 10d %17f\n",
+                  row_block_pos + r,
+                  col_block_pos + c,
+                  values_[jac_pos++]);
+        }
+      }
+    }
+  }
+}
+
+BlockSparseMatrix* BlockSparseMatrix::CreateDiagonalMatrix(
+    const double* diagonal, const std::vector<Block>& column_blocks) {
+  // Create the block structure for the diagonal matrix.
+  CompressedRowBlockStructure* bs = new CompressedRowBlockStructure();
+  bs->cols = column_blocks;
+  int position = 0;
+  bs->rows.resize(column_blocks.size(), CompressedRow(1));
+  for (int i = 0; i < column_blocks.size(); ++i) {
+    CompressedRow& row = bs->rows[i];
+    row.block = column_blocks[i];
+    Cell& cell = row.cells[0];
+    cell.block_id = i;
+    cell.position = position;
+    position += row.block.size * row.block.size;
+  }
+
+  // Create the BlockSparseMatrix with the given block structure.
+  BlockSparseMatrix* matrix = new BlockSparseMatrix(bs);
+  matrix->SetZero();
+
+  // Fill the values array of the block sparse matrix.
+  double* values = matrix->mutable_values();
+  for (int i = 0; i < column_blocks.size(); ++i) {
+    const int size = column_blocks[i].size;
+    for (int j = 0; j < size; ++j) {
+      // (j + 1) * size is compact way of accessing the (j,j) entry.
+      values[j * (size + 1)] = diagonal[j];
+    }
+    diagonal += size;
+    values += size * size;
+  }
+
+  return matrix;
+}
+
+void BlockSparseMatrix::AppendRows(const BlockSparseMatrix& m) {
+  const int old_num_nonzeros = num_nonzeros_;
+  const int old_num_row_blocks = block_structure_->rows.size();
+  const CompressedRowBlockStructure* m_bs = m.block_structure();
+  block_structure_->rows.resize(old_num_row_blocks + m_bs->rows.size());
+
+  for (int i = 0; i < m_bs->rows.size(); ++i) {
+    const CompressedRow& m_row = m_bs->rows[i];
+    CompressedRow& row = block_structure_->rows[old_num_row_blocks + i];
+    row.block.size = m_row.block.size;
+    row.block.position = num_rows_;
+    num_rows_ += m_row.block.size;
+    row.cells.resize(m_row.cells.size());
+    for (int c = 0; c < m_row.cells.size(); ++c) {
+      const int block_id = m_row.cells[c].block_id;
+      row.cells[c].block_id = block_id;
+      row.cells[c].position = num_nonzeros_;
+      num_nonzeros_ += m_row.block.size * m_bs->cols[block_id].size;
+    }
+  }
+
+  if (num_nonzeros_ > max_num_nonzeros_) {
+    double* new_values = new double[num_nonzeros_];
+    std::copy(values_.get(), values_.get() + old_num_nonzeros, new_values);
+    values_.reset(new_values);
+    max_num_nonzeros_ = num_nonzeros_;
+  }
+
+  std::copy(m.values(),
+            m.values() + m.num_nonzeros(),
+            values_.get() + old_num_nonzeros);
+}
+
+void BlockSparseMatrix::DeleteRowBlocks(const int delta_row_blocks) {
+  const int num_row_blocks = block_structure_->rows.size();
+  int delta_num_nonzeros = 0;
+  int delta_num_rows = 0;
+  const std::vector<Block>& column_blocks = block_structure_->cols;
+  for (int i = 0; i < delta_row_blocks; ++i) {
+    const CompressedRow& row = block_structure_->rows[num_row_blocks - i - 1];
+    delta_num_rows += row.block.size;
+    for (int c = 0; c < row.cells.size(); ++c) {
+      const Cell& cell = row.cells[c];
+      delta_num_nonzeros += row.block.size * column_blocks[cell.block_id].size;
+    }
+  }
+  num_nonzeros_ -= delta_num_nonzeros;
+  num_rows_ -= delta_num_rows;
+  block_structure_->rows.resize(num_row_blocks - delta_row_blocks);
+}
+
+BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
+    const BlockSparseMatrix::RandomMatrixOptions& options) {
+  CHECK_GT(options.num_row_blocks, 0);
+  CHECK_GT(options.min_row_block_size, 0);
+  CHECK_GT(options.max_row_block_size, 0);
+  CHECK_LE(options.min_row_block_size, options.max_row_block_size);
+  CHECK_GT(options.num_col_blocks, 0);
+  CHECK_GT(options.min_col_block_size, 0);
+  CHECK_GT(options.max_col_block_size, 0);
+  CHECK_LE(options.min_col_block_size, options.max_col_block_size);
+  CHECK_GT(options.block_density, 0.0);
+  CHECK_LE(options.block_density, 1.0);
+
+  CompressedRowBlockStructure* bs = new CompressedRowBlockStructure();
+    // Generate the col block structure.
+  int col_block_position = 0;
+  for (int i = 0; i < options.num_col_blocks; ++i) {
+    // Generate a random integer in [min_col_block_size, max_col_block_size]
+    const int delta_block_size =
+        Uniform(options.max_col_block_size - options.min_col_block_size);
+    const int col_block_size = options.min_col_block_size + delta_block_size;
+    bs->cols.push_back(Block(col_block_size, col_block_position));
+    col_block_position += col_block_size;
+  }
+
+
+  bool matrix_has_blocks = false;
+  while (!matrix_has_blocks) {
+    LOG(INFO) << "clearing";
+    bs->rows.clear();
+    int row_block_position = 0;
+    int value_position = 0;
+    for (int r = 0; r < options.num_row_blocks; ++r) {
+
+      const int delta_block_size =
+          Uniform(options.max_row_block_size - options.min_row_block_size);
+      const int row_block_size = options.min_row_block_size + delta_block_size;
+      bs->rows.push_back(CompressedRow());
+      CompressedRow& row = bs->rows.back();
+      row.block.size = row_block_size;
+      row.block.position = row_block_position;
+      row_block_position += row_block_size;
+      for (int c = 0; c < options.num_col_blocks; ++c) {
+        if (RandDouble() > options.block_density) continue;
+
+        row.cells.push_back(Cell());
+        Cell& cell = row.cells.back();
+        cell.block_id = c;
+        cell.position = value_position;
+        value_position += row_block_size * bs->cols[c].size;
+        matrix_has_blocks = true;
+      }
+    }
+  }
+
+  BlockSparseMatrix* matrix = new BlockSparseMatrix(bs);
+  double* values = matrix->mutable_values();
+  for (int i = 0; i < matrix->num_nonzeros(); ++i) {
+    values[i] = RandNormal();
+  }
+
+  return matrix;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_sparse_matrix.h b/internal/ceres/block_sparse_matrix.h
new file mode 100644
index 0000000..17491bf
--- /dev/null
+++ b/internal/ceres/block_sparse_matrix.h
@@ -0,0 +1,143 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Implementation of the SparseMatrix interface for block sparse
+// matrices.
+
+#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+
+#include "ceres/block_structure.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class TripletSparseMatrix;
+
+// This class implements the SparseMatrix interface for storing and
+// manipulating block sparse matrices. The block structure is stored
+// in the CompressedRowBlockStructure object and one is needed to
+// initialize the matrix. For details on how the blocks structure of
+// the matrix is stored please see the documentation
+//
+//   internal/ceres/block_structure.h
+//
+class BlockSparseMatrix : public SparseMatrix {
+ public:
+  // Construct a block sparse matrix with a fully initialized
+  // CompressedRowBlockStructure objected. The matrix takes over
+  // ownership of this object and destroys it upon destruction.
+  //
+  // TODO(sameeragarwal): Add a function which will validate legal
+  // CompressedRowBlockStructure objects.
+  explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
+
+  BlockSparseMatrix();
+  virtual ~BlockSparseMatrix();
+
+  // Implementation of SparseMatrix interface.
+  virtual void SetZero();
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual void LeftMultiply(const double* x, double* y) const;
+  virtual void SquaredColumnNorm(double* x) const;
+  virtual void ScaleColumns(const double* scale);
+  virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+  virtual void ToTextFile(FILE* file) const;
+
+  virtual int num_rows()         const { return num_rows_;     }
+  virtual int num_cols()         const { return num_cols_;     }
+  virtual int num_nonzeros()     const { return num_nonzeros_; }
+  virtual const double* values() const { return values_.get(); }
+  virtual double* mutable_values()     { return values_.get(); }
+
+  void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
+  const CompressedRowBlockStructure* block_structure() const;
+
+  // Append the contents of m to the bottom of this matrix. m must
+  // have the same column blocks structure as this matrix.
+  void AppendRows(const BlockSparseMatrix& m);
+
+  // Delete the bottom delta_rows_blocks.
+  void DeleteRowBlocks(int delta_row_blocks);
+
+  static BlockSparseMatrix* CreateDiagonalMatrix(
+      const double* diagonal,
+      const std::vector<Block>& column_blocks);
+
+  struct RandomMatrixOptions {
+    RandomMatrixOptions()
+        : num_row_blocks(0),
+          min_row_block_size(0),
+          max_row_block_size(0),
+          num_col_blocks(0),
+          min_col_block_size(0),
+          max_col_block_size(0),
+          block_density(0.0) {
+    }
+
+    int num_row_blocks;
+    int min_row_block_size;
+    int max_row_block_size;
+    int num_col_blocks;
+    int min_col_block_size;
+    int max_col_block_size;
+
+    // 0 < block_density <= 1 is the probability of a block being
+    // present in the matrix. A given random matrix will not have
+    // precisely this density.
+    double block_density;
+  };
+
+  // Create a random BlockSparseMatrix whose entries are normally
+  // distributed and whose structure is determined by
+  // RandomMatrixOptions.
+  //
+  // Caller owns the result.
+  static BlockSparseMatrix* CreateRandomMatrix(
+      const RandomMatrixOptions& options);
+
+ private:
+  int num_rows_;
+  int num_cols_;
+  int num_nonzeros_;
+  int max_num_nonzeros_;
+  scoped_array<double> values_;
+  scoped_ptr<CompressedRowBlockStructure> block_structure_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
diff --git a/internal/ceres/block_sparse_matrix_test.cc b/internal/ceres/block_sparse_matrix_test.cc
new file mode 100644
index 0000000..b3d21d0
--- /dev/null
+++ b/internal/ceres/block_sparse_matrix_test.cc
@@ -0,0 +1,218 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_sparse_matrix.h"
+
+#include <string>
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrixTest : public ::testing::Test {
+ protected :
+  virtual void SetUp() {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(2));
+    CHECK_NOTNULL(problem.get());
+    A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+
+    problem.reset(CreateLinearLeastSquaresProblemFromId(1));
+    CHECK_NOTNULL(problem.get());
+    B_.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+
+    CHECK_EQ(A_->num_rows(), B_->num_rows());
+    CHECK_EQ(A_->num_cols(), B_->num_cols());
+    CHECK_EQ(A_->num_nonzeros(), B_->num_nonzeros());
+  }
+
+  scoped_ptr<BlockSparseMatrix> A_;
+  scoped_ptr<TripletSparseMatrix> B_;
+};
+
+TEST_F(BlockSparseMatrixTest, SetZeroTest) {
+  A_->SetZero();
+  EXPECT_EQ(13, A_->num_nonzeros());
+}
+
+TEST_F(BlockSparseMatrixTest, RightMultiplyTest) {
+  Vector y_a = Vector::Zero(A_->num_rows());
+  Vector y_b = Vector::Zero(A_->num_rows());
+  for (int i = 0; i < A_->num_cols(); ++i) {
+    Vector x = Vector::Zero(A_->num_cols());
+    x[i] = 1.0;
+    A_->RightMultiply(x.data(), y_a.data());
+    B_->RightMultiply(x.data(), y_b.data());
+    EXPECT_LT((y_a - y_b).norm(), 1e-12);
+  }
+}
+
+TEST_F(BlockSparseMatrixTest, LeftMultiplyTest) {
+  Vector y_a = Vector::Zero(A_->num_cols());
+  Vector y_b = Vector::Zero(A_->num_cols());
+  for (int i = 0; i < A_->num_rows(); ++i) {
+    Vector x = Vector::Zero(A_->num_rows());
+    x[i] = 1.0;
+    A_->LeftMultiply(x.data(), y_a.data());
+    B_->LeftMultiply(x.data(), y_b.data());
+    EXPECT_LT((y_a - y_b).norm(), 1e-12);
+  }
+}
+
+TEST_F(BlockSparseMatrixTest, SquaredColumnNormTest) {
+  Vector y_a = Vector::Zero(A_->num_cols());
+  Vector y_b = Vector::Zero(A_->num_cols());
+  A_->SquaredColumnNorm(y_a.data());
+  B_->SquaredColumnNorm(y_b.data());
+  EXPECT_LT((y_a - y_b).norm(), 1e-12);
+}
+
+TEST_F(BlockSparseMatrixTest, ToDenseMatrixTest) {
+  Matrix m_a;
+  Matrix m_b;
+  A_->ToDenseMatrix(&m_a);
+  B_->ToDenseMatrix(&m_b);
+  EXPECT_LT((m_a - m_b).norm(), 1e-12);
+}
+
+TEST_F(BlockSparseMatrixTest, AppendRows) {
+  scoped_ptr<LinearLeastSquaresProblem> problem(
+      CreateLinearLeastSquaresProblemFromId(2));
+  scoped_ptr<BlockSparseMatrix> m(
+      down_cast<BlockSparseMatrix*>(problem->A.release()));
+  A_->AppendRows(*m);
+  EXPECT_EQ(A_->num_rows(), 2 * m->num_rows());
+  EXPECT_EQ(A_->num_cols(), m->num_cols());
+
+  problem.reset(CreateLinearLeastSquaresProblemFromId(1));
+  scoped_ptr<TripletSparseMatrix> m2(
+      down_cast<TripletSparseMatrix*>(problem->A.release()));
+  B_->AppendRows(*m2);
+
+  Vector y_a = Vector::Zero(A_->num_rows());
+  Vector y_b = Vector::Zero(A_->num_rows());
+  for (int i = 0; i < A_->num_cols(); ++i) {
+    Vector x = Vector::Zero(A_->num_cols());
+    x[i] = 1.0;
+    y_a.setZero();
+    y_b.setZero();
+
+    A_->RightMultiply(x.data(), y_a.data());
+    B_->RightMultiply(x.data(), y_b.data());
+    EXPECT_LT((y_a - y_b).norm(), 1e-12);
+  }
+}
+
+TEST_F(BlockSparseMatrixTest, AppendAndDeleteBlockDiagonalMatrix) {
+  const std::vector<Block>& column_blocks = A_->block_structure()->cols;
+  const int num_cols =
+      column_blocks.back().size + column_blocks.back().position;
+  Vector diagonal(num_cols);
+  for (int i = 0; i < num_cols; ++i) {
+    diagonal(i) = 2 * i * i + 1;
+  }
+  scoped_ptr<BlockSparseMatrix> appendage(
+      BlockSparseMatrix::CreateDiagonalMatrix(diagonal.data(), column_blocks));
+
+  A_->AppendRows(*appendage);
+  Vector y_a, y_b;
+  y_a.resize(A_->num_rows());
+  y_b.resize(A_->num_rows());
+  for (int i = 0; i < A_->num_cols(); ++i) {
+    Vector x = Vector::Zero(A_->num_cols());
+    x[i] = 1.0;
+    y_a.setZero();
+    y_b.setZero();
+
+    A_->RightMultiply(x.data(), y_a.data());
+    B_->RightMultiply(x.data(), y_b.data());
+    EXPECT_LT((y_a.head(B_->num_rows()) - y_b.head(B_->num_rows())).norm(), 1e-12);
+    Vector expected_tail = Vector::Zero(A_->num_cols());
+    expected_tail(i) = diagonal(i);
+    EXPECT_LT((y_a.tail(A_->num_cols()) - expected_tail).norm(), 1e-12);
+  }
+
+
+  A_->DeleteRowBlocks(column_blocks.size());
+  EXPECT_EQ(A_->num_rows(), B_->num_rows());
+  EXPECT_EQ(A_->num_cols(), B_->num_cols());
+
+  y_a.resize(A_->num_rows());
+  y_b.resize(A_->num_rows());
+  for (int i = 0; i < A_->num_cols(); ++i) {
+    Vector x = Vector::Zero(A_->num_cols());
+    x[i] = 1.0;
+    y_a.setZero();
+    y_b.setZero();
+
+    A_->RightMultiply(x.data(), y_a.data());
+    B_->RightMultiply(x.data(), y_b.data());
+    EXPECT_LT((y_a - y_b).norm(), 1e-12);
+  }
+}
+
+TEST(BlockSparseMatrix, CreateDiagonalMatrix) {
+  std::vector<Block> column_blocks;
+  column_blocks.push_back(Block(2, 0));
+  column_blocks.push_back(Block(1, 2));
+  column_blocks.push_back(Block(3, 3));
+  const int num_cols =
+      column_blocks.back().size + column_blocks.back().position;
+  Vector diagonal(num_cols);
+  for (int i = 0; i < num_cols; ++i) {
+    diagonal(i) = 2 * i * i + 1;
+  }
+
+  scoped_ptr<BlockSparseMatrix> m(
+      BlockSparseMatrix::CreateDiagonalMatrix(diagonal.data(), column_blocks));
+  const CompressedRowBlockStructure* bs = m->block_structure();
+  EXPECT_EQ(bs->cols.size(), column_blocks.size());
+  for (int i = 0; i < column_blocks.size(); ++i) {
+    EXPECT_EQ(bs->cols[i].size, column_blocks[i].size);
+    EXPECT_EQ(bs->cols[i].position, column_blocks[i].position);
+  }
+  EXPECT_EQ(m->num_rows(), m->num_cols());
+  Vector x = Vector::Ones(num_cols);
+  Vector y = Vector::Zero(num_cols);
+  m->RightMultiply(x.data(), y.data());
+  for (int i = 0; i < num_cols; ++i) {
+    EXPECT_NEAR(y[i], diagonal[i], std::numeric_limits<double>::epsilon());
+  }
+}
+
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_structure.cc b/internal/ceres/block_structure.cc
new file mode 100644
index 0000000..6479b60
--- /dev/null
+++ b/internal/ceres/block_structure.cc
@@ -0,0 +1,44 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_structure.h"
+
+namespace ceres {
+namespace internal {
+
+bool CellLessThan(const Cell& lhs, const Cell& rhs) {
+  if (lhs.block_id == rhs.block_id) {
+    return (lhs.position  < rhs.position);
+  }
+  return (lhs.block_id < rhs.block_id);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/block_structure.h b/internal/ceres/block_structure.h
new file mode 100644
index 0000000..9d1b5e9
--- /dev/null
+++ b/internal/ceres/block_structure.h
@@ -0,0 +1,98 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Block structure objects are used to carry information about the
+// dense block structure of sparse matrices. The BlockSparseMatrix
+// object uses the BlockStructure objects to keep track of the matrix
+// structure and operate upon it. This allows us to use more cache
+// friendly block oriented linear algebra operations on the matrix
+// instead of accessing it one scalar entry at a time.
+
+#ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_
+#define CERES_INTERNAL_BLOCK_STRUCTURE_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+typedef int32 BlockSize;
+
+struct Block {
+  Block() : size(-1), position(-1) {}
+  Block(int size_, int position_) : size(size_), position(position_) {}
+
+  BlockSize size;
+  int position;  // Position along the row/column.
+};
+
+struct Cell {
+  Cell() : block_id(-1), position(-1) {}
+  Cell(int block_id_, int position_)
+      : block_id(block_id_), position(position_) {}
+
+  // Column or row block id as the case maybe.
+  int block_id;
+  // Where in the values array of the jacobian is this cell located.
+  int position;
+};
+
+// Order cell by their block_id;
+bool CellLessThan(const Cell& lhs, const Cell& rhs);
+
+struct CompressedList {
+  CompressedList() {}
+
+  // Construct a CompressedList with the cells containing num_cells
+  // entries.
+  CompressedList(int num_cells) : cells(num_cells) {}
+  Block block;
+  std::vector<Cell> cells;
+};
+
+typedef CompressedList CompressedRow;
+typedef CompressedList CompressedColumn;
+
+struct CompressedRowBlockStructure {
+  std::vector<Block> cols;
+  std::vector<CompressedRow> rows;
+};
+
+struct CompressedColumnBlockStructure {
+  std::vector<Block> rows;
+  std::vector<CompressedColumn> cols;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_BLOCK_STRUCTURE_H_
diff --git a/internal/ceres/bundle_adjustment_test.cc b/internal/ceres/bundle_adjustment_test.cc
new file mode 100644
index 0000000..7cbf3f3
--- /dev/null
+++ b/internal/ceres/bundle_adjustment_test.cc
@@ -0,0 +1,561 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// End-to-end bundle adjustment tests for Ceres. It uses a bundle
+// adjustment problem with 16 cameras and two thousand points.
+
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+
+#include "ceres/internal/port.h"
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/problem.h"
+#include "ceres/rotation.h"
+#include "ceres/solver.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+const bool kAutomaticOrdering = true;
+const bool kUserOrdering = false;
+
+// This class implements the SystemTestProblem interface and provides
+// access to a bundle adjustment problem. It is based on
+// examples/bundle_adjustment_example.cc. Currently a small 16 camera
+// problem is hard coded in the constructor.
+class BundleAdjustmentProblem {
+ public:
+  BundleAdjustmentProblem() {
+    const string input_file = TestFileAbsolutePath("problem-16-22106-pre.txt");
+    ReadData(input_file);
+    BuildProblem();
+  }
+
+  ~BundleAdjustmentProblem() {
+    delete []point_index_;
+    delete []camera_index_;
+    delete []observations_;
+    delete []parameters_;
+  }
+
+  Problem* mutable_problem() { return &problem_; }
+  Solver::Options* mutable_solver_options() { return &options_; }
+
+  int num_cameras()            const { return num_cameras_;        }
+  int num_points()             const { return num_points_;         }
+  int num_observations()       const { return num_observations_;   }
+  const int* point_index()     const { return point_index_;  }
+  const int* camera_index()    const { return camera_index_; }
+  const double* observations() const { return observations_; }
+  double* mutable_cameras() { return parameters_; }
+  double* mutable_points() { return parameters_  + 9 * num_cameras_; }
+
+  static double kResidualTolerance;
+
+ private:
+  void ReadData(const string& filename) {
+    FILE * fptr = fopen(filename.c_str(), "r");
+
+    if (!fptr) {
+      LOG(FATAL) << "File Error: unable to open file " << filename;
+    }
+
+    // This will die horribly on invalid files. Them's the breaks.
+    FscanfOrDie(fptr, "%d", &num_cameras_);
+    FscanfOrDie(fptr, "%d", &num_points_);
+    FscanfOrDie(fptr, "%d", &num_observations_);
+
+    VLOG(1) << "Header: " << num_cameras_
+            << " " << num_points_
+            << " " << num_observations_;
+
+    point_index_ = new int[num_observations_];
+    camera_index_ = new int[num_observations_];
+    observations_ = new double[2 * num_observations_];
+
+    num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+    parameters_ = new double[num_parameters_];
+
+    for (int i = 0; i < num_observations_; ++i) {
+      FscanfOrDie(fptr, "%d", camera_index_ + i);
+      FscanfOrDie(fptr, "%d", point_index_ + i);
+      for (int j = 0; j < 2; ++j) {
+        FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+      }
+    }
+
+    for (int i = 0; i < num_parameters_; ++i) {
+      FscanfOrDie(fptr, "%lf", parameters_ + i);
+    }
+  }
+
+  void BuildProblem() {
+    double* points = mutable_points();
+    double* cameras = mutable_cameras();
+
+    for (int i = 0; i < num_observations(); ++i) {
+      // Each Residual block takes a point and a camera as input and
+      // outputs a 2 dimensional residual.
+      CostFunction* cost_function =
+          new AutoDiffCostFunction<BundlerResidual, 2, 9, 3>(
+              new BundlerResidual(observations_[2*i + 0],
+                                  observations_[2*i + 1]));
+
+      // Each observation correponds to a pair of a camera and a point
+      // which are identified by camera_index()[i] and
+      // point_index()[i] respectively.
+      double* camera = cameras + 9 * camera_index_[i];
+      double* point = points + 3 * point_index()[i];
+      problem_.AddResidualBlock(cost_function, NULL, camera, point);
+    }
+
+    options_.linear_solver_ordering.reset(new ParameterBlockOrdering);
+
+    // The points come before the cameras.
+    for (int i = 0; i < num_points_; ++i) {
+      options_.linear_solver_ordering->AddElementToGroup(points + 3 * i, 0);
+    }
+
+    for (int i = 0; i < num_cameras_; ++i) {
+      options_.linear_solver_ordering->AddElementToGroup(cameras + 9 * i, 1);
+    }
+
+    options_.linear_solver_type = DENSE_SCHUR;
+    options_.max_num_iterations = 25;
+    options_.function_tolerance = 1e-10;
+    options_.gradient_tolerance = 1e-10;
+    options_.parameter_tolerance = 1e-10;
+  }
+
+  template<typename T>
+  void FscanfOrDie(FILE *fptr, const char *format, T *value) {
+    int num_scanned = fscanf(fptr, format, value);
+    if (num_scanned != 1) {
+      LOG(FATAL) << "Invalid UW data file.";
+    }
+  }
+
+  // Templated pinhole camera model.  The camera is parameterized
+  // using 9 parameters. 3 for rotation, 3 for translation, 1 for
+  // focal length and 2 for radial distortion. The principal point is
+  // not modeled (i.e. it is assumed to be located at the image
+  // center).
+  struct BundlerResidual {
+    // (u, v): the position of the observation with respect to the image
+    // center point.
+    BundlerResidual(double u, double v): u(u), v(v) {}
+
+    template <typename T>
+    bool operator()(const T* const camera,
+                    const T* const point,
+                    T* residuals) const {
+      T p[3];
+      AngleAxisRotatePoint(camera, point, p);
+
+      // Add the translation vector
+      p[0] += camera[3];
+      p[1] += camera[4];
+      p[2] += camera[5];
+
+      const T& focal = camera[6];
+      const T& l1 = camera[7];
+      const T& l2 = camera[8];
+
+      // Compute the center of distortion.  The sign change comes from
+      // the camera model that Noah Snavely's Bundler assumes, whereby
+      // the camera coordinate system has a negative z axis.
+      T xp = - focal * p[0] / p[2];
+      T yp = - focal * p[1] / p[2];
+
+      // Apply second and fourth order radial distortion.
+      T r2 = xp*xp + yp*yp;
+      T distortion = T(1.0) + r2  * (l1 + l2  * r2);
+
+      residuals[0] = distortion * xp - u;
+      residuals[1] = distortion * yp - v;
+
+      return true;
+    }
+
+    double u;
+    double v;
+  };
+
+  Problem problem_;
+  Solver::Options options_;
+
+  int num_cameras_;
+  int num_points_;
+  int num_observations_;
+  int num_parameters_;
+
+  int* point_index_;
+  int* camera_index_;
+  double* observations_;
+  // The parameter vector is laid out as follows
+  // [camera_1, ..., camera_n, point_1, ..., point_m]
+  double* parameters_;
+};
+
+double BundleAdjustmentProblem::kResidualTolerance = 1e-4;
+typedef SystemTest<BundleAdjustmentProblem> BundleAdjustmentTest;
+
+TEST_F(BundleAdjustmentTest, DenseSchurWithAutomaticOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(DENSE_SCHUR, NO_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, DenseSchurWithUserOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(DENSE_SCHUR, NO_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, IterativeSchurWithJacobiAndAutomaticOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kAutomaticOrdering, JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest, IterativeSchurWithJacobiAndUserOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       IterativeSchurWithSchurJacobiAndAutomaticOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR,
+                   NO_SPARSE,
+                   kAutomaticOrdering,
+                   SCHUR_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest, IterativeSchurWithSchurJacobiAndUserOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, SCHUR_JACOBI));
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(BundleAdjustmentTest,
+       SparseNormalCholeskyWithAutomaticOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       SparseNormalCholeskyWithUserOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       SparseSchurWithAutomaticOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       IterativeSchurWithClusterJacobiAndAutomaticOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR,
+                   SUITE_SPARSE,
+                   kAutomaticOrdering,
+                   CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       IterativeSchurWithClusterJacobiAndUserOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR,
+                   SUITE_SPARSE,
+                   kUserOrdering,
+                   CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       IterativeSchurWithClusterTridiagonalAndAutomaticOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR,
+                   SUITE_SPARSE,
+                   kAutomaticOrdering,
+                   CLUSTER_TRIDIAGONAL));
+}
+
+TEST_F(BundleAdjustmentTest,
+       IterativeSchurWithClusterTridiagonalAndUserOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR,
+                   SUITE_SPARSE,
+                   kUserOrdering,
+                   CLUSTER_TRIDIAGONAL));
+}
+#endif  // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(BundleAdjustmentTest,
+       SparseNormalCholeskyWithAutomaticOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       SparseNormalCholeskyWithUserOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithAutomaticOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_SCHUR, CX_SPARSE, kUserOrdering));
+}
+#endif  // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(BundleAdjustmentTest,
+       SparseNormalCholeskyWithAutomaticOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       SparseNormalCholeskyWithUserOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       SparseSchurWithAutomaticOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, SparseSchurWithUserOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kUserOrdering));
+}
+#endif  // CERES_USE_EIGEN_SPARSE
+
+#ifdef CERES_USE_OPENMP
+
+TEST_F(BundleAdjustmentTest, MultiThreadedDenseSchurWithAutomaticOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(DENSE_SCHUR, NO_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest, MultiThreadedDenseSchurWithUserOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(DENSE_SCHUR, NO_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithJacobiAndAutomaticOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR,
+                           NO_SPARSE,
+                           kAutomaticOrdering,
+                           JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithJacobiAndUserOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kUserOrdering, JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithSchurJacobiAndAutomaticOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR,
+                           NO_SPARSE,
+                           kAutomaticOrdering,
+                           SCHUR_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithSchurJacobiAndUserOrdering) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR,
+                           NO_SPARSE,
+                           kUserOrdering,
+                           SCHUR_JACOBI));
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+                           SUITE_SPARSE,
+                           kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseNormalCholeskyWithUserOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+                           SUITE_SPARSE,
+                           kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseSchurWithAutomaticOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_SCHUR,
+                           SUITE_SPARSE,
+                           kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseSchurWithUserOrderingUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithClusterJacobiAndAutomaticOrderingUsingSuiteSparse) {  // NOLINT
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR,
+                           SUITE_SPARSE,
+                           kAutomaticOrdering,
+                           CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithClusterJacobiAndUserOrderingUsingSuiteSparse) {  // NOLINT
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR,
+                           SUITE_SPARSE,
+                           kUserOrdering,
+                           CLUSTER_JACOBI));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithClusterTridiagonalAndAutomaticOrderingUsingSuiteSparse) {  // NOLINT
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR,
+                           SUITE_SPARSE,
+                           kAutomaticOrdering,
+                           CLUSTER_TRIDIAGONAL));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedIterativeSchurWithClusterTridiagonalAndUserOrderingUsingSuiteSparse) {  // NOTLINT
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(ITERATIVE_SCHUR,
+                           SUITE_SPARSE,
+                           kUserOrdering,
+                           CLUSTER_TRIDIAGONAL));
+}
+#endif  // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+                           CX_SPARSE,
+                           kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseNormalCholeskyWithUserOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseSchurWithAutomaticOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseSchurWithUserOrderingUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_SCHUR, CX_SPARSE, kUserOrdering));
+}
+#endif  // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseNormalCholeskyWithAutomaticOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+                           EIGEN_SPARSE,
+                           kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseNormalCholeskyWithUserOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_NORMAL_CHOLESKY,
+                           EIGEN_SPARSE,
+                           kUserOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseSchurWithAutomaticOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kAutomaticOrdering));
+}
+
+TEST_F(BundleAdjustmentTest,
+       MultiThreadedSparseSchurWithUserOrderingUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      ThreadedSolverConfig(SPARSE_SCHUR, EIGEN_SPARSE, kUserOrdering));
+}
+#endif  // CERES_USE_EIGEN_SPARSE
+#endif  // CERES_USE_OPENMP
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/c_api.cc b/internal/ceres/c_api.cc
new file mode 100644
index 0000000..ada8f3e
--- /dev/null
+++ b/internal/ceres/c_api.cc
@@ -0,0 +1,188 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+//
+// An incomplete C API for Ceres.
+//
+// TODO(keir): Figure out why logging does not seem to work.
+
+#include "ceres/c_api.h"
+
+#include <vector>
+#include <iostream>
+#include <string>
+#include "ceres/cost_function.h"
+#include "ceres/loss_function.h"
+#include "ceres/problem.h"
+#include "ceres/solver.h"
+#include "ceres/types.h"  // for std
+#include "glog/logging.h"
+
+using ceres::Problem;
+
+void ceres_init() {
+  // This is not ideal, but it's not clear what to do if there is no gflags and
+  // no access to command line arguments.
+  char message[] = "<unknown>";
+  google::InitGoogleLogging(message);
+}
+
+ceres_problem_t* ceres_create_problem() {
+  return reinterpret_cast<ceres_problem_t*>(new Problem);
+}
+
+void ceres_free_problem(ceres_problem_t* problem) {
+  delete reinterpret_cast<Problem*>(problem);
+}
+
+// This cost function wraps a C-level function pointer from the user, to bridge
+// between C and C++.
+class CallbackCostFunction : public ceres::CostFunction {
+ public:
+  CallbackCostFunction(ceres_cost_function_t cost_function,
+                       void* user_data,
+                       int num_residuals,
+                       int num_parameter_blocks,
+                       int* parameter_block_sizes)
+      : cost_function_(cost_function),
+        user_data_(user_data) {
+    set_num_residuals(num_residuals);
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      mutable_parameter_block_sizes()->push_back(parameter_block_sizes[i]);
+    }
+  }
+
+  virtual ~CallbackCostFunction() {}
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    return (*cost_function_)(user_data_,
+                             const_cast<double**>(parameters),
+                             residuals,
+                             jacobians);
+  }
+
+ private:
+  ceres_cost_function_t cost_function_;
+  void* user_data_;
+};
+
+// This loss function wraps a C-level function pointer from the user, to bridge
+// between C and C++.
+class CallbackLossFunction : public ceres::LossFunction {
+ public:
+  explicit CallbackLossFunction(ceres_loss_function_t loss_function,
+                                void* user_data)
+    : loss_function_(loss_function), user_data_(user_data) {}
+  virtual void Evaluate(double sq_norm, double* rho) const {
+    (*loss_function_)(user_data_, sq_norm, rho);
+  }
+
+ private:
+  ceres_loss_function_t loss_function_;
+  void* user_data_;
+};
+
+// Wrappers for the stock loss functions.
+void* ceres_create_huber_loss_function_data(double a) {
+  return new ceres::HuberLoss(a);
+}
+void* ceres_create_softl1_loss_function_data(double a) {
+  return new ceres::SoftLOneLoss(a);
+}
+void* ceres_create_cauchy_loss_function_data(double a) {
+  return new ceres::CauchyLoss(a);
+}
+void* ceres_create_arctan_loss_function_data(double a) {
+  return new ceres::ArctanLoss(a);
+}
+void* ceres_create_tolerant_loss_function_data(double a, double b) {
+  return new ceres::TolerantLoss(a, b);
+}
+
+void ceres_free_stock_loss_function_data(void* loss_function_data) {
+  delete reinterpret_cast<ceres::LossFunction*>(loss_function_data);
+}
+
+void ceres_stock_loss_function(void* user_data,
+                               double squared_norm,
+                               double out[3]) {
+  reinterpret_cast<ceres::LossFunction*>(user_data)
+      ->Evaluate(squared_norm, out);
+}
+
+ceres_residual_block_id_t* ceres_problem_add_residual_block(
+    ceres_problem_t* problem,
+    ceres_cost_function_t cost_function,
+    void* cost_function_data,
+    ceres_loss_function_t loss_function,
+    void* loss_function_data,
+    int num_residuals,
+    int num_parameter_blocks,
+    int* parameter_block_sizes,
+    double** parameters) {
+  Problem* ceres_problem = reinterpret_cast<Problem*>(problem);
+
+  ceres::CostFunction* callback_cost_function =
+      new CallbackCostFunction(cost_function,
+                               cost_function_data,
+                               num_residuals,
+                               num_parameter_blocks,
+                               parameter_block_sizes);
+
+  ceres::LossFunction* callback_loss_function = NULL;
+  if (loss_function != NULL) {
+    callback_loss_function = new CallbackLossFunction(loss_function,
+                                                      loss_function_data);
+  }
+
+  std::vector<double*> parameter_blocks(parameters,
+                                        parameters + num_parameter_blocks);
+  return reinterpret_cast<ceres_residual_block_id_t*>(
+      ceres_problem->AddResidualBlock(callback_cost_function,
+                                      callback_loss_function,
+                                      parameter_blocks));
+}
+
+void ceres_solve(ceres_problem_t* c_problem) {
+  Problem* problem = reinterpret_cast<Problem*>(c_problem);
+
+  // TODO(keir): Obviously, this way of setting options won't scale or last.
+  // Instead, figure out a way to specify some of the options without
+  // duplicating everything.
+  ceres::Solver::Options options;
+  options.max_num_iterations = 100;
+  options.linear_solver_type = ceres::DENSE_QR;
+  options.minimizer_progress_to_stdout = true;
+
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, problem, &summary);
+  std::cout << summary.FullReport() << "\n";
+}
diff --git a/internal/ceres/c_api_test.cc b/internal/ceres/c_api_test.cc
new file mode 100644
index 0000000..95b727a
--- /dev/null
+++ b/internal/ceres/c_api_test.cc
@@ -0,0 +1,221 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+
+#include "ceres/c_api.h"
+
+#include <cmath>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+// Duplicated from curve_fitting.cc.
+int num_observations = 67;
+double data[] = {
+  0.000000e+00, 1.133898e+00,
+  7.500000e-02, 1.334902e+00,
+  1.500000e-01, 1.213546e+00,
+  2.250000e-01, 1.252016e+00,
+  3.000000e-01, 1.392265e+00,
+  3.750000e-01, 1.314458e+00,
+  4.500000e-01, 1.472541e+00,
+  5.250000e-01, 1.536218e+00,
+  6.000000e-01, 1.355679e+00,
+  6.750000e-01, 1.463566e+00,
+  7.500000e-01, 1.490201e+00,
+  8.250000e-01, 1.658699e+00,
+  9.000000e-01, 1.067574e+00,
+  9.750000e-01, 1.464629e+00,
+  1.050000e+00, 1.402653e+00,
+  1.125000e+00, 1.713141e+00,
+  1.200000e+00, 1.527021e+00,
+  1.275000e+00, 1.702632e+00,
+  1.350000e+00, 1.423899e+00,
+  1.425000e+00, 1.543078e+00,
+  1.500000e+00, 1.664015e+00,
+  1.575000e+00, 1.732484e+00,
+  1.650000e+00, 1.543296e+00,
+  1.725000e+00, 1.959523e+00,
+  1.800000e+00, 1.685132e+00,
+  1.875000e+00, 1.951791e+00,
+  1.950000e+00, 2.095346e+00,
+  2.025000e+00, 2.361460e+00,
+  2.100000e+00, 2.169119e+00,
+  2.175000e+00, 2.061745e+00,
+  2.250000e+00, 2.178641e+00,
+  2.325000e+00, 2.104346e+00,
+  2.400000e+00, 2.584470e+00,
+  2.475000e+00, 1.914158e+00,
+  2.550000e+00, 2.368375e+00,
+  2.625000e+00, 2.686125e+00,
+  2.700000e+00, 2.712395e+00,
+  2.775000e+00, 2.499511e+00,
+  2.850000e+00, 2.558897e+00,
+  2.925000e+00, 2.309154e+00,
+  3.000000e+00, 2.869503e+00,
+  3.075000e+00, 3.116645e+00,
+  3.150000e+00, 3.094907e+00,
+  3.225000e+00, 2.471759e+00,
+  3.300000e+00, 3.017131e+00,
+  3.375000e+00, 3.232381e+00,
+  3.450000e+00, 2.944596e+00,
+  3.525000e+00, 3.385343e+00,
+  3.600000e+00, 3.199826e+00,
+  3.675000e+00, 3.423039e+00,
+  3.750000e+00, 3.621552e+00,
+  3.825000e+00, 3.559255e+00,
+  3.900000e+00, 3.530713e+00,
+  3.975000e+00, 3.561766e+00,
+  4.050000e+00, 3.544574e+00,
+  4.125000e+00, 3.867945e+00,
+  4.200000e+00, 4.049776e+00,
+  4.275000e+00, 3.885601e+00,
+  4.350000e+00, 4.110505e+00,
+  4.425000e+00, 4.345320e+00,
+  4.500000e+00, 4.161241e+00,
+  4.575000e+00, 4.363407e+00,
+  4.650000e+00, 4.161576e+00,
+  4.725000e+00, 4.619728e+00,
+  4.800000e+00, 4.737410e+00,
+  4.875000e+00, 4.727863e+00,
+  4.950000e+00, 4.669206e+00,
+};
+
+// A test cost function, similar to the one in curve_fitting.c.
+int exponential_residual(void* user_data,
+                         double** parameters,
+                         double* residuals,
+                         double** jacobians) {
+  double* measurement = (double*) user_data;
+  double x = measurement[0];
+  double y = measurement[1];
+  double m = parameters[0][0];
+  double c = parameters[1][0];
+
+  residuals[0] = y - exp(m * x + c);
+  if (jacobians == NULL) {
+    return 1;
+  }
+  if (jacobians[0] != NULL) {
+    jacobians[0][0] = - x * exp(m * x + c);  // dr/dm
+  }
+  if (jacobians[1] != NULL) {
+    jacobians[1][0] =     - exp(m * x + c);  // dr/dc
+  }
+  return 1;
+}
+
+namespace ceres {
+namespace internal {
+
+TEST(C_API, SimpleEndToEndTest) {
+  double m = 0.0;
+  double c = 0.0;
+  double *parameter_pointers[] = { &m, &c };
+  int parameter_sizes[] = { 1, 1 };
+
+  ceres_problem_t* problem = ceres_create_problem();
+  for (int i = 0; i < num_observations; ++i) {
+    ceres_problem_add_residual_block(
+        problem,
+        exponential_residual,  // Cost function
+        &data[2 * i],          // Points to the (x,y) measurement
+        NULL,                  // Loss function
+        NULL,                  // Loss function user data
+        1,                     // Number of residuals
+        2,                     // Number of parameter blocks
+        parameter_sizes,
+        parameter_pointers);
+  }
+
+  ceres_solve(problem);
+
+  EXPECT_NEAR(0.3, m, 0.02);
+  EXPECT_NEAR(0.1, c, 0.04);
+
+  ceres_free_problem(problem);
+}
+
+template<typename T>
+class ScopedSetValue {
+ public:
+  ScopedSetValue(T* variable, T new_value)
+      : variable_(variable), old_value_(*variable) {
+    *variable = new_value;
+  }
+  ~ScopedSetValue() {
+    *variable_ = old_value_;
+  }
+
+ private:
+  T* variable_;
+  T old_value_;
+};
+
+TEST(C_API, LossFunctions) {
+  double m = 0.2;
+  double c = 0.03;
+  double *parameter_pointers[] = { &m, &c };
+  int parameter_sizes[] = { 1, 1 };
+
+  // Create two outliers, but be careful to leave the data intact.
+  ScopedSetValue<double> outlier1x(&data[12], 2.5);
+  ScopedSetValue<double> outlier1y(&data[13], 1.0e3);
+  ScopedSetValue<double> outlier2x(&data[14], 3.2);
+  ScopedSetValue<double> outlier2y(&data[15], 30e3);
+
+  // Create a cauchy cost function, and reuse it many times.
+  void* cauchy_loss_data =
+      ceres_create_cauchy_loss_function_data(5.0);
+
+  ceres_problem_t* problem = ceres_create_problem();
+  for (int i = 0; i < num_observations; ++i) {
+    ceres_problem_add_residual_block(
+        problem,
+        exponential_residual,  // Cost function
+        &data[2 * i],          // Points to the (x,y) measurement
+        ceres_stock_loss_function,
+        cauchy_loss_data,      // Loss function user data
+        1,                     // Number of residuals
+        2,                     // Number of parameter blocks
+        parameter_sizes,
+        parameter_pointers);
+  }
+
+  ceres_solve(problem);
+
+  EXPECT_NEAR(0.3, m, 0.02);
+  EXPECT_NEAR(0.1, c, 0.04);
+
+  ceres_free_stock_loss_function_data(cauchy_loss_data);
+  ceres_free_problem(problem);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/callbacks.cc b/internal/ceres/callbacks.cc
new file mode 100644
index 0000000..50a0ec1
--- /dev/null
+++ b/internal/ceres/callbacks.cc
@@ -0,0 +1,111 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <iostream>  // NO LINT
+#include "ceres/callbacks.h"
+#include "ceres/program.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+StateUpdatingCallback::StateUpdatingCallback(Program* program,
+                                             double* parameters)
+    : program_(program), parameters_(parameters) {}
+
+StateUpdatingCallback::~StateUpdatingCallback() {}
+
+CallbackReturnType StateUpdatingCallback::operator()(
+    const IterationSummary& summary) {
+  if (summary.step_is_successful) {
+    program_->StateVectorToParameterBlocks(parameters_);
+    program_->CopyParameterBlockStateToUserState();
+  }
+  return SOLVER_CONTINUE;
+}
+
+LoggingCallback::LoggingCallback(const MinimizerType minimizer_type,
+                                 const bool log_to_stdout)
+    : minimizer_type(minimizer_type),
+      log_to_stdout_(log_to_stdout) {}
+
+LoggingCallback::~LoggingCallback() {}
+
+CallbackReturnType LoggingCallback::operator()(
+    const IterationSummary& summary) {
+  string output;
+  if (minimizer_type == LINE_SEARCH) {
+    const char* kReportRowFormat =
+        "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+        "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e";
+    output = StringPrintf(kReportRowFormat,
+                          summary.iteration,
+                          summary.cost,
+                          summary.cost_change,
+                          summary.gradient_max_norm,
+                          summary.step_norm,
+                          summary.step_size,
+                          summary.line_search_function_evaluations,
+                          summary.iteration_time_in_seconds,
+                          summary.cumulative_time_in_seconds);
+  } else if (minimizer_type == TRUST_REGION) {
+    if (summary.iteration == 0) {
+      output = "iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time\n";  // NOLINT
+    }
+    const char* kReportRowFormat =
+        "% 4d % 8e   % 3.2e   % 3.2e  % 3.2e  % 3.2e % 3.2e     % 4d   % 3.2e   % 3.2e";  // NOLINT
+    output += StringPrintf(kReportRowFormat,
+                           summary.iteration,
+                           summary.cost,
+                           summary.cost_change,
+                           summary.gradient_max_norm,
+                           summary.step_norm,
+                           summary.relative_decrease,
+                           summary.trust_region_radius,
+                           summary.linear_solver_iterations,
+                           summary.iteration_time_in_seconds,
+                           summary.cumulative_time_in_seconds);
+  } else {
+    LOG(FATAL) << "Unknown minimizer type.";
+  }
+
+  if (log_to_stdout_) {
+    std::cout << output << std::endl;
+  } else {
+    VLOG(1) << output;
+  }
+  return SOLVER_CONTINUE;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/callbacks.h b/internal/ceres/callbacks.h
new file mode 100644
index 0000000..33c66df
--- /dev/null
+++ b/internal/ceres/callbacks.h
@@ -0,0 +1,71 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_CALLBACKS_H_
+#define CERES_INTERNAL_CALLBACKS_H_
+
+#include <string>
+#include "ceres/iteration_callback.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+
+// Callback for updating the externally visible state of parameter
+// blocks.
+class StateUpdatingCallback : public IterationCallback {
+ public:
+  StateUpdatingCallback(Program* program, double* parameters);
+  virtual ~StateUpdatingCallback();
+  virtual CallbackReturnType operator()(const IterationSummary& summary);
+ private:
+  Program* program_;
+  double* parameters_;
+};
+
+// Callback for logging the state of the minimizer to STDERR or
+// STDOUT depending on the user's preferences and logging level.
+class LoggingCallback : public IterationCallback {
+ public:
+  LoggingCallback(MinimizerType minimizer_type, bool log_to_stdout);
+  virtual ~LoggingCallback();
+  virtual CallbackReturnType operator()(const IterationSummary& summary);
+
+ private:
+  const MinimizerType minimizer_type;
+  const bool log_to_stdout_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_CALLBACKS_H_
diff --git a/internal/ceres/canonical_views_clustering.cc b/internal/ceres/canonical_views_clustering.cc
new file mode 100644
index 0000000..b3e9c22
--- /dev/null
+++ b/internal/ceres/canonical_views_clustering.cc
@@ -0,0 +1,240 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: David Gallup (dgallup@google.com)
+//         Sameer Agarwal (sameeragarwal@google.com)
+
+#include "ceres/canonical_views_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/macros.h"
+#include "ceres/map_util.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+typedef HashMap<int, int> IntMap;
+typedef HashSet<int> IntSet;
+
+class CanonicalViewsClustering {
+ public:
+  CanonicalViewsClustering() {}
+
+  // Compute the canonical views clustering of the vertices of the
+  // graph. centers will contain the vertices that are the identified
+  // as the canonical views/cluster centers, and membership is a map
+  // from vertices to cluster_ids. The i^th cluster center corresponds
+  // to the i^th cluster. It is possible depending on the
+  // configuration of the clustering algorithm that some of the
+  // vertices may not be assigned to any cluster. In this case they
+  // are assigned to a cluster with id = kInvalidClusterId.
+  void ComputeClustering(const CanonicalViewsClusteringOptions& options,
+                         const WeightedGraph<int>& graph,
+                         vector<int>* centers,
+                         IntMap* membership);
+
+ private:
+  void FindValidViews(IntSet* valid_views) const;
+  double ComputeClusteringQualityDifference(const int candidate,
+                                            const vector<int>& centers) const;
+  void UpdateCanonicalViewAssignments(const int canonical_view);
+  void ComputeClusterMembership(const vector<int>& centers,
+                                IntMap* membership) const;
+
+  CanonicalViewsClusteringOptions options_;
+  const WeightedGraph<int>* graph_;
+  // Maps a view to its representative canonical view (its cluster
+  // center).
+  IntMap view_to_canonical_view_;
+  // Maps a view to its similarity to its current cluster center.
+  HashMap<int, double> view_to_canonical_view_similarity_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(CanonicalViewsClustering);
+};
+
+void ComputeCanonicalViewsClustering(
+    const CanonicalViewsClusteringOptions& options,
+    const WeightedGraph<int>& graph,
+    vector<int>* centers,
+    IntMap* membership) {
+  time_t start_time = time(NULL);
+  CanonicalViewsClustering cv;
+  cv.ComputeClustering(options, graph, centers, membership);
+  VLOG(2) << "Canonical views clustering time (secs): "
+          << time(NULL) - start_time;
+}
+
+// Implementation of CanonicalViewsClustering
+void CanonicalViewsClustering::ComputeClustering(
+    const CanonicalViewsClusteringOptions& options,
+    const WeightedGraph<int>& graph,
+    vector<int>* centers,
+    IntMap* membership) {
+  options_ = options;
+  CHECK_NOTNULL(centers)->clear();
+  CHECK_NOTNULL(membership)->clear();
+  graph_ = &graph;
+
+  IntSet valid_views;
+  FindValidViews(&valid_views);
+  while (valid_views.size() > 0) {
+    // Find the next best canonical view.
+    double best_difference = -std::numeric_limits<double>::max();
+    int best_view = 0;
+
+    // TODO(sameeragarwal): Make this loop multi-threaded.
+    for (IntSet::const_iterator view = valid_views.begin();
+         view != valid_views.end();
+         ++view) {
+      const double difference =
+          ComputeClusteringQualityDifference(*view, *centers);
+      if (difference > best_difference) {
+        best_difference = difference;
+        best_view = *view;
+      }
+    }
+
+    CHECK_GT(best_difference, -std::numeric_limits<double>::max());
+
+    // Add canonical view if quality improves, or if minimum is not
+    // yet met, otherwise break.
+    if ((best_difference <= 0) &&
+        (centers->size() >= options_.min_views)) {
+      break;
+    }
+
+    centers->push_back(best_view);
+    valid_views.erase(best_view);
+    UpdateCanonicalViewAssignments(best_view);
+  }
+
+  ComputeClusterMembership(*centers, membership);
+}
+
+// Return the set of vertices of the graph which have valid vertex
+// weights.
+void CanonicalViewsClustering::FindValidViews(
+    IntSet* valid_views) const {
+  const IntSet& views = graph_->vertices();
+  for (IntSet::const_iterator view = views.begin();
+       view != views.end();
+       ++view) {
+    if (graph_->VertexWeight(*view) != WeightedGraph<int>::InvalidWeight()) {
+      valid_views->insert(*view);
+    }
+  }
+}
+
+// Computes the difference in the quality score if 'candidate' were
+// added to the set of canonical views.
+double CanonicalViewsClustering::ComputeClusteringQualityDifference(
+    const int candidate,
+    const vector<int>& centers) const {
+  // View score.
+  double difference =
+      options_.view_score_weight * graph_->VertexWeight(candidate);
+
+  // Compute how much the quality score changes if the candidate view
+  // was added to the list of canonical views and its nearest
+  // neighbors became members of its cluster.
+  const IntSet& neighbors = graph_->Neighbors(candidate);
+  for (IntSet::const_iterator neighbor = neighbors.begin();
+       neighbor != neighbors.end();
+       ++neighbor) {
+    const double old_similarity =
+        FindWithDefault(view_to_canonical_view_similarity_, *neighbor, 0.0);
+    const double new_similarity = graph_->EdgeWeight(*neighbor, candidate);
+    if (new_similarity > old_similarity) {
+      difference += new_similarity - old_similarity;
+    }
+  }
+
+  // Number of views penalty.
+  difference -= options_.size_penalty_weight;
+
+  // Orthogonality.
+  for (int i = 0; i < centers.size(); ++i) {
+    difference -= options_.similarity_penalty_weight *
+        graph_->EdgeWeight(centers[i], candidate);
+  }
+
+  return difference;
+}
+
+// Reassign views if they're more similar to the new canonical view.
+void CanonicalViewsClustering::UpdateCanonicalViewAssignments(
+    const int canonical_view) {
+  const IntSet& neighbors = graph_->Neighbors(canonical_view);
+  for (IntSet::const_iterator neighbor = neighbors.begin();
+       neighbor != neighbors.end();
+       ++neighbor) {
+    const double old_similarity =
+        FindWithDefault(view_to_canonical_view_similarity_, *neighbor, 0.0);
+    const double new_similarity =
+        graph_->EdgeWeight(*neighbor, canonical_view);
+    if (new_similarity > old_similarity) {
+      view_to_canonical_view_[*neighbor] = canonical_view;
+      view_to_canonical_view_similarity_[*neighbor] = new_similarity;
+    }
+  }
+}
+
+// Assign a cluster id to each view.
+void CanonicalViewsClustering::ComputeClusterMembership(
+    const vector<int>& centers,
+    IntMap* membership) const {
+  CHECK_NOTNULL(membership)->clear();
+
+  // The i^th cluster has cluster id i.
+  IntMap center_to_cluster_id;
+  for (int i = 0; i < centers.size(); ++i) {
+    center_to_cluster_id[centers[i]] = i;
+  }
+
+  static const int kInvalidClusterId = -1;
+
+  const IntSet& views = graph_->vertices();
+  for (IntSet::const_iterator view = views.begin();
+       view != views.end();
+       ++view) {
+    IntMap::const_iterator it =
+        view_to_canonical_view_.find(*view);
+    int cluster_id = kInvalidClusterId;
+    if (it != view_to_canonical_view_.end()) {
+      cluster_id = FindOrDie(center_to_cluster_id, it->second);
+    }
+
+    InsertOrDie(membership, *view, cluster_id);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/canonical_views_clustering.h b/internal/ceres/canonical_views_clustering.h
new file mode 100644
index 0000000..0847f48
--- /dev/null
+++ b/internal/ceres/canonical_views_clustering.h
@@ -0,0 +1,130 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An implementation of the Canonical Views clustering algorithm from
+// "Scene Summarization for Online Image Collections", Ian Simon, Noah
+// Snavely, Steven M. Seitz, ICCV 2007.
+//
+// More details can be found at
+// http://grail.cs.washington.edu/projects/canonview/
+//
+// Ceres uses this algorithm to perform view clustering for
+// constructing visibility based preconditioners.
+
+#ifndef CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
+#define CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
+
+#include <vector>
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+struct CanonicalViewsClusteringOptions;
+
+// Compute a partitioning of the vertices of the graph using the
+// canonical views clustering algorithm.
+//
+// In the following we will use the terms vertices and views
+// interchangably.  Given a weighted Graph G(V,E), the canonical views
+// of G are the the set of vertices that best "summarize" the content
+// of the graph. If w_ij i s the weight connecting the vertex i to
+// vertex j, and C is the set of canonical views. Then the objective
+// of the canonical views algorithm is
+//
+//   E[C] = sum_[i in V] max_[j in C] w_ij
+//          - size_penalty_weight * |C|
+//          - similarity_penalty_weight * sum_[i in C, j in C, j > i] w_ij
+//
+// alpha is the size penalty that penalizes large number of canonical
+// views.
+//
+// beta is the similarity penalty that penalizes canonical views that
+// are too similar to other canonical views.
+//
+// Thus the canonical views algorithm tries to find a canonical view
+// for each vertex in the graph which best explains it, while trying
+// to minimize the number of canonical views and the overlap between
+// them.
+//
+// We further augment the above objective function by allowing for per
+// vertex weights, higher weights indicating a higher preference for
+// being chosen as a canonical view. Thus if w_i is the vertex weight
+// for vertex i, the objective function is then
+//
+//   E[C] = sum_[i in V] max_[j in C] w_ij
+//          - size_penalty_weight * |C|
+//          - similarity_penalty_weight * sum_[i in C, j in C, j > i] w_ij
+//          + view_score_weight * sum_[i in C] w_i
+//
+// centers will contain the vertices that are the identified
+// as the canonical views/cluster centers, and membership is a map
+// from vertices to cluster_ids. The i^th cluster center corresponds
+// to the i^th cluster.
+//
+// It is possible depending on the configuration of the clustering
+// algorithm that some of the vertices may not be assigned to any
+// cluster. In this case they are assigned to a cluster with id = -1;
+void ComputeCanonicalViewsClustering(
+    const CanonicalViewsClusteringOptions& options,
+    const WeightedGraph<int>& graph,
+    std::vector<int>* centers,
+    HashMap<int, int>* membership);
+
+struct CanonicalViewsClusteringOptions {
+  CanonicalViewsClusteringOptions()
+      : min_views(3),
+        size_penalty_weight(5.75),
+        similarity_penalty_weight(100.0),
+        view_score_weight(0.0) {
+  }
+  // The minimum number of canonical views to compute.
+  int min_views;
+
+  // Penalty weight for the number of canonical views.  A higher
+  // number will result in fewer canonical views.
+  double size_penalty_weight;
+
+  // Penalty weight for the diversity (orthogonality) of the
+  // canonical views.  A higher number will encourage less similar
+  // canonical views.
+  double similarity_penalty_weight;
+
+  // Weight for per-view scores.  Lower weight places less
+  // confidence in the view scores.
+  double view_score_weight;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
diff --git a/internal/ceres/canonical_views_clustering_test.cc b/internal/ceres/canonical_views_clustering_test.cc
new file mode 100644
index 0000000..0c15fc7
--- /dev/null
+++ b/internal/ceres/canonical_views_clustering_test.cc
@@ -0,0 +1,143 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Sameer Agarwal (sameeragarwal@google.com)
+//         David Gallup (dgallup@google.com)
+
+#include "ceres/canonical_views_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const int kVertexIds[] = {0, 1, 2, 3};
+class CanonicalViewsTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    // The graph structure is as follows.
+    //
+    // Vertex weights:   0      2      2      0
+    //                   V0-----V1-----V2-----V3
+    // Edge weights:        0.8    0.9    0.3
+    const double kVertexWeights[] = {0.0, 2.0, 2.0, -1.0};
+    for (int i = 0; i < 4; ++i) {
+      graph_.AddVertex(i, kVertexWeights[i]);
+    }
+    // Create self edges.
+    // CanonicalViews requires that every view "sees" itself.
+    for (int i = 0; i < 4; ++i) {
+      graph_.AddEdge(i, i, 1.0);
+    }
+
+    // Create three edges.
+    const double kEdgeWeights[] = {0.8, 0.9, 0.3};
+    for (int i = 0; i < 3; ++i) {
+      // The graph interface is directed, so remember to create both
+      // edges.
+      graph_.AddEdge(kVertexIds[i], kVertexIds[i + 1], kEdgeWeights[i]);
+    }
+  }
+
+  void ComputeClustering() {
+    ComputeCanonicalViewsClustering(options_, graph_, &centers_, &membership_);
+  }
+
+  WeightedGraph<int> graph_;
+
+  CanonicalViewsClusteringOptions options_;
+  std::vector<int> centers_;
+  HashMap<int, int> membership_;
+};
+
+TEST_F(CanonicalViewsTest, ComputeCanonicalViewsTest) {
+  options_.min_views = 0;
+  options_.size_penalty_weight = 0.5;
+  options_.similarity_penalty_weight = 0.0;
+  options_.view_score_weight = 0.0;
+  ComputeClustering();
+
+  // 2 canonical views.
+  EXPECT_EQ(centers_.size(), 2);
+  EXPECT_EQ(centers_[0], kVertexIds[1]);
+  EXPECT_EQ(centers_[1], kVertexIds[3]);
+
+  // Check cluster membership.
+  EXPECT_EQ(FindOrDie(membership_, kVertexIds[0]), 0);
+  EXPECT_EQ(FindOrDie(membership_, kVertexIds[1]), 0);
+  EXPECT_EQ(FindOrDie(membership_, kVertexIds[2]), 0);
+  EXPECT_EQ(FindOrDie(membership_, kVertexIds[3]), 1);
+}
+
+// Increases size penalty so the second canonical view won't be
+// chosen.
+TEST_F(CanonicalViewsTest, SizePenaltyTest) {
+  options_.min_views = 0;
+  options_.size_penalty_weight = 2.0;
+  options_.similarity_penalty_weight = 0.0;
+  options_.view_score_weight = 0.0;
+  ComputeClustering();
+
+  // 1 canonical view.
+  EXPECT_EQ(centers_.size(), 1);
+  EXPECT_EQ(centers_[0], kVertexIds[1]);
+}
+
+
+// Increases view score weight so vertex 2 will be chosen.
+TEST_F(CanonicalViewsTest, ViewScoreTest) {
+  options_.min_views = 0;
+  options_.size_penalty_weight = 0.5;
+  options_.similarity_penalty_weight = 0.0;
+  options_.view_score_weight = 1.0;
+  ComputeClustering();
+
+  // 2 canonical views.
+  EXPECT_EQ(centers_.size(), 2);
+  EXPECT_EQ(centers_[0], kVertexIds[1]);
+  EXPECT_EQ(centers_[1], kVertexIds[2]);
+}
+
+// Increases similarity penalty so vertex 2 won't be chosen despite
+// it's view score.
+TEST_F(CanonicalViewsTest, SimilarityPenaltyTest) {
+  options_.min_views = 0;
+  options_.size_penalty_weight = 0.5;
+  options_.similarity_penalty_weight = 3.0;
+  options_.view_score_weight = 1.0;
+  ComputeClustering();
+
+  // 2 canonical views.
+  EXPECT_EQ(centers_.size(), 1);
+  EXPECT_EQ(centers_[0], kVertexIds[1]);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/casts.h b/internal/ceres/casts.h
new file mode 100644
index 0000000..f18fdea
--- /dev/null
+++ b/internal/ceres/casts.h
@@ -0,0 +1,108 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CASTS_H_
+#define CERES_INTERNAL_CASTS_H_
+
+#include <cassert>
+#include <cstddef>  // For NULL.
+
+namespace ceres {
+
+// Identity metafunction.
+template <class T>
+struct identity_ {
+  typedef T type;
+};
+
+// Use implicit_cast as a safe version of static_cast or const_cast
+// for implicit conversions. For example:
+// - Upcasting in a type hierarchy.
+// - Performing arithmetic conversions (int32 to int64, int to double, etc.).
+// - Adding const or volatile qualifiers.
+//
+// In general, implicit_cast can be used to convert this code
+//   To to = from;
+//   DoSomething(to);
+// to this
+//   DoSomething(implicit_cast<To>(from));
+//
+// base::identity_ is used to make a non-deduced context, which
+// forces all callers to explicitly specify the template argument.
+template<typename To>
+inline To implicit_cast(typename identity_<To>::type to) {
+  return to;
+}
+
+// This version of implicit_cast is used when two template arguments
+// are specified. It's obsolete and should not be used.
+template<typename To, typename From>
+inline To implicit_cast(typename identity_<From>::type const &f) {
+  return f;
+}
+
+// When you upcast (that is, cast a pointer from type Foo to type
+// SuperclassOfFoo), it's fine to use implicit_cast<>, since upcasts
+// always succeed.  When you downcast (that is, cast a pointer from
+// type Foo to type SubclassOfFoo), static_cast<> isn't safe, because
+// how do you know the pointer is really of type SubclassOfFoo?  It
+// could be a bare Foo, or of type DifferentSubclassOfFoo.  Thus,
+// when you downcast, you should use this macro.  In debug mode, we
+// use dynamic_cast<> to double-check the downcast is legal (we die
+// if it's not).  In normal mode, we do the efficient static_cast<>
+// instead.  Thus, it's important to test in debug mode to make sure
+// the cast is legal!
+//    This is the only place in the code we should use dynamic_cast<>.
+// In particular, you SHOULDN'T be using dynamic_cast<> in order to
+// do RTTI (eg code like this:
+//    if (dynamic_cast<Subclass1>(foo)) HandleASubclass1Object(foo);
+//    if (dynamic_cast<Subclass2>(foo)) HandleASubclass2Object(foo);
+// You should design the code some other way not to need this.
+
+template<typename To, typename From>     // use like this: down_cast<T*>(foo);
+inline To down_cast(From* f) {                   // so we only accept pointers
+  // Ensures that To is a sub-type of From *.  This test is here only
+  // for compile-time type checking, and has no overhead in an
+  // optimized build at run-time, as it will be optimized away
+  // completely.
+
+  // TODO(csilvers): This should use COMPILE_ASSERT.
+  if (false) {
+    implicit_cast<From*, To>(NULL);
+  }
+
+  // uses RTTI in dbg and fastbuild. asserts are disabled in opt builds.
+  assert(f == NULL || dynamic_cast<To>(f) != NULL);  // NOLINT
+  return static_cast<To>(f);
+}
+
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_CASTS_H_
diff --git a/internal/ceres/cgnr_linear_operator.h b/internal/ceres/cgnr_linear_operator.h
new file mode 100644
index 0000000..44c07ca
--- /dev/null
+++ b/internal/ceres/cgnr_linear_operator.h
@@ -0,0 +1,120 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
+#define CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
+
+#include <algorithm>
+#include "ceres/linear_operator.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrix;
+
+// A linear operator which takes a matrix A and a diagonal vector D and
+// performs products of the form
+//
+//   (A^T A + D^T D)x
+//
+// This is used to implement iterative general sparse linear solving with
+// conjugate gradients, where A is the Jacobian and D is a regularizing
+// parameter. A brief proof that D^T D is the correct regularizer:
+//
+// Given a regularized least squares problem:
+//
+//   min  ||Ax - b||^2 + ||Dx||^2
+//    x
+//
+// First expand into matrix notation:
+//
+//   (Ax - b)^T (Ax - b) + xD^TDx
+//
+// Then multiply out to get:
+//
+//   = xA^TAx - 2b^T Ax + b^Tb + xD^TDx
+//
+// Take the derivative:
+//
+//   0 = 2A^TAx - 2A^T b + 2 D^TDx
+//   0 = A^TAx - A^T b + D^TDx
+//   0 = (A^TA + D^TD)x - A^T b
+//
+// Thus, the symmetric system we need to solve for CGNR is
+//
+//   Sx = z
+//
+// with S = A^TA + D^TD
+//  and z = A^T b
+//
+// Note: This class is not thread safe, since it uses some temporary storage.
+class CgnrLinearOperator : public LinearOperator {
+ public:
+  CgnrLinearOperator(const LinearOperator& A, const double *D)
+      : A_(A), D_(D), z_(new double[A.num_rows()]) {
+  }
+  virtual ~CgnrLinearOperator() {}
+
+  virtual void RightMultiply(const double* x, double* y) const {
+    std::fill(z_.get(), z_.get() + A_.num_rows(), 0.0);
+
+    // z = Ax
+    A_.RightMultiply(x, z_.get());
+
+    // y = y + Atz
+    A_.LeftMultiply(z_.get(), y);
+
+    // y = y + DtDx
+    if (D_ != NULL) {
+      int n = A_.num_cols();
+      VectorRef(y, n).array() += ConstVectorRef(D_, n).array().square() *
+                                 ConstVectorRef(x, n).array();
+    }
+  }
+
+  virtual void LeftMultiply(const double* x, double* y) const {
+    RightMultiply(x, y);
+  }
+
+  virtual int num_rows() const { return A_.num_cols(); }
+  virtual int num_cols() const { return A_.num_cols(); }
+
+ private:
+  const LinearOperator& A_;
+  const double* D_;
+  scoped_array<double> z_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
diff --git a/internal/ceres/cgnr_solver.cc b/internal/ceres/cgnr_solver.cc
new file mode 100644
index 0000000..61fae75
--- /dev/null
+++ b/internal/ceres/cgnr_solver.cc
@@ -0,0 +1,88 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/cgnr_solver.h"
+
+#include "ceres/block_jacobi_preconditioner.h"
+#include "ceres/cgnr_linear_operator.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_solver.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+CgnrSolver::CgnrSolver(const LinearSolver::Options& options)
+  : options_(options),
+    preconditioner_(NULL) {
+  if (options_.preconditioner_type != JACOBI &&
+      options_.preconditioner_type != IDENTITY) {
+    LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners.";
+  }
+}
+
+LinearSolver::Summary CgnrSolver::SolveImpl(
+    BlockSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("CgnrSolver::Solve");
+
+  // Form z = Atb.
+  Vector z(A->num_cols());
+  z.setZero();
+  A->LeftMultiply(b, z.data());
+
+  // Precondition if necessary.
+  LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options;
+  if (options_.preconditioner_type == JACOBI) {
+    if (preconditioner_.get() == NULL) {
+      preconditioner_.reset(new BlockJacobiPreconditioner(*A));
+    }
+    preconditioner_->Update(*A, per_solve_options.D);
+    cg_per_solve_options.preconditioner = preconditioner_.get();
+  }
+
+  // Solve (AtA + DtD)x = z (= Atb).
+  VectorRef(x, A->num_cols()).setZero();
+  CgnrLinearOperator lhs(*A, per_solve_options.D);
+  event_logger.AddEvent("Setup");
+
+  ConjugateGradientsSolver conjugate_gradient_solver(options_);
+  LinearSolver::Summary summary =
+      conjugate_gradient_solver.Solve(&lhs, z.data(), cg_per_solve_options, x);
+  event_logger.AddEvent("Solve");
+  return summary;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/cgnr_solver.h b/internal/ceres/cgnr_solver.h
new file mode 100644
index 0000000..f7a1573
--- /dev/null
+++ b/internal/ceres/cgnr_solver.h
@@ -0,0 +1,69 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CGNR_SOLVER_H_
+#define CERES_INTERNAL_CGNR_SOLVER_H_
+
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class Preconditioner;
+
+class BlockJacobiPreconditioner;
+
+// A conjugate gradients on the normal equations solver. This directly solves
+// for the solution to
+//
+//   (A^T A + D^T D)x = A^T b
+//
+// as required for solving for x in the least squares sense. Currently only
+// block diagonal preconditioning is supported.
+class CgnrSolver : public BlockSparseMatrixSolver {
+ public:
+  explicit CgnrSolver(const LinearSolver::Options& options);
+  virtual Summary SolveImpl(
+      BlockSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+ private:
+  const LinearSolver::Options options_;
+  scoped_ptr<Preconditioner> preconditioner_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(CgnrSolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_CGNR_SOLVER_H_
diff --git a/internal/ceres/collections_port.h b/internal/ceres/collections_port.h
new file mode 100644
index 0000000..e699a66
--- /dev/null
+++ b/internal/ceres/collections_port.h
@@ -0,0 +1,196 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Portable HashMap and HashSet, and a specialized overload for hashing pairs.
+
+#ifndef CERES_INTERNAL_COLLECTIONS_PORT_H_
+#define CERES_INTERNAL_COLLECTIONS_PORT_H_
+
+#include "ceres/internal/port.h"
+
+#if defined(CERES_NO_UNORDERED_MAP)
+#  include <map>
+#  include <set>
+#endif
+
+#if defined(CERES_TR1_UNORDERED_MAP)
+#  include <tr1/unordered_map>
+#  include <tr1/unordered_set>
+#  define CERES_HASH_NAMESPACE_START namespace std { namespace tr1 {
+#  define CERES_HASH_NAMESPACE_END } }
+#endif
+
+#if defined(CERES_STD_UNORDERED_MAP)
+#  include <unordered_map>
+#  include <unordered_set>
+#  define CERES_HASH_NAMESPACE_START namespace std {
+#  define CERES_HASH_NAMESPACE_END }
+#endif
+
+#if defined(CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
+#  include <unordered_map>
+#  include <unordered_set>
+#  define CERES_HASH_NAMESPACE_START namespace std { namespace tr1 {
+#  define CERES_HASH_NAMESPACE_END } }
+#endif
+
+#if !defined(CERES_NO_UNORDERED_MAP) && !defined(CERES_TR1_UNORDERED_MAP) && \
+    !defined(CERES_STD_UNORDERED_MAP) && !defined(CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)  // NOLINT
+#  error One of: CERES_NO_UNORDERED_MAP, CERES_TR1_UNORDERED_MAP,\
+ CERES_STD_UNORDERED_MAP, CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE must be defined!  // NOLINT
+#endif
+
+#include <utility>
+#include "ceres/integral_types.h"
+
+// Some systems don't have access to unordered_map/unordered_set. In
+// that case, substitute the hash map/set with normal map/set. The
+// price to pay is slower speed for some operations.
+#if defined(CERES_NO_UNORDERED_MAP)
+
+namespace ceres {
+namespace internal {
+
+template<typename K, typename V>
+struct HashMap : map<K, V> {};
+
+template<typename K>
+struct HashSet : set<K> {};
+
+}  // namespace internal
+}  // namespace ceres
+
+#else
+
+namespace ceres {
+namespace internal {
+
+#if defined(CERES_TR1_UNORDERED_MAP) || \
+    defined(CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
+template<typename K, typename V>
+struct HashMap : std::tr1::unordered_map<K, V> {};
+template<typename K>
+struct HashSet : std::tr1::unordered_set<K> {};
+#endif
+
+#if defined(CERES_STD_UNORDERED_MAP)
+template<typename K, typename V>
+struct HashMap : std::unordered_map<K, V> {};
+template<typename K>
+struct HashSet : std::unordered_set<K> {};
+#endif
+
+#if defined(_WIN32) && !defined(__MINGW64__) && !defined(__MINGW32__)
+#define GG_LONGLONG(x) x##I64
+#define GG_ULONGLONG(x) x##UI64
+#else
+#define GG_LONGLONG(x) x##LL
+#define GG_ULONGLONG(x) x##ULL
+#endif
+
+// The hash function is due to Bob Jenkins (see
+// http://burtleburtle.net/bob/hash/index.html). Each mix takes 36 instructions,
+// in 18 cycles if you're lucky. On x86 architectures, this requires 45
+// instructions in 27 cycles, if you're lucky.
+//
+// 32bit version
+inline void hash_mix(uint32& a, uint32& b, uint32& c) {
+  a -= b; a -= c; a ^= (c>>13);
+  b -= c; b -= a; b ^= (a<<8);
+  c -= a; c -= b; c ^= (b>>13);
+  a -= b; a -= c; a ^= (c>>12);
+  b -= c; b -= a; b ^= (a<<16);
+  c -= a; c -= b; c ^= (b>>5);
+  a -= b; a -= c; a ^= (c>>3);
+  b -= c; b -= a; b ^= (a<<10);
+  c -= a; c -= b; c ^= (b>>15);
+}
+
+// 64bit version
+inline void hash_mix(uint64& a, uint64& b, uint64& c) {
+  a -= b; a -= c; a ^= (c>>43);
+  b -= c; b -= a; b ^= (a<<9);
+  c -= a; c -= b; c ^= (b>>8);
+  a -= b; a -= c; a ^= (c>>38);
+  b -= c; b -= a; b ^= (a<<23);
+  c -= a; c -= b; c ^= (b>>5);
+  a -= b; a -= c; a ^= (c>>35);
+  b -= c; b -= a; b ^= (a<<49);
+  c -= a; c -= b; c ^= (b>>11);
+}
+
+inline uint32 Hash32NumWithSeed(uint32 num, uint32 c) {
+  // The golden ratio; an arbitrary value.
+  uint32 b = 0x9e3779b9UL;
+  hash_mix(num, b, c);
+  return c;
+}
+
+inline uint64 Hash64NumWithSeed(uint64 num, uint64 c) {
+  // More of the golden ratio.
+  uint64 b = GG_ULONGLONG(0xe08c1d668b756f82);
+  hash_mix(num, b, c);
+  return c;
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+// Since on some platforms this is a doubly-nested namespace (std::tr1) and
+// others it is not, the entire namespace line must be in a macro.
+CERES_HASH_NAMESPACE_START
+
+// The outrageously annoying specializations below are for portability reasons.
+// In short, it's not possible to have two overloads of hash<pair<T1, T2>
+
+// Hasher for STL pairs. Requires hashers for both members to be defined.
+template<typename T>
+struct hash<pair<T, T> > {
+  size_t operator()(const pair<T, T>& p) const {
+    size_t h1 = hash<T>()(p.first);
+    size_t h2 = hash<T>()(p.second);
+    // The decision below is at compile time
+    return (sizeof(h1) <= sizeof(ceres::internal::uint32)) ?
+            ceres::internal::Hash32NumWithSeed(h1, h2) :
+            ceres::internal::Hash64NumWithSeed(h1, h2);
+  }
+  // Less than operator for MSVC.
+  bool operator()(const pair<T, T>& a,
+                  const pair<T, T>& b) const {
+    return a < b;
+  }
+  static const size_t bucket_size = 4;  // These are required by MSVC
+  static const size_t min_buckets = 8;  // 4 and 8 are defaults.
+};
+
+CERES_HASH_NAMESPACE_END
+
+#endif  // CERES_NO_UNORDERED_MAP
+#endif  // CERES_INTERNAL_COLLECTIONS_PORT_H_
diff --git a/internal/ceres/compressed_col_sparse_matrix_utils.cc b/internal/ceres/compressed_col_sparse_matrix_utils.cc
new file mode 100644
index 0000000..ebb2a62
--- /dev/null
+++ b/internal/ceres/compressed_col_sparse_matrix_utils.cc
@@ -0,0 +1,122 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+
+#include <vector>
+#include <algorithm>
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+void CompressedColumnScalarMatrixToBlockMatrix(
+    const int* scalar_rows,
+    const int* scalar_cols,
+    const vector<int>& row_blocks,
+    const vector<int>& col_blocks,
+    vector<int>* block_rows,
+    vector<int>* block_cols) {
+  CHECK_NOTNULL(block_rows)->clear();
+  CHECK_NOTNULL(block_cols)->clear();
+  const int num_row_blocks = row_blocks.size();
+  const int num_col_blocks = col_blocks.size();
+
+  vector<int> row_block_starts(num_row_blocks);
+  for (int i = 0, cursor = 0; i < num_row_blocks; ++i) {
+    row_block_starts[i] = cursor;
+    cursor += row_blocks[i];
+  }
+
+  // This loop extracts the block sparsity of the scalar sparse matrix
+  // It does so by iterating over the columns, but only considering
+  // the columns corresponding to the first element of each column
+  // block. Within each column, the inner loop iterates over the rows,
+  // and detects the presence of a row block by checking for the
+  // presence of a non-zero entry corresponding to its first element.
+  block_cols->push_back(0);
+  int c = 0;
+  for (int col_block = 0; col_block < num_col_blocks; ++col_block) {
+    int column_size = 0;
+    for (int idx = scalar_cols[c]; idx < scalar_cols[c + 1]; ++idx) {
+      vector<int>::const_iterator it =
+          std::lower_bound(row_block_starts.begin(),
+                           row_block_starts.end(),
+                           scalar_rows[idx]);
+      // Since we are using lower_bound, it will return the row id
+      // where the row block starts. For everything but the first row
+      // of the block, where these values will be the same, we can
+      // skip, as we only need the first row to detect the presence of
+      // the block.
+      //
+      // For rows all but the first row in the last row block,
+      // lower_bound will return row_block_starts.end(), but those can
+      // be skipped like the rows in other row blocks too.
+      if (it == row_block_starts.end() || *it != scalar_rows[idx]) {
+        continue;
+      }
+
+      block_rows->push_back(it - row_block_starts.begin());
+      ++column_size;
+    }
+    block_cols->push_back(block_cols->back() + column_size);
+    c += col_blocks[col_block];
+  }
+}
+
+void BlockOrderingToScalarOrdering(const vector<int>& blocks,
+                                   const vector<int>& block_ordering,
+                                   vector<int>* scalar_ordering) {
+  CHECK_EQ(blocks.size(), block_ordering.size());
+  const int num_blocks = blocks.size();
+
+  // block_starts = [0, block1, block1 + block2 ..]
+  vector<int> block_starts(num_blocks);
+  for (int i = 0, cursor = 0; i < num_blocks ; ++i) {
+    block_starts[i] = cursor;
+    cursor += blocks[i];
+  }
+
+  scalar_ordering->resize(block_starts.back() + blocks.back());
+  int cursor = 0;
+  for (int i = 0; i < num_blocks; ++i) {
+    const int block_id = block_ordering[i];
+    const int block_size = blocks[block_id];
+    int block_position = block_starts[block_id];
+    for (int j = 0; j < block_size; ++j) {
+      (*scalar_ordering)[cursor++] = block_position++;
+    }
+  }
+}
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/compressed_col_sparse_matrix_utils.h b/internal/ceres/compressed_col_sparse_matrix_utils.h
new file mode 100644
index 0000000..da2109f
--- /dev/null
+++ b/internal/ceres/compressed_col_sparse_matrix_utils.h
@@ -0,0 +1,144 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_COMPRESSED_COL_SPARSE_MATRIX_UTILS_H_
+#define CERES_INTERNAL_COMPRESSED_COL_SPARSE_MATRIX_UTILS_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+// Extract the block sparsity pattern of the scalar compressed columns
+// matrix and return it in compressed column form. The compressed
+// column form is stored in two vectors block_rows, and block_cols,
+// which correspond to the row and column arrays in a compressed
+// column sparse matrix.
+//
+// If c_ij is the block in the matrix A corresponding to row block i
+// and column block j, then it is expected that A contains at least
+// one non-zero entry corresponding to the top left entry of c_ij,
+// as that entry is used to detect the presence of a non-zero c_ij.
+void CompressedColumnScalarMatrixToBlockMatrix(
+    const int* scalar_rows,
+    const int* scalar_cols,
+    const std::vector<int>& row_blocks,
+    const std::vector<int>& col_blocks,
+    std::vector<int>* block_rows,
+    std::vector<int>* block_cols);
+
+// Given a set of blocks and a permutation of these blocks, compute
+// the corresponding "scalar" ordering, where the scalar ordering of
+// size sum(blocks).
+void BlockOrderingToScalarOrdering(
+    const std::vector<int>& blocks,
+    const std::vector<int>& block_ordering,
+    std::vector<int>* scalar_ordering);
+
+// Solve the linear system
+//
+//   R * solution = rhs
+//
+// Where R is an upper triangular compressed column sparse matrix.
+template <typename IntegerType>
+void SolveUpperTriangularInPlace(IntegerType num_cols,
+                                 const IntegerType* rows,
+                                 const IntegerType* cols,
+                                 const double* values,
+                                 double* rhs_and_solution) {
+  for (IntegerType c = num_cols - 1; c >= 0; --c) {
+    rhs_and_solution[c] /= values[cols[c + 1] - 1];
+    for (IntegerType idx = cols[c]; idx < cols[c + 1] - 1; ++idx) {
+      const IntegerType r = rows[idx];
+      const double v = values[idx];
+      rhs_and_solution[r] -= v * rhs_and_solution[c];
+    }
+  }
+}
+
+// Solve the linear system
+//
+//   R' * solution = rhs
+//
+// Where R is an upper triangular compressed column sparse matrix.
+template <typename IntegerType>
+void SolveUpperTriangularTransposeInPlace(IntegerType num_cols,
+                                          const IntegerType* rows,
+                                          const IntegerType* cols,
+                                          const double* values,
+                                          double* rhs_and_solution) {
+  for (IntegerType c = 0; c < num_cols; ++c) {
+    for (IntegerType idx = cols[c]; idx < cols[c + 1] - 1; ++idx) {
+      const IntegerType r = rows[idx];
+      const double v = values[idx];
+      rhs_and_solution[c] -= v * rhs_and_solution[r];
+    }
+    rhs_and_solution[c] =  rhs_and_solution[c] / values[cols[c + 1] - 1];
+  }
+}
+
+// Given a upper triangular matrix R in compressed column form, solve
+// the linear system,
+//
+//  R'R x = b
+//
+// Where b is all zeros except for rhs_nonzero_index, where it is
+// equal to one.
+//
+// The function exploits this knowledge to reduce the number of
+// floating point operations.
+template <typename IntegerType>
+void SolveRTRWithSparseRHS(IntegerType num_cols,
+                           const IntegerType* rows,
+                           const IntegerType* cols,
+                           const double* values,
+                           const int rhs_nonzero_index,
+                           double* solution) {
+  std::fill(solution, solution + num_cols, 0.0);
+  solution[rhs_nonzero_index] = 1.0 / values[cols[rhs_nonzero_index + 1] - 1];
+
+  for (IntegerType c = rhs_nonzero_index + 1; c < num_cols; ++c) {
+    for (IntegerType idx = cols[c]; idx < cols[c + 1] - 1; ++idx) {
+      const IntegerType r = rows[idx];
+      if (r < rhs_nonzero_index) continue;
+      const double v = values[idx];
+      solution[c] -= v * solution[r];
+    }
+    solution[c] =  solution[c] / values[cols[c + 1] - 1];
+  }
+
+  SolveUpperTriangularInPlace(num_cols, rows, cols, values, solution);
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_COMPRESSED_COL_SPARSE_MATRIX_UTILS_H_
diff --git a/internal/ceres/compressed_col_sparse_matrix_utils_test.cc b/internal/ceres/compressed_col_sparse_matrix_utils_test.cc
new file mode 100644
index 0000000..47a98c2
--- /dev/null
+++ b/internal/ceres/compressed_col_sparse_matrix_utils_test.cc
@@ -0,0 +1,255 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+
+#include <algorithm>
+#include <numeric>
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/internal/port.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "Eigen/SparseCore"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+TEST(_, BlockPermutationToScalarPermutation) {
+  vector<int> blocks;
+  //  Block structure
+  //  0  --1-  ---2---  ---3---  4
+  // [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+  blocks.push_back(1);
+  blocks.push_back(2);
+  blocks.push_back(3);
+  blocks.push_back(3);
+  blocks.push_back(1);
+
+  // Block ordering
+  // [1, 0, 2, 4, 5]
+  vector<int> block_ordering;
+  block_ordering.push_back(1);
+  block_ordering.push_back(0);
+  block_ordering.push_back(2);
+  block_ordering.push_back(4);
+  block_ordering.push_back(3);
+
+  // Expected ordering
+  // [1, 2, 0, 3, 4, 5, 9, 6, 7, 8]
+  vector<int> expected_scalar_ordering;
+  expected_scalar_ordering.push_back(1);
+  expected_scalar_ordering.push_back(2);
+  expected_scalar_ordering.push_back(0);
+  expected_scalar_ordering.push_back(3);
+  expected_scalar_ordering.push_back(4);
+  expected_scalar_ordering.push_back(5);
+  expected_scalar_ordering.push_back(9);
+  expected_scalar_ordering.push_back(6);
+  expected_scalar_ordering.push_back(7);
+  expected_scalar_ordering.push_back(8);
+
+  vector<int> scalar_ordering;
+  BlockOrderingToScalarOrdering(blocks,
+                                block_ordering,
+                                &scalar_ordering);
+  EXPECT_EQ(scalar_ordering.size(), expected_scalar_ordering.size());
+  for (int i = 0; i < expected_scalar_ordering.size(); ++i) {
+    EXPECT_EQ(scalar_ordering[i], expected_scalar_ordering[i]);
+  }
+}
+
+void FillBlock(const vector<int>& row_blocks,
+               const vector<int>& col_blocks,
+               const int row_block_id,
+               const int col_block_id,
+               vector<Eigen::Triplet<double> >* triplets) {
+  const int row_offset = std::accumulate(&row_blocks[0], &row_blocks[row_block_id], 0);
+  const int col_offset = std::accumulate(&col_blocks[0], &col_blocks[col_block_id], 0);
+  for (int r = 0; r < row_blocks[row_block_id]; ++r) {
+    for (int c = 0; c < col_blocks[col_block_id]; ++c) {
+      triplets->push_back(Eigen::Triplet<double>(row_offset + r, col_offset + c, 1.0));
+    }
+  }
+}
+
+TEST(_, ScalarMatrixToBlockMatrix) {
+  // Block sparsity.
+  //
+  //     [1 2 3 2]
+  // [1]  x   x
+  // [2]    x   x
+  // [2]  x x
+  // num_nonzeros = 1 + 3 + 4 + 4 + 1 + 2 = 15
+
+
+  vector<int> col_blocks;
+  col_blocks.push_back(1);
+  col_blocks.push_back(2);
+  col_blocks.push_back(3);
+  col_blocks.push_back(2);
+
+  vector<int> row_blocks;
+  row_blocks.push_back(1);
+  row_blocks.push_back(2);
+  row_blocks.push_back(2);
+
+  const int num_rows = std::accumulate(row_blocks.begin(), row_blocks.end(), 0.0);
+  const int num_cols = std::accumulate(col_blocks.begin(), col_blocks.end(), 0.0);
+
+  vector<Eigen::Triplet<double> > triplets;
+  FillBlock(row_blocks, col_blocks, 0, 0, &triplets);
+  FillBlock(row_blocks, col_blocks, 2, 0, &triplets);
+  FillBlock(row_blocks, col_blocks, 1, 1, &triplets);
+  FillBlock(row_blocks, col_blocks, 2, 1, &triplets);
+  FillBlock(row_blocks, col_blocks, 0, 2, &triplets);
+  FillBlock(row_blocks, col_blocks, 1, 3, &triplets);
+  Eigen::SparseMatrix<double> sparse_matrix(num_rows, num_cols);
+  sparse_matrix.setFromTriplets(triplets.begin(), triplets.end());
+
+  vector<int> expected_compressed_block_rows;
+  expected_compressed_block_rows.push_back(0);
+  expected_compressed_block_rows.push_back(2);
+  expected_compressed_block_rows.push_back(1);
+  expected_compressed_block_rows.push_back(2);
+  expected_compressed_block_rows.push_back(0);
+  expected_compressed_block_rows.push_back(1);
+
+  vector<int> expected_compressed_block_cols;
+  expected_compressed_block_cols.push_back(0);
+  expected_compressed_block_cols.push_back(2);
+  expected_compressed_block_cols.push_back(4);
+  expected_compressed_block_cols.push_back(5);
+  expected_compressed_block_cols.push_back(6);
+
+  vector<int> compressed_block_rows;
+  vector<int> compressed_block_cols;
+  CompressedColumnScalarMatrixToBlockMatrix(
+      sparse_matrix.innerIndexPtr(),
+      sparse_matrix.outerIndexPtr(),
+      row_blocks,
+      col_blocks,
+      &compressed_block_rows,
+      &compressed_block_cols);
+
+  EXPECT_EQ(compressed_block_rows, expected_compressed_block_rows);
+  EXPECT_EQ(compressed_block_cols, expected_compressed_block_cols);
+}
+
+class SolveUpperTriangularTest : public ::testing::Test {
+ protected:
+  void SetUp() {
+    cols.resize(5);
+    rows.resize(7);
+    values.resize(7);
+
+    cols[0] = 0;
+    rows[0] = 0;
+    values[0] = 0.50754;
+
+    cols[1] = 1;
+    rows[1] = 1;
+    values[1] = 0.80483;
+
+    cols[2] = 2;
+    rows[2] = 1;
+    values[2] = 0.14120;
+    rows[3] = 2;
+    values[3] = 0.3;
+
+    cols[3] = 4;
+    rows[4] = 0;
+    values[4] = 0.77696;
+    rows[5] = 1;
+    values[5] = 0.41860;
+    rows[6] = 3;
+    values[6] = 0.88979;
+
+    cols[4] = 7;
+  }
+
+  vector<int> cols;
+  vector<int> rows;
+  vector<double> values;
+};
+
+TEST_F(SolveUpperTriangularTest, SolveInPlace) {
+  double rhs_and_solution[] = {1.0, 1.0, 2.0, 2.0};
+  const double expected[] = { -1.4706, -1.0962, 6.6667, 2.2477};
+
+  SolveUpperTriangularInPlace<int>(cols.size() - 1,
+                                   &rows[0],
+                                   &cols[0],
+                                   &values[0],
+                                   rhs_and_solution);
+
+  for (int i = 0; i < 4; ++i) {
+    EXPECT_NEAR(rhs_and_solution[i], expected[i], 1e-4) << i;
+  }
+}
+
+TEST_F(SolveUpperTriangularTest, TransposeSolveInPlace) {
+  double rhs_and_solution[] = {1.0, 1.0, 2.0, 2.0};
+  double expected[] = {1.970288,  1.242498,  6.081864, -0.057255};
+
+  SolveUpperTriangularTransposeInPlace<int>(cols.size() - 1,
+                                            &rows[0],
+                                            &cols[0],
+                                            &values[0],
+                                            rhs_and_solution);
+
+  for (int i = 0; i < 4; ++i) {
+    EXPECT_NEAR(rhs_and_solution[i], expected[i], 1e-4) << i;
+  }
+}
+
+TEST_F(SolveUpperTriangularTest, RTRSolveWithSparseRHS) {
+  double solution[4];
+  double expected[] = { 6.8420e+00,   1.0057e+00,  -1.4907e-16,  -1.9335e+00,
+                        1.0057e+00,   2.2275e+00,  -1.9493e+00,  -6.5693e-01,
+                        -1.4907e-16,  -1.9493e+00,   1.1111e+01,   9.7381e-17,
+                        -1.9335e+00,  -6.5693e-01,   9.7381e-17,   1.2631e+00 };
+
+  for (int i = 0; i < 4; ++i) {
+    SolveRTRWithSparseRHS<int>(cols.size() - 1,
+                               &rows[0],
+                               &cols[0],
+                               &values[0],
+                               i,
+                               solution);
+    for (int j = 0; j < 4; ++j) {
+      EXPECT_NEAR(solution[j], expected[4 * i + j], 1e-3) << i;
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/compressed_row_jacobian_writer.cc b/internal/ceres/compressed_row_jacobian_writer.cc
new file mode 100644
index 0000000..0444d45
--- /dev/null
+++ b/internal/ceres/compressed_row_jacobian_writer.cc
@@ -0,0 +1,245 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/compressed_row_jacobian_writer.h"
+
+#include <iterator>
+#include <utility>
+#include <vector>
+
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::vector;
+using std::adjacent_find;
+
+void CompressedRowJacobianWriter::PopulateJacobianRowAndColumnBlockVectors(
+    const Program* program, CompressedRowSparseMatrix* jacobian) {
+  const vector<ParameterBlock*>& parameter_blocks =
+      program->parameter_blocks();
+  vector<int>& col_blocks = *(jacobian->mutable_col_blocks());
+  col_blocks.resize(parameter_blocks.size());
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    col_blocks[i] = parameter_blocks[i]->LocalSize();
+  }
+
+  const vector<ResidualBlock*>& residual_blocks =
+      program->residual_blocks();
+  vector<int>& row_blocks = *(jacobian->mutable_row_blocks());
+  row_blocks.resize(residual_blocks.size());
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    row_blocks[i] = residual_blocks[i]->NumResiduals();
+  }
+}
+
+void CompressedRowJacobianWriter::GetOrderedParameterBlocks(
+      const Program* program,
+      int residual_id,
+      vector<pair<int, int> >* evaluated_jacobian_blocks) {
+  const ResidualBlock* residual_block =
+      program->residual_blocks()[residual_id];
+  const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+  for (int j = 0; j < num_parameter_blocks; ++j) {
+    const ParameterBlock* parameter_block =
+        residual_block->parameter_blocks()[j];
+    if (!parameter_block->IsConstant()) {
+      evaluated_jacobian_blocks->push_back(
+          make_pair(parameter_block->index(), j));
+    }
+  }
+  sort(evaluated_jacobian_blocks->begin(), evaluated_jacobian_blocks->end());
+}
+
+SparseMatrix* CompressedRowJacobianWriter::CreateJacobian() const {
+  const vector<ResidualBlock*>& residual_blocks =
+      program_->residual_blocks();
+
+  int total_num_residuals = program_->NumResiduals();
+  int total_num_effective_parameters = program_->NumEffectiveParameters();
+
+  // Count the number of jacobian nonzeros.
+  int num_jacobian_nonzeros = 0;
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    ResidualBlock* residual_block = residual_blocks[i];
+    const int num_residuals = residual_block->NumResiduals();
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+      if (!parameter_block->IsConstant()) {
+        num_jacobian_nonzeros += num_residuals * parameter_block->LocalSize();
+      }
+    }
+  }
+
+  // Allocate storage for the jacobian with some extra space at the end.
+  // Allocate more space than needed to store the jacobian so that when the LM
+  // algorithm adds the diagonal, no reallocation is necessary. This reduces
+  // peak memory usage significantly.
+  CompressedRowSparseMatrix* jacobian =
+      new CompressedRowSparseMatrix(
+          total_num_residuals,
+          total_num_effective_parameters,
+          num_jacobian_nonzeros + total_num_effective_parameters);
+
+  // At this stage, the CompressedRowSparseMatrix is an invalid state. But this
+  // seems to be the only way to construct it without doing a memory copy.
+  int* rows = jacobian->mutable_rows();
+  int* cols = jacobian->mutable_cols();
+
+  int row_pos = 0;
+  rows[0] = 0;
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    const ResidualBlock* residual_block = residual_blocks[i];
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+    // Count the number of derivatives for a row of this residual block and
+    // build a list of active parameter block indices.
+    int num_derivatives = 0;
+    vector<int> parameter_indices;
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+      if (!parameter_block->IsConstant()) {
+        parameter_indices.push_back(parameter_block->index());
+        num_derivatives += parameter_block->LocalSize();
+      }
+    }
+
+    // Sort the parameters by their position in the state vector.
+    sort(parameter_indices.begin(), parameter_indices.end());
+    if (adjacent_find(parameter_indices.begin(), parameter_indices.end()) !=
+        parameter_indices.end()) {
+      std::string parameter_block_description;
+      for (int j = 0; j < num_parameter_blocks; ++j) {
+        ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+        parameter_block_description +=
+            parameter_block->ToString() + "\n";
+      }
+      LOG(FATAL) << "Ceres internal error: "
+                 << "Duplicate parameter blocks detected in a cost function. "
+                 << "This should never happen. Please report this to "
+                 << "the Ceres developers.\n"
+                 << "Residual Block: " << residual_block->ToString() << "\n"
+                 << "Parameter Blocks: " << parameter_block_description;
+    }
+
+    // Update the row indices.
+    const int num_residuals = residual_block->NumResiduals();
+    for (int j = 0; j < num_residuals; ++j) {
+      rows[row_pos + j + 1] = rows[row_pos + j] + num_derivatives;
+    }
+
+    // Iterate over parameter blocks in the order which they occur in the
+    // parameter vector. This code mirrors that in Write(), where jacobian
+    // values are updated.
+    int col_pos = 0;
+    for (int j = 0; j < parameter_indices.size(); ++j) {
+      ParameterBlock* parameter_block =
+          program_->parameter_blocks()[parameter_indices[j]];
+      const int parameter_block_size = parameter_block->LocalSize();
+
+      for (int r = 0; r < num_residuals; ++r) {
+        // This is the position in the values array of the jacobian where this
+        // row of the jacobian block should go.
+        const int column_block_begin = rows[row_pos + r] + col_pos;
+
+        for (int c = 0; c < parameter_block_size; ++c) {
+          cols[column_block_begin + c] = parameter_block->delta_offset() + c;
+        }
+      }
+      col_pos += parameter_block_size;
+    }
+    row_pos += num_residuals;
+  }
+  CHECK_EQ(num_jacobian_nonzeros, rows[total_num_residuals]);
+
+  PopulateJacobianRowAndColumnBlockVectors(program_, jacobian);
+
+  return jacobian;
+}
+
+void CompressedRowJacobianWriter::Write(int residual_id,
+                                        int residual_offset,
+                                        double **jacobians,
+                                        SparseMatrix* base_jacobian) {
+  CompressedRowSparseMatrix* jacobian =
+      down_cast<CompressedRowSparseMatrix*>(base_jacobian);
+
+  double* jacobian_values = jacobian->mutable_values();
+  const int* jacobian_rows = jacobian->rows();
+
+  const ResidualBlock* residual_block =
+      program_->residual_blocks()[residual_id];
+  const int num_residuals = residual_block->NumResiduals();
+
+  vector<pair<int, int> > evaluated_jacobian_blocks;
+  GetOrderedParameterBlocks(program_, residual_id, &evaluated_jacobian_blocks);
+
+  // Where in the current row does the jacobian for a parameter block begin.
+  int col_pos = 0;
+
+  // Iterate over the jacobian blocks in increasing order of their
+  // positions in the reduced parameter vector.
+  for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
+    const ParameterBlock* parameter_block =
+        program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
+    const int argument = evaluated_jacobian_blocks[i].second;
+    const int parameter_block_size = parameter_block->LocalSize();
+
+    // Copy one row of the jacobian block at a time.
+    for (int r = 0; r < num_residuals; ++r) {
+      // Position of the r^th row of the current jacobian block.
+      const double* block_row_begin =
+          jacobians[argument] + r * parameter_block_size;
+
+      // Position in the values array of the jacobian where this
+      // row of the jacobian block should go.
+      double* column_block_begin =
+          jacobian_values + jacobian_rows[residual_offset + r] + col_pos;
+
+      std::copy(block_row_begin,
+                block_row_begin + parameter_block_size,
+                column_block_begin);
+    }
+    col_pos += parameter_block_size;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/compressed_row_jacobian_writer.h b/internal/ceres/compressed_row_jacobian_writer.h
new file mode 100644
index 0000000..1cd0123
--- /dev/null
+++ b/internal/ceres/compressed_row_jacobian_writer.h
@@ -0,0 +1,112 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that directly writes to compressed row sparse matrices.
+
+#ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+
+#include <utility>
+#include <vector>
+
+#include "ceres/evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class Program;
+class SparseMatrix;
+
+class CompressedRowJacobianWriter {
+ public:
+  CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
+                              Program* program)
+    : program_(program) {
+  }
+
+  // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and
+  // row_blocks for a CompressedRowSparseMatrix, based on the
+  // parameter block sizes and residual sizes respectively from the
+  // program. This is useful when Solver::Options::use_block_amd =
+  // true;
+  //
+  // This function is static so that it is available to other jacobian
+  // writers which use CompressedRowSparseMatrix (or derived types).
+  // (Jacobian writers do not fall under any type hierarchy; they only
+  // have to provide an interface as specified in program_evaluator.h).
+  static void PopulateJacobianRowAndColumnBlockVectors(
+      const Program* program,
+      CompressedRowSparseMatrix* jacobian);
+
+  // It is necessary to determine the order of the jacobian blocks
+  // before copying them into a CompressedRowSparseMatrix (or derived
+  // type).  Just because a cost function uses parameter blocks 1
+  // after 2 in its arguments does not mean that the block 1 occurs
+  // before block 2 in the column layout of the jacobian. Thus,
+  // GetOrderedParameterBlocks determines the order by sorting the
+  // jacobian blocks by their position in the state vector.
+  //
+  // This function is static so that it is available to other jacobian
+  // writers which use CompressedRowSparseMatrix (or derived types).
+  // (Jacobian writers do not fall under any type hierarchy; they only
+  // have to provide an interface as specified in
+  // program_evaluator.h).
+  static void GetOrderedParameterBlocks(
+      const Program* program,
+      int residual_id,
+      std::vector<std::pair<int, int> >* evaluated_jacobian_blocks);
+
+  // JacobianWriter interface.
+
+  // Since the compressed row matrix has different layout than that
+  // assumed by the cost functions, use scratch space to store the
+  // jacobians temporarily then copy them over to the larger jacobian
+  // in the Write() function.
+  ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
+    return ScratchEvaluatePreparer::Create(*program_, num_threads);
+  }
+
+  SparseMatrix* CreateJacobian() const;
+
+  void Write(int residual_id,
+             int residual_offset,
+             double **jacobians,
+             SparseMatrix* base_jacobian);
+
+ private:
+  Program* program_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
diff --git a/internal/ceres/compressed_row_sparse_matrix.cc b/internal/ceres/compressed_row_sparse_matrix.cc
new file mode 100644
index 0000000..ee59eae
--- /dev/null
+++ b/internal/ceres/compressed_row_sparse_matrix.cc
@@ -0,0 +1,567 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/compressed_row_sparse_matrix.h"
+
+#include <algorithm>
+#include <numeric>
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/port.h"
+#include "ceres/random.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// Helper functor used by the constructor for reordering the contents
+// of a TripletSparseMatrix. This comparator assumes thay there are no
+// duplicates in the pair of arrays rows and cols, i.e., there is no
+// indices i and j (not equal to each other) s.t.
+//
+//  rows[i] == rows[j] && cols[i] == cols[j]
+//
+// If this is the case, this functor will not be a StrictWeakOrdering.
+struct RowColLessThan {
+  RowColLessThan(const int* rows, const int* cols) : rows(rows), cols(cols) {}
+
+  bool operator()(const int x, const int y) const {
+    if (rows[x] == rows[y]) {
+      return (cols[x] < cols[y]);
+    }
+    return (rows[x] < rows[y]);
+  }
+
+  const int* rows;
+  const int* cols;
+};
+
+void TransposeForCompressedRowSparseStructure(const int num_rows,
+                                              const int num_cols,
+                                              const int num_nonzeros,
+                                              const int* rows,
+                                              const int* cols,
+                                              const double* values,
+                                              int* transpose_rows,
+                                              int* transpose_cols,
+                                              double* transpose_values) {
+  // Explicitly zero out transpose_rows.
+  std::fill(transpose_rows, transpose_rows + num_cols + 1, 0);
+
+  // Count the number of entries in each column of the original matrix
+  // and assign to transpose_rows[col + 1].
+  for (int idx = 0; idx < num_nonzeros; ++idx) {
+    ++transpose_rows[cols[idx] + 1];
+  }
+
+  // Compute the starting position for each row in the transpose by
+  // computing the cumulative sum of the entries of transpose_rows.
+  for (int i = 1; i < num_cols + 1; ++i) {
+    transpose_rows[i] += transpose_rows[i - 1];
+  }
+
+  // Populate transpose_cols and (optionally) transpose_values by
+  // walking the entries of the source matrices. For each entry that
+  // is added, the value of transpose_row is incremented allowing us
+  // to keep track of where the next entry for that row should go.
+  //
+  // As a result transpose_row is shifted to the left by one entry.
+  for (int r = 0; r < num_rows; ++r) {
+    for (int idx = rows[r]; idx < rows[r + 1]; ++idx) {
+      const int c = cols[idx];
+      const int transpose_idx = transpose_rows[c]++;
+      transpose_cols[transpose_idx] = r;
+      if (values != NULL && transpose_values != NULL) {
+        transpose_values[transpose_idx] = values[idx];
+      }
+    }
+  }
+
+  // This loop undoes the left shift to transpose_rows introduced by
+  // the previous loop.
+  for (int i = num_cols - 1; i > 0; --i) {
+    transpose_rows[i] = transpose_rows[i - 1];
+  }
+  transpose_rows[0] = 0;
+}
+
+void AddRandomBlock(const int num_rows,
+                    const int num_cols,
+                    const int row_block_begin,
+                    const int col_block_begin,
+                    std::vector<int>* rows,
+                    std::vector<int>* cols,
+                    std::vector<double>* values) {
+  for (int r = 0; r < num_rows; ++r) {
+    for (int c = 0; c < num_cols; ++c) {
+      rows->push_back(row_block_begin + r);
+      cols->push_back(col_block_begin + c);
+      values->push_back(RandNormal());
+    }
+  }
+}
+
+}  // namespace
+
+// This constructor gives you a semi-initialized CompressedRowSparseMatrix.
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(int num_rows,
+                                                     int num_cols,
+                                                     int max_num_nonzeros) {
+  num_rows_ = num_rows;
+  num_cols_ = num_cols;
+  storage_type_ = UNSYMMETRIC;
+  rows_.resize(num_rows + 1, 0);
+  cols_.resize(max_num_nonzeros, 0);
+  values_.resize(max_num_nonzeros, 0.0);
+
+  VLOG(1) << "# of rows: " << num_rows_ << " # of columns: " << num_cols_
+          << " max_num_nonzeros: " << cols_.size() << ". Allocating "
+          << (num_rows_ + 1) * sizeof(int) +     // NOLINT
+                 cols_.size() * sizeof(int) +    // NOLINT
+                 cols_.size() * sizeof(double);  // NOLINT
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::FromTripletSparseMatrix(
+    const TripletSparseMatrix& input) {
+  return CompressedRowSparseMatrix::FromTripletSparseMatrix(input, false);
+}
+
+CompressedRowSparseMatrix*
+CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(
+    const TripletSparseMatrix& input) {
+  return CompressedRowSparseMatrix::FromTripletSparseMatrix(input, true);
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::FromTripletSparseMatrix(
+    const TripletSparseMatrix& input, bool transpose) {
+  int num_rows = input.num_rows();
+  int num_cols = input.num_cols();
+  const int* rows = input.rows();
+  const int* cols = input.cols();
+  const double* values = input.values();
+
+  if (transpose) {
+    std::swap(num_rows, num_cols);
+    std::swap(rows, cols);
+  }
+
+  // index is the list of indices into the TripletSparseMatrix input.
+  vector<int> index(input.num_nonzeros(), 0);
+  for (int i = 0; i < input.num_nonzeros(); ++i) {
+    index[i] = i;
+  }
+
+  // Sort index such that the entries of m are ordered by row and ties
+  // are broken by column.
+  std::sort(index.begin(), index.end(), RowColLessThan(rows, cols));
+
+  VLOG(1) << "# of rows: " << num_rows << " # of columns: " << num_cols
+          << " num_nonzeros: " << input.num_nonzeros() << ". Allocating "
+          << ((num_rows + 1) * sizeof(int) +           // NOLINT
+              input.num_nonzeros() * sizeof(int) +     // NOLINT
+              input.num_nonzeros() * sizeof(double));  // NOLINT
+
+  CompressedRowSparseMatrix* output =
+      new CompressedRowSparseMatrix(num_rows, num_cols, input.num_nonzeros());
+
+  // Copy the contents of the cols and values array in the order given
+  // by index and count the number of entries in each row.
+  int* output_rows = output->mutable_rows();
+  int* output_cols = output->mutable_cols();
+  double* output_values = output->mutable_values();
+
+  output_rows[0] = 0;
+  for (int i = 0; i < index.size(); ++i) {
+    const int idx = index[i];
+    ++output_rows[rows[idx] + 1];
+    output_cols[i] = cols[idx];
+    output_values[i] = values[idx];
+  }
+
+  // Find the cumulative sum of the row counts.
+  for (int i = 1; i < num_rows + 1; ++i) {
+    output_rows[i] += output_rows[i - 1];
+  }
+
+  CHECK_EQ(output->num_nonzeros(), input.num_nonzeros());
+  return output;
+}
+
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(const double* diagonal,
+                                                     int num_rows) {
+  CHECK_NOTNULL(diagonal);
+
+  num_rows_ = num_rows;
+  num_cols_ = num_rows;
+  storage_type_ = UNSYMMETRIC;
+  rows_.resize(num_rows + 1);
+  cols_.resize(num_rows);
+  values_.resize(num_rows);
+
+  rows_[0] = 0;
+  for (int i = 0; i < num_rows_; ++i) {
+    cols_[i] = i;
+    values_[i] = diagonal[i];
+    rows_[i + 1] = i + 1;
+  }
+
+  CHECK_EQ(num_nonzeros(), num_rows);
+}
+
+CompressedRowSparseMatrix::~CompressedRowSparseMatrix() {}
+
+void CompressedRowSparseMatrix::SetZero() {
+  std::fill(values_.begin(), values_.end(), 0);
+}
+
+void CompressedRowSparseMatrix::RightMultiply(const double* x,
+                                              double* y) const {
+  CHECK_NOTNULL(x);
+  CHECK_NOTNULL(y);
+
+  for (int r = 0; r < num_rows_; ++r) {
+    for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+      y[r] += values_[idx] * x[cols_[idx]];
+    }
+  }
+}
+
+void CompressedRowSparseMatrix::LeftMultiply(const double* x, double* y) const {
+  CHECK_NOTNULL(x);
+  CHECK_NOTNULL(y);
+
+  for (int r = 0; r < num_rows_; ++r) {
+    for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+      y[cols_[idx]] += values_[idx] * x[r];
+    }
+  }
+}
+
+void CompressedRowSparseMatrix::SquaredColumnNorm(double* x) const {
+  CHECK_NOTNULL(x);
+
+  std::fill(x, x + num_cols_, 0.0);
+  for (int idx = 0; idx < rows_[num_rows_]; ++idx) {
+    x[cols_[idx]] += values_[idx] * values_[idx];
+  }
+}
+
+void CompressedRowSparseMatrix::ScaleColumns(const double* scale) {
+  CHECK_NOTNULL(scale);
+
+  for (int idx = 0; idx < rows_[num_rows_]; ++idx) {
+    values_[idx] *= scale[cols_[idx]];
+  }
+}
+
+void CompressedRowSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+  CHECK_NOTNULL(dense_matrix);
+  dense_matrix->resize(num_rows_, num_cols_);
+  dense_matrix->setZero();
+
+  for (int r = 0; r < num_rows_; ++r) {
+    for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+      (*dense_matrix)(r, cols_[idx]) = values_[idx];
+    }
+  }
+}
+
+void CompressedRowSparseMatrix::DeleteRows(int delta_rows) {
+  CHECK_GE(delta_rows, 0);
+  CHECK_LE(delta_rows, num_rows_);
+
+  num_rows_ -= delta_rows;
+  rows_.resize(num_rows_ + 1);
+
+  // The rest of the code updates the block information. Immediately
+  // return in case of no block information.
+  if (row_blocks_.empty()) {
+    return;
+  }
+
+  // Walk the list of row blocks until we reach the new number of rows
+  // and the drop the rest of the row blocks.
+  int num_row_blocks = 0;
+  int num_rows = 0;
+  while (num_row_blocks < row_blocks_.size() && num_rows < num_rows_) {
+    num_rows += row_blocks_[num_row_blocks];
+    ++num_row_blocks;
+  }
+
+  row_blocks_.resize(num_row_blocks);
+}
+
+void CompressedRowSparseMatrix::AppendRows(const CompressedRowSparseMatrix& m) {
+  CHECK_EQ(m.num_cols(), num_cols_);
+
+  CHECK((row_blocks_.empty() && m.row_blocks().empty()) ||
+        (!row_blocks_.empty() && !m.row_blocks().empty()))
+      << "Cannot append a matrix with row blocks to one without and vice versa."
+      << "This matrix has : " << row_blocks_.size() << " row blocks."
+      << "The matrix being appended has: " << m.row_blocks().size()
+      << " row blocks.";
+
+  if (m.num_rows() == 0) {
+    return;
+  }
+
+  if (cols_.size() < num_nonzeros() + m.num_nonzeros()) {
+    cols_.resize(num_nonzeros() + m.num_nonzeros());
+    values_.resize(num_nonzeros() + m.num_nonzeros());
+  }
+
+  // Copy the contents of m into this matrix.
+  DCHECK_LT(num_nonzeros(), cols_.size());
+  if (m.num_nonzeros() > 0) {
+    std::copy(m.cols(), m.cols() + m.num_nonzeros(), &cols_[num_nonzeros()]);
+    std::copy(
+        m.values(), m.values() + m.num_nonzeros(), &values_[num_nonzeros()]);
+  }
+
+  rows_.resize(num_rows_ + m.num_rows() + 1);
+  // new_rows = [rows_, m.row() + rows_[num_rows_]]
+  std::fill(rows_.begin() + num_rows_,
+            rows_.begin() + num_rows_ + m.num_rows() + 1,
+            rows_[num_rows_]);
+
+  for (int r = 0; r < m.num_rows() + 1; ++r) {
+    rows_[num_rows_ + r] += m.rows()[r];
+  }
+
+  num_rows_ += m.num_rows();
+
+  // The rest of the code updates the block information. Immediately
+  // return in case of no block information.
+  if (row_blocks_.empty()) {
+    return;
+  }
+
+  row_blocks_.insert(
+      row_blocks_.end(), m.row_blocks().begin(), m.row_blocks().end());
+}
+
+void CompressedRowSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  for (int r = 0; r < num_rows_; ++r) {
+    for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+      fprintf(file, "% 10d % 10d %17f\n", r, cols_[idx], values_[idx]);
+    }
+  }
+}
+
+void CompressedRowSparseMatrix::ToCRSMatrix(CRSMatrix* matrix) const {
+  matrix->num_rows = num_rows_;
+  matrix->num_cols = num_cols_;
+  matrix->rows = rows_;
+  matrix->cols = cols_;
+  matrix->values = values_;
+
+  // Trim.
+  matrix->rows.resize(matrix->num_rows + 1);
+  matrix->cols.resize(matrix->rows[matrix->num_rows]);
+  matrix->values.resize(matrix->rows[matrix->num_rows]);
+}
+
+void CompressedRowSparseMatrix::SetMaxNumNonZeros(int num_nonzeros) {
+  CHECK_GE(num_nonzeros, 0);
+
+  cols_.resize(num_nonzeros);
+  values_.resize(num_nonzeros);
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
+    const double* diagonal, const vector<int>& blocks) {
+  int num_rows = 0;
+  int num_nonzeros = 0;
+  for (int i = 0; i < blocks.size(); ++i) {
+    num_rows += blocks[i];
+    num_nonzeros += blocks[i] * blocks[i];
+  }
+
+  CompressedRowSparseMatrix* matrix =
+      new CompressedRowSparseMatrix(num_rows, num_rows, num_nonzeros);
+
+  int* rows = matrix->mutable_rows();
+  int* cols = matrix->mutable_cols();
+  double* values = matrix->mutable_values();
+  std::fill(values, values + num_nonzeros, 0.0);
+
+  int idx_cursor = 0;
+  int col_cursor = 0;
+  for (int i = 0; i < blocks.size(); ++i) {
+    const int block_size = blocks[i];
+    for (int r = 0; r < block_size; ++r) {
+      *(rows++) = idx_cursor;
+      values[idx_cursor + r] = diagonal[col_cursor + r];
+      for (int c = 0; c < block_size; ++c, ++idx_cursor) {
+        *(cols++) = col_cursor + c;
+      }
+    }
+    col_cursor += block_size;
+  }
+  *rows = idx_cursor;
+
+  *matrix->mutable_row_blocks() = blocks;
+  *matrix->mutable_col_blocks() = blocks;
+
+  CHECK_EQ(idx_cursor, num_nonzeros);
+  CHECK_EQ(col_cursor, num_rows);
+  return matrix;
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::Transpose() const {
+  CompressedRowSparseMatrix* transpose =
+      new CompressedRowSparseMatrix(num_cols_, num_rows_, num_nonzeros());
+
+  switch (storage_type_) {
+    case UNSYMMETRIC:
+      transpose->set_storage_type(UNSYMMETRIC);
+      break;
+    case LOWER_TRIANGULAR:
+      transpose->set_storage_type(UPPER_TRIANGULAR);
+      break;
+    case UPPER_TRIANGULAR:
+      transpose->set_storage_type(LOWER_TRIANGULAR);
+      break;
+    default:
+      LOG(FATAL) << "Unknown storage type: " << storage_type_;
+  };
+
+  TransposeForCompressedRowSparseStructure(num_rows(),
+                                           num_cols(),
+                                           num_nonzeros(),
+                                           rows(),
+                                           cols(),
+                                           values(),
+                                           transpose->mutable_rows(),
+                                           transpose->mutable_cols(),
+                                           transpose->mutable_values());
+
+  // The rest of the code updates the block information. Immediately
+  // return in case of no block information.
+  if (row_blocks_.empty()) {
+    return transpose;
+  }
+
+  *(transpose->mutable_row_blocks()) = col_blocks_;
+  *(transpose->mutable_col_blocks()) = row_blocks_;
+  return transpose;
+}
+
+CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateRandomMatrix(
+    const CompressedRowSparseMatrix::RandomMatrixOptions& options) {
+  CHECK_GT(options.num_row_blocks, 0);
+  CHECK_GT(options.min_row_block_size, 0);
+  CHECK_GT(options.max_row_block_size, 0);
+  CHECK_LE(options.min_row_block_size, options.max_row_block_size);
+  CHECK_GT(options.num_col_blocks, 0);
+  CHECK_GT(options.min_col_block_size, 0);
+  CHECK_GT(options.max_col_block_size, 0);
+  CHECK_LE(options.min_col_block_size, options.max_col_block_size);
+  CHECK_GT(options.block_density, 0.0);
+  CHECK_LE(options.block_density, 1.0);
+
+  vector<int> row_blocks;
+  vector<int> col_blocks;
+
+  // Generate the row block structure.
+  for (int i = 0; i < options.num_row_blocks; ++i) {
+    // Generate a random integer in [min_row_block_size, max_row_block_size]
+    const int delta_block_size =
+        Uniform(options.max_row_block_size - options.min_row_block_size);
+    row_blocks.push_back(options.min_row_block_size + delta_block_size);
+  }
+
+  // Generate the col block structure.
+  for (int i = 0; i < options.num_col_blocks; ++i) {
+    // Generate a random integer in [min_col_block_size, max_col_block_size]
+    const int delta_block_size =
+        Uniform(options.max_col_block_size - options.min_col_block_size);
+    col_blocks.push_back(options.min_col_block_size + delta_block_size);
+  }
+
+  vector<int> tsm_rows;
+  vector<int> tsm_cols;
+  vector<double> tsm_values;
+
+  // For ease of construction, we are going to generate the
+  // CompressedRowSparseMatrix by generating it as a
+  // TripletSparseMatrix and then converting it to a
+  // CompressedRowSparseMatrix.
+
+  // It is possible that the random matrix is empty which is likely
+  // not what the user wants, so do the matrix generation till we have
+  // at least one non-zero entry.
+  while (tsm_values.empty()) {
+    tsm_rows.clear();
+    tsm_cols.clear();
+    tsm_values.clear();
+
+    int row_block_begin = 0;
+    for (int r = 0; r < options.num_row_blocks; ++r) {
+      int col_block_begin = 0;
+      for (int c = 0; c < options.num_col_blocks; ++c) {
+        // Randomly determine if this block is present or not.
+        if (RandDouble() <= options.block_density) {
+          AddRandomBlock(row_blocks[r],
+                         col_blocks[c],
+                         row_block_begin,
+                         col_block_begin,
+                         &tsm_rows,
+                         &tsm_cols,
+                         &tsm_values);
+        }
+        col_block_begin += col_blocks[c];
+      }
+      row_block_begin += row_blocks[r];
+    }
+  }
+
+  const int num_rows = std::accumulate(row_blocks.begin(), row_blocks.end(), 0);
+  const int num_cols = std::accumulate(col_blocks.begin(), col_blocks.end(), 0);
+  const bool kDoNotTranspose = false;
+  CompressedRowSparseMatrix* matrix =
+      CompressedRowSparseMatrix::FromTripletSparseMatrix(
+          TripletSparseMatrix(
+              num_rows, num_cols, tsm_rows, tsm_cols, tsm_values),
+          kDoNotTranspose);
+  (*matrix->mutable_row_blocks()) = row_blocks;
+  (*matrix->mutable_col_blocks()) = col_blocks;
+  matrix->set_storage_type(CompressedRowSparseMatrix::UNSYMMETRIC);
+  return matrix;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/compressed_row_sparse_matrix.h b/internal/ceres/compressed_row_sparse_matrix.h
new file mode 100644
index 0000000..67b043e
--- /dev/null
+++ b/internal/ceres/compressed_row_sparse_matrix.h
@@ -0,0 +1,234 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
+
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+struct CRSMatrix;
+
+namespace internal {
+
+class TripletSparseMatrix;
+
+class CompressedRowSparseMatrix : public SparseMatrix {
+ public:
+  enum StorageType {
+    UNSYMMETRIC,
+    // Matrix is assumed to be symmetric but only the lower triangular
+    // part of the matrix is stored.
+    LOWER_TRIANGULAR,
+    // Matrix is assumed to be symmetric but only the upper triangular
+    // part of the matrix is stored.
+    UPPER_TRIANGULAR
+  };
+
+  // Create a matrix with the same content as the TripletSparseMatrix
+  // input. We assume that input does not have any repeated
+  // entries.
+  //
+  // The storage type of the matrix is set to UNSYMMETRIC.
+  //
+  // Caller owns the result.
+  static CompressedRowSparseMatrix* FromTripletSparseMatrix(
+      const TripletSparseMatrix& input);
+
+  // Create a matrix with the same content as the TripletSparseMatrix
+  // input transposed. We assume that input does not have any repeated
+  // entries.
+  //
+  // The storage type of the matrix is set to UNSYMMETRIC.
+  //
+  // Caller owns the result.
+  static CompressedRowSparseMatrix* FromTripletSparseMatrixTransposed(
+      const TripletSparseMatrix& input);
+
+  // Use this constructor only if you know what you are doing. This
+  // creates a "blank" matrix with the appropriate amount of memory
+  // allocated. However, the object itself is in an inconsistent state
+  // as the rows and cols matrices do not match the values of
+  // num_rows, num_cols and max_num_nonzeros.
+  //
+  // The use case for this constructor is that when the user knows the
+  // size of the matrix to begin with and wants to update the layout
+  // manually, instead of going via the indirect route of first
+  // constructing a TripletSparseMatrix, which leads to more than
+  // double the peak memory usage.
+  //
+  // The storage type is set to UNSYMMETRIC.
+  CompressedRowSparseMatrix(int num_rows,
+                            int num_cols,
+                            int max_num_nonzeros);
+
+  // Build a square sparse diagonal matrix with num_rows rows and
+  // columns. The diagonal m(i,i) = diagonal(i);
+  //
+  // The storage type is set to UNSYMMETRIC
+  CompressedRowSparseMatrix(const double* diagonal, int num_rows);
+
+  // SparseMatrix interface.
+  virtual ~CompressedRowSparseMatrix();
+  virtual void SetZero();
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual void LeftMultiply(const double* x, double* y) const;
+  virtual void SquaredColumnNorm(double* x) const;
+  virtual void ScaleColumns(const double* scale);
+
+  virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+  virtual void ToTextFile(FILE* file) const;
+  virtual int num_rows() const { return num_rows_; }
+  virtual int num_cols() const { return num_cols_; }
+  virtual int num_nonzeros() const { return rows_[num_rows_]; }
+  virtual const double* values() const { return &values_[0]; }
+  virtual double* mutable_values() { return &values_[0]; }
+
+  // Delete the bottom delta_rows.
+  // num_rows -= delta_rows
+  void DeleteRows(int delta_rows);
+
+  // Append the contents of m to the bottom of this matrix. m must
+  // have the same number of columns as this matrix.
+  void AppendRows(const CompressedRowSparseMatrix& m);
+
+  void ToCRSMatrix(CRSMatrix* matrix) const;
+
+  CompressedRowSparseMatrix* Transpose() const;
+
+  // Destructive array resizing method.
+  void SetMaxNumNonZeros(int num_nonzeros);
+
+  // Non-destructive array resizing method.
+  void set_num_rows(const int num_rows) { num_rows_ = num_rows; }
+  void set_num_cols(const int num_cols) { num_cols_ = num_cols; }
+
+  // Low level access methods that expose the structure of the matrix.
+  const int* cols() const { return &cols_[0]; }
+  int* mutable_cols() { return &cols_[0]; }
+
+  const int* rows() const { return &rows_[0]; }
+  int* mutable_rows() { return &rows_[0]; }
+
+  const StorageType storage_type() const { return storage_type_; }
+  void set_storage_type(const StorageType storage_type) {
+    storage_type_ = storage_type;
+  }
+
+  const std::vector<int>& row_blocks() const { return row_blocks_; }
+  std::vector<int>* mutable_row_blocks() { return &row_blocks_; }
+
+  const std::vector<int>& col_blocks() const { return col_blocks_; }
+  std::vector<int>* mutable_col_blocks() { return &col_blocks_; }
+
+  // Create a block diagonal CompressedRowSparseMatrix with the given
+  // block structure. The individual blocks are assumed to be laid out
+  // contiguously in the diagonal array, one block at a time.
+  //
+  // Caller owns the result.
+  static CompressedRowSparseMatrix* CreateBlockDiagonalMatrix(
+      const double* diagonal,
+      const std::vector<int>& blocks);
+
+  // Options struct to control the generation of random block sparse
+  // matrices in compressed row sparse format.
+  //
+  // The random matrix generation proceeds as follows.
+  //
+  // First the row and column block structure is determined by
+  // generating random row and column block sizes that lie within the
+  // given bounds.
+  //
+  // Then we walk the block structure of the resulting matrix, and with
+  // probability block_density detemine whether they are structurally
+  // zero or not. If the answer is no, then we generate entries for the
+  // block which are distributed normally.
+  struct RandomMatrixOptions {
+    RandomMatrixOptions()
+        : num_row_blocks(0),
+          min_row_block_size(0),
+          max_row_block_size(0),
+          num_col_blocks(0),
+          min_col_block_size(0),
+          max_col_block_size(0),
+          block_density(0.0) {
+    }
+
+    int num_row_blocks;
+    int min_row_block_size;
+    int max_row_block_size;
+    int num_col_blocks;
+    int min_col_block_size;
+    int max_col_block_size;
+
+    // 0 < block_density <= 1 is the probability of a block being
+    // present in the matrix. A given random matrix will not have
+    // precisely this density.
+    double block_density;
+  };
+
+  // Create a random CompressedRowSparseMatrix whose entries are
+  // normally distributed and whose structure is determined by
+  // RandomMatrixOptions.
+  //
+  // Caller owns the result.
+  static CompressedRowSparseMatrix* CreateRandomMatrix(
+      const RandomMatrixOptions& options);
+
+ private:
+  static CompressedRowSparseMatrix* FromTripletSparseMatrix(
+      const TripletSparseMatrix& input, bool transpose);
+
+  int num_rows_;
+  int num_cols_;
+  std::vector<int> rows_;
+  std::vector<int> cols_;
+  std::vector<double> values_;
+  StorageType storage_type_;
+
+  // If the matrix has an underlying block structure, then it can also
+  // carry with it row and column block sizes. This is auxilliary and
+  // optional information for use by algorithms operating on the
+  // matrix. The class itself does not make use of this information in
+  // any way.
+  std::vector<int> row_blocks_;
+  std::vector<int> col_blocks_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
diff --git a/internal/ceres/compressed_row_sparse_matrix_test.cc b/internal/ceres/compressed_row_sparse_matrix_test.cc
new file mode 100644
index 0000000..ab8f4ad
--- /dev/null
+++ b/internal/ceres/compressed_row_sparse_matrix_test.cc
@@ -0,0 +1,414 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/compressed_row_sparse_matrix.h"
+
+#include <numeric>
+#include "ceres/casts.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/random.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/SparseCore"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+void CompareMatrices(const SparseMatrix* a, const SparseMatrix* b) {
+  EXPECT_EQ(a->num_rows(), b->num_rows());
+  EXPECT_EQ(a->num_cols(), b->num_cols());
+
+  int num_rows = a->num_rows();
+  int num_cols = a->num_cols();
+
+  for (int i = 0; i < num_cols; ++i) {
+    Vector x = Vector::Zero(num_cols);
+    x(i) = 1.0;
+
+    Vector y_a = Vector::Zero(num_rows);
+    Vector y_b = Vector::Zero(num_rows);
+
+    a->RightMultiply(x.data(), y_a.data());
+    b->RightMultiply(x.data(), y_b.data());
+
+    EXPECT_EQ((y_a - y_b).norm(), 0);
+  }
+}
+
+class CompressedRowSparseMatrixTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(1));
+
+    CHECK_NOTNULL(problem.get());
+
+    tsm.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+    crsm.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+
+    num_rows = tsm->num_rows();
+    num_cols = tsm->num_cols();
+
+    vector<int>* row_blocks = crsm->mutable_row_blocks();
+    row_blocks->resize(num_rows);
+    std::fill(row_blocks->begin(), row_blocks->end(), 1);
+
+    vector<int>* col_blocks = crsm->mutable_col_blocks();
+    col_blocks->resize(num_cols);
+    std::fill(col_blocks->begin(), col_blocks->end(), 1);
+  }
+
+  int num_rows;
+  int num_cols;
+
+  scoped_ptr<TripletSparseMatrix> tsm;
+  scoped_ptr<CompressedRowSparseMatrix> crsm;
+};
+
+TEST_F(CompressedRowSparseMatrixTest, RightMultiply) {
+  CompareMatrices(tsm.get(), crsm.get());
+}
+
+TEST_F(CompressedRowSparseMatrixTest, LeftMultiply) {
+  for (int i = 0; i < num_rows; ++i) {
+    Vector a = Vector::Zero(num_rows);
+    a(i) = 1.0;
+
+    Vector b1 = Vector::Zero(num_cols);
+    Vector b2 = Vector::Zero(num_cols);
+
+    tsm->LeftMultiply(a.data(), b1.data());
+    crsm->LeftMultiply(a.data(), b2.data());
+
+    EXPECT_EQ((b1 - b2).norm(), 0);
+  }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ColumnNorm) {
+  Vector b1 = Vector::Zero(num_cols);
+  Vector b2 = Vector::Zero(num_cols);
+
+  tsm->SquaredColumnNorm(b1.data());
+  crsm->SquaredColumnNorm(b2.data());
+
+  EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, Scale) {
+  Vector scale(num_cols);
+  for (int i = 0; i < num_cols; ++i) {
+    scale(i) = i + 1;
+  }
+
+  tsm->ScaleColumns(scale.data());
+  crsm->ScaleColumns(scale.data());
+  CompareMatrices(tsm.get(), crsm.get());
+}
+
+TEST_F(CompressedRowSparseMatrixTest, DeleteRows) {
+  // Clear the row and column blocks as these are purely scalar tests.
+  crsm->mutable_row_blocks()->clear();
+  crsm->mutable_col_blocks()->clear();
+
+  for (int i = 0; i < num_rows; ++i) {
+    tsm->Resize(num_rows - i, num_cols);
+    crsm->DeleteRows(crsm->num_rows() - tsm->num_rows());
+    CompareMatrices(tsm.get(), crsm.get());
+  }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, AppendRows) {
+  // Clear the row and column blocks as these are purely scalar tests.
+  crsm->mutable_row_blocks()->clear();
+  crsm->mutable_col_blocks()->clear();
+
+  for (int i = 0; i < num_rows; ++i) {
+    TripletSparseMatrix tsm_appendage(*tsm);
+    tsm_appendage.Resize(i, num_cols);
+
+    tsm->AppendRows(tsm_appendage);
+    scoped_ptr<CompressedRowSparseMatrix> crsm_appendage(
+        CompressedRowSparseMatrix::FromTripletSparseMatrix(tsm_appendage));
+
+    crsm->AppendRows(*crsm_appendage);
+    CompareMatrices(tsm.get(), crsm.get());
+  }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, AppendAndDeleteBlockDiagonalMatrix) {
+  int num_diagonal_rows = crsm->num_cols();
+
+  scoped_array<double> diagonal(new double[num_diagonal_rows]);
+  for (int i = 0; i < num_diagonal_rows; ++i) {
+    diagonal[i] = i;
+  }
+
+  vector<int> row_and_column_blocks;
+  row_and_column_blocks.push_back(1);
+  row_and_column_blocks.push_back(2);
+  row_and_column_blocks.push_back(2);
+
+  const vector<int> pre_row_blocks = crsm->row_blocks();
+  const vector<int> pre_col_blocks = crsm->col_blocks();
+
+  scoped_ptr<CompressedRowSparseMatrix> appendage(
+      CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
+          diagonal.get(), row_and_column_blocks));
+  LOG(INFO) << appendage->row_blocks().size();
+
+  crsm->AppendRows(*appendage);
+
+  const vector<int> post_row_blocks = crsm->row_blocks();
+  const vector<int> post_col_blocks = crsm->col_blocks();
+
+  vector<int> expected_row_blocks = pre_row_blocks;
+  expected_row_blocks.insert(expected_row_blocks.end(),
+                             row_and_column_blocks.begin(),
+                             row_and_column_blocks.end());
+
+  vector<int> expected_col_blocks = pre_col_blocks;
+
+  EXPECT_EQ(expected_row_blocks, crsm->row_blocks());
+  EXPECT_EQ(expected_col_blocks, crsm->col_blocks());
+
+  crsm->DeleteRows(num_diagonal_rows);
+  EXPECT_EQ(crsm->row_blocks(), pre_row_blocks);
+  EXPECT_EQ(crsm->col_blocks(), pre_col_blocks);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ToDenseMatrix) {
+  Matrix tsm_dense;
+  Matrix crsm_dense;
+
+  tsm->ToDenseMatrix(&tsm_dense);
+  crsm->ToDenseMatrix(&crsm_dense);
+
+  EXPECT_EQ((tsm_dense - crsm_dense).norm(), 0.0);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ToCRSMatrix) {
+  CRSMatrix crs_matrix;
+  crsm->ToCRSMatrix(&crs_matrix);
+  EXPECT_EQ(crsm->num_rows(), crs_matrix.num_rows);
+  EXPECT_EQ(crsm->num_cols(), crs_matrix.num_cols);
+  EXPECT_EQ(crsm->num_rows() + 1, crs_matrix.rows.size());
+  EXPECT_EQ(crsm->num_nonzeros(), crs_matrix.cols.size());
+  EXPECT_EQ(crsm->num_nonzeros(), crs_matrix.values.size());
+
+  for (int i = 0; i < crsm->num_rows() + 1; ++i) {
+    EXPECT_EQ(crsm->rows()[i], crs_matrix.rows[i]);
+  }
+
+  for (int i = 0; i < crsm->num_nonzeros(); ++i) {
+    EXPECT_EQ(crsm->cols()[i], crs_matrix.cols[i]);
+    EXPECT_EQ(crsm->values()[i], crs_matrix.values[i]);
+  }
+}
+
+TEST(CompressedRowSparseMatrix, CreateBlockDiagonalMatrix) {
+  vector<int> blocks;
+  blocks.push_back(1);
+  blocks.push_back(2);
+  blocks.push_back(2);
+
+  Vector diagonal(5);
+  for (int i = 0; i < 5; ++i) {
+    diagonal(i) = i + 1;
+  }
+
+  scoped_ptr<CompressedRowSparseMatrix> matrix(
+      CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(diagonal.data(),
+                                                           blocks));
+
+  EXPECT_EQ(matrix->num_rows(), 5);
+  EXPECT_EQ(matrix->num_cols(), 5);
+  EXPECT_EQ(matrix->num_nonzeros(), 9);
+  EXPECT_EQ(blocks, matrix->row_blocks());
+  EXPECT_EQ(blocks, matrix->col_blocks());
+
+  Vector x(5);
+  Vector y(5);
+
+  x.setOnes();
+  y.setZero();
+  matrix->RightMultiply(x.data(), y.data());
+  for (int i = 0; i < diagonal.size(); ++i) {
+    EXPECT_EQ(y[i], diagonal[i]);
+  }
+
+  y.setZero();
+  matrix->LeftMultiply(x.data(), y.data());
+  for (int i = 0; i < diagonal.size(); ++i) {
+    EXPECT_EQ(y[i], diagonal[i]);
+  }
+
+  Matrix dense;
+  matrix->ToDenseMatrix(&dense);
+  EXPECT_EQ((dense.diagonal() - diagonal).norm(), 0.0);
+}
+
+TEST(CompressedRowSparseMatrix, Transpose) {
+  //  0  1  0  2  3  0
+  //  4  6  7  0  0  8
+  //  9 10  0 11 12  0
+  // 13  0 14 15  9  0
+  //  0 16 17  0  0  0
+
+  // Block structure:
+  //  A  A  A  A  B  B
+  //  A  A  A  A  B  B
+  //  A  A  A  A  B  B
+  //  C  C  C  C  D  D
+  //  C  C  C  C  D  D
+  //  C  C  C  C  D  D
+
+  CompressedRowSparseMatrix matrix(5, 6, 30);
+  int* rows = matrix.mutable_rows();
+  int* cols = matrix.mutable_cols();
+  double* values = matrix.mutable_values();
+  matrix.mutable_row_blocks()->push_back(3);
+  matrix.mutable_row_blocks()->push_back(3);
+  matrix.mutable_col_blocks()->push_back(4);
+  matrix.mutable_col_blocks()->push_back(2);
+
+  rows[0] = 0;
+  cols[0] = 1;
+  cols[1] = 3;
+  cols[2] = 4;
+
+  rows[1] = 3;
+  cols[3] = 0;
+  cols[4] = 1;
+  cols[5] = 2;
+  cols[6] = 5;
+
+  rows[2] = 7;
+  cols[7] = 0;
+  cols[8] = 1;
+  cols[9] = 3;
+  cols[10] = 4;
+
+  rows[3] = 11;
+  cols[11] = 0;
+  cols[12] = 2;
+  cols[13] = 3;
+  cols[14] = 4;
+
+  rows[4] = 15;
+  cols[15] = 1;
+  cols[16] = 2;
+  rows[5] = 17;
+
+  std::copy(values, values + 17, cols);
+
+  scoped_ptr<CompressedRowSparseMatrix> transpose(matrix.Transpose());
+
+  ASSERT_EQ(transpose->row_blocks().size(), matrix.col_blocks().size());
+  for (int i = 0; i < transpose->row_blocks().size(); ++i) {
+    EXPECT_EQ(transpose->row_blocks()[i], matrix.col_blocks()[i]);
+  }
+
+  ASSERT_EQ(transpose->col_blocks().size(), matrix.row_blocks().size());
+  for (int i = 0; i < transpose->col_blocks().size(); ++i) {
+    EXPECT_EQ(transpose->col_blocks()[i], matrix.row_blocks()[i]);
+  }
+
+  Matrix dense_matrix;
+  matrix.ToDenseMatrix(&dense_matrix);
+
+  Matrix dense_transpose;
+  transpose->ToDenseMatrix(&dense_transpose);
+  EXPECT_NEAR((dense_matrix - dense_transpose.transpose()).norm(), 0.0, 1e-14);
+}
+
+TEST(CompressedRowSparseMatrix, FromTripletSparseMatrix) {
+  TripletSparseMatrix::RandomMatrixOptions options;
+  options.num_rows = 5;
+  options.num_cols = 7;
+  options.density = 0.5;
+
+  const int kNumTrials = 10;
+  for (int i = 0; i < kNumTrials; ++i) {
+    scoped_ptr<TripletSparseMatrix> tsm(
+        TripletSparseMatrix::CreateRandomMatrix(options));
+    scoped_ptr<CompressedRowSparseMatrix> crsm(
+        CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+
+    Matrix expected;
+    tsm->ToDenseMatrix(&expected);
+    Matrix actual;
+    crsm->ToDenseMatrix(&actual);
+    EXPECT_NEAR((expected - actual).norm() / actual.norm(),
+                0.0,
+                std::numeric_limits<double>::epsilon())
+        << "\nexpected: \n"
+        << expected << "\nactual: \n"
+        << actual;
+  }
+}
+
+TEST(CompressedRowSparseMatrix, FromTripletSparseMatrixTransposed) {
+  TripletSparseMatrix::RandomMatrixOptions options;
+  options.num_rows = 5;
+  options.num_cols = 7;
+  options.density = 0.5;
+
+  const int kNumTrials = 10;
+  for (int i = 0; i < kNumTrials; ++i) {
+    scoped_ptr<TripletSparseMatrix> tsm(
+        TripletSparseMatrix::CreateRandomMatrix(options));
+    scoped_ptr<CompressedRowSparseMatrix> crsm(
+        CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm));
+
+    Matrix tmp;
+    tsm->ToDenseMatrix(&tmp);
+    Matrix expected = tmp.transpose();
+    Matrix actual;
+    crsm->ToDenseMatrix(&actual);
+    EXPECT_NEAR((expected - actual).norm() / actual.norm(),
+                0.0,
+                std::numeric_limits<double>::epsilon())
+        << "\nexpected: \n"
+        << expected << "\nactual: \n"
+        << actual;
+  }
+}
+
+// TODO(sameeragarwal) Add tests for the random matrix creation methods.
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/conditioned_cost_function.cc b/internal/ceres/conditioned_cost_function.cc
new file mode 100644
index 0000000..08899e3
--- /dev/null
+++ b/internal/ceres/conditioned_cost_function.cc
@@ -0,0 +1,130 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// This file contains the implementation of the conditioned cost function.
+
+#include "ceres/conditioned_cost_function.h"
+
+#include <cstddef>
+
+#include "ceres/internal/eigen.h"
+#include "ceres/stl_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This cost function has the same dimensions (parameters, residuals) as
+// the one it's wrapping.
+ConditionedCostFunction::ConditionedCostFunction(
+    CostFunction* wrapped_cost_function,
+    const std::vector<CostFunction*>& conditioners,
+    Ownership ownership)
+    : wrapped_cost_function_(wrapped_cost_function),
+      conditioners_(conditioners),
+      ownership_(ownership) {
+  // Set up our dimensions.
+  set_num_residuals(wrapped_cost_function_->num_residuals());
+  *mutable_parameter_block_sizes() =
+      wrapped_cost_function_->parameter_block_sizes();
+
+  // Sanity-check the conditioners' dimensions.
+  CHECK_EQ(wrapped_cost_function_->num_residuals(), conditioners_.size());
+  for (int i = 0; i < wrapped_cost_function_->num_residuals(); i++) {
+    if (conditioners[i]) {
+      CHECK_EQ(1, conditioners[i]->num_residuals());
+      CHECK_EQ(1, conditioners[i]->parameter_block_sizes().size());
+      CHECK_EQ(1, conditioners[i]->parameter_block_sizes()[0]);
+    }
+  }
+}
+
+ConditionedCostFunction::~ConditionedCostFunction() {
+  if (ownership_ == TAKE_OWNERSHIP) {
+    STLDeleteElements(&conditioners_);
+  } else {
+    wrapped_cost_function_.release();
+  }
+}
+
+bool ConditionedCostFunction::Evaluate(double const* const* parameters,
+                                       double* residuals,
+                                       double** jacobians) const {
+  bool success = wrapped_cost_function_->Evaluate(parameters, residuals,
+                                                  jacobians);
+  if (!success) {
+    return false;
+  }
+
+  for (int r = 0; r < wrapped_cost_function_->num_residuals(); r++) {
+    // On output, we want to have
+    // residuals[r] = conditioners[r](wrapped_residuals[r])
+    // For parameter block i, column c,
+    // jacobians[i][r*parameter_block_size_[i] + c] =
+    //   = d residual[r] / d parameters[i][c]
+    //   = conditioners[r]'(wrapped_residuals[r]) *
+    //       d wrapped_residuals[r] / d parameters[i][c]
+    if (conditioners_[r]) {
+      double conditioner_derivative;
+      double* conditioner_derivative_pointer = &conditioner_derivative;
+      double** conditioner_derivative_pointer2 =
+          &conditioner_derivative_pointer;
+      if (!jacobians) {
+        conditioner_derivative_pointer2 = NULL;
+      }
+
+      double unconditioned_residual = residuals[r];
+      double* parameter_pointer = &unconditioned_residual;
+      success = conditioners_[r]->Evaluate(&parameter_pointer,
+                                           &residuals[r],
+                                           conditioner_derivative_pointer2);
+      if (!success) {
+        return false;
+      }
+
+      if (jacobians) {
+        for (int i = 0;
+             i < wrapped_cost_function_->parameter_block_sizes().size();
+             i++) {
+          if (jacobians[i]) {
+            int parameter_block_size =
+                wrapped_cost_function_->parameter_block_sizes()[i];
+            VectorRef jacobian_row(jacobians[i] + r * parameter_block_size,
+                                   parameter_block_size, 1);
+            jacobian_row *= conditioner_derivative;
+          }
+        }
+      }
+    }
+  }
+  return true;
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/conditioned_cost_function_test.cc b/internal/ceres/conditioned_cost_function_test.cc
new file mode 100644
index 0000000..528e0ee
--- /dev/null
+++ b/internal/ceres/conditioned_cost_function_test.cc
@@ -0,0 +1,126 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// Tests for the conditioned cost function.
+
+#include "ceres/conditioned_cost_function.h"
+
+#include "ceres/internal/eigen.h"
+#include "ceres/normal_prior.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// The size of the cost functions we build.
+static const int kTestCostFunctionSize = 3;
+
+// A simple cost function: return ax + b.
+class LinearCostFunction : public CostFunction {
+ public:
+  LinearCostFunction(double a, double b) : a_(a), b_(b) {
+    set_num_residuals(1);
+    mutable_parameter_block_sizes()->push_back(1);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    *residuals = **parameters * a_ + b_;
+    if (jacobians && *jacobians) {
+      **jacobians = a_;
+    }
+
+    return true;
+  }
+
+ private:
+  const double a_, b_;
+};
+
+// Tests that ConditionedCostFunction does what it's supposed to.
+TEST(CostFunctionTest, ConditionedCostFunction) {
+  double v1[kTestCostFunctionSize], v2[kTestCostFunctionSize],
+      jac[kTestCostFunctionSize * kTestCostFunctionSize],
+      result[kTestCostFunctionSize];
+
+  for (int i = 0; i < kTestCostFunctionSize; i++) {
+    v1[i] = i;
+    v2[i] = i * 10;
+    // Seed a few garbage values in the Jacobian matrix, to make sure that
+    // they're overwritten.
+    jac[i * 2] = i * i;
+    result[i] = i * i * i;
+  }
+
+  // Make a cost function that computes x - v2
+  VectorRef v2_vector(v2, kTestCostFunctionSize, 1);
+  Matrix identity(kTestCostFunctionSize, kTestCostFunctionSize);
+  identity.setIdentity();
+  NormalPrior* difference_cost_function = new NormalPrior(identity, v2_vector);
+
+  std::vector<CostFunction*> conditioners;
+  for (int i = 0; i < kTestCostFunctionSize; i++) {
+    conditioners.push_back(new LinearCostFunction(i + 2, i * 7));
+  }
+
+  ConditionedCostFunction conditioned_cost_function(difference_cost_function,
+                                                    conditioners,
+                                                    TAKE_OWNERSHIP);
+  EXPECT_EQ(difference_cost_function->num_residuals(),
+            conditioned_cost_function.num_residuals());
+  EXPECT_EQ(difference_cost_function->parameter_block_sizes(),
+            conditioned_cost_function.parameter_block_sizes());
+
+  double *parameters[1];
+  parameters[0] = v1;
+  double *jacs[1];
+  jacs[0] = jac;
+
+  conditioned_cost_function.Evaluate(parameters, result, jacs);
+  for (int i = 0; i < kTestCostFunctionSize; i++) {
+    EXPECT_DOUBLE_EQ((i + 2) * (v1[i] - v2[i]) + i * 7, result[i]);
+  }
+
+  for (int i = 0; i < kTestCostFunctionSize; i++) {
+    for (int j = 0; j < kTestCostFunctionSize; j++) {
+      double actual = jac[i * kTestCostFunctionSize + j];
+      if (i != j) {
+        EXPECT_DOUBLE_EQ(0, actual);
+      } else {
+        EXPECT_DOUBLE_EQ(i + 2, actual);
+      }
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/conjugate_gradients_solver.cc b/internal/ceres/conjugate_gradients_solver.cc
new file mode 100644
index 0000000..3702276
--- /dev/null
+++ b/internal/ceres/conjugate_gradients_solver.cc
@@ -0,0 +1,248 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A preconditioned conjugate gradients solver
+// (ConjugateGradientsSolver) for positive semidefinite linear
+// systems.
+//
+// We have also augmented the termination criterion used by this
+// solver to support not just residual based termination but also
+// termination based on decrease in the value of the quadratic model
+// that CG optimizes.
+
+#include "ceres/conjugate_gradients_solver.h"
+
+#include <cmath>
+#include <cstddef>
+#include "ceres/fpclassify.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_operator.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool IsZeroOrInfinity(double x) {
+  return ((x == 0.0) || (IsInfinite(x)));
+}
+
+}  // namespace
+
+ConjugateGradientsSolver::ConjugateGradientsSolver(
+    const LinearSolver::Options& options)
+    : options_(options) {
+}
+
+LinearSolver::Summary ConjugateGradientsSolver::Solve(
+    LinearOperator* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  CHECK_NOTNULL(A);
+  CHECK_NOTNULL(x);
+  CHECK_NOTNULL(b);
+  CHECK_EQ(A->num_rows(), A->num_cols());
+
+  LinearSolver::Summary summary;
+  summary.termination_type = LINEAR_SOLVER_NO_CONVERGENCE;
+  summary.message = "Maximum number of iterations reached.";
+  summary.num_iterations = 0;
+
+  const int num_cols = A->num_cols();
+  VectorRef xref(x, num_cols);
+  ConstVectorRef bref(b, num_cols);
+
+  const double norm_b = bref.norm();
+  if (norm_b == 0.0) {
+    xref.setZero();
+    summary.termination_type = LINEAR_SOLVER_SUCCESS;
+    summary.message = "Convergence. |b| = 0.";
+    return summary;
+  }
+
+  Vector r(num_cols);
+  Vector p(num_cols);
+  Vector z(num_cols);
+  Vector tmp(num_cols);
+
+  const double tol_r = per_solve_options.r_tolerance * norm_b;
+
+  tmp.setZero();
+  A->RightMultiply(x, tmp.data());
+  r = bref - tmp;
+  double norm_r = r.norm();
+  if (options_.min_num_iterations == 0 && norm_r <= tol_r) {
+    summary.termination_type = LINEAR_SOLVER_SUCCESS;
+    summary.message =
+        StringPrintf("Convergence. |r| = %e <= %e.", norm_r, tol_r);
+    return summary;
+  }
+
+  double rho = 1.0;
+
+  // Initial value of the quadratic model Q = x'Ax - 2 * b'x.
+  double Q0 = -1.0 * xref.dot(bref + r);
+
+  for (summary.num_iterations = 1;; ++summary.num_iterations) {
+    // Apply preconditioner
+    if (per_solve_options.preconditioner != NULL) {
+      z.setZero();
+      per_solve_options.preconditioner->RightMultiply(r.data(), z.data());
+    } else {
+      z = r;
+    }
+
+    double last_rho = rho;
+    rho = r.dot(z);
+    if (IsZeroOrInfinity(rho)) {
+      summary.termination_type = LINEAR_SOLVER_FAILURE;
+      summary.message = StringPrintf("Numerical failure. rho = r'z = %e.", rho);
+      break;
+    }
+
+    if (summary.num_iterations == 1) {
+      p = z;
+    } else {
+      double beta = rho / last_rho;
+      if (IsZeroOrInfinity(beta)) {
+        summary.termination_type = LINEAR_SOLVER_FAILURE;
+        summary.message = StringPrintf(
+            "Numerical failure. beta = rho_n / rho_{n-1} = %e, "
+            "rho_n = %e, rho_{n-1} = %e", beta, rho, last_rho);
+        break;
+      }
+      p = z + beta * p;
+    }
+
+    Vector& q = z;
+    q.setZero();
+    A->RightMultiply(p.data(), q.data());
+    const double pq = p.dot(q);
+    if ((pq <= 0) || IsInfinite(pq))  {
+      summary.termination_type = LINEAR_SOLVER_NO_CONVERGENCE;
+      summary.message = StringPrintf(
+          "Matrix is indefinite, no more progress can be made. "
+          "p'q = %e. |p| = %e, |q| = %e",
+          pq, p.norm(), q.norm());
+      break;
+    }
+
+    const double alpha = rho / pq;
+    if (IsInfinite(alpha)) {
+      summary.termination_type = LINEAR_SOLVER_FAILURE;
+      summary.message =
+          StringPrintf("Numerical failure. alpha = rho / pq = %e, "
+                       "rho = %e, pq = %e.", alpha, rho, pq);
+      break;
+    }
+
+    xref = xref + alpha * p;
+
+    // Ideally we would just use the update r = r - alpha*q to keep
+    // track of the residual vector. However this estimate tends to
+    // drift over time due to round off errors. Thus every
+    // residual_reset_period iterations, we calculate the residual as
+    // r = b - Ax. We do not do this every iteration because this
+    // requires an additional matrix vector multiply which would
+    // double the complexity of the CG algorithm.
+    if (summary.num_iterations % options_.residual_reset_period == 0) {
+      tmp.setZero();
+      A->RightMultiply(x, tmp.data());
+      r = bref - tmp;
+    } else {
+      r = r - alpha * q;
+    }
+
+    // Quadratic model based termination.
+    //   Q1 = x'Ax - 2 * b' x.
+    const double Q1 = -1.0 * xref.dot(bref + r);
+
+    // For PSD matrices A, let
+    //
+    //   Q(x) = x'Ax - 2b'x
+    //
+    // be the cost of the quadratic function defined by A and b. Then,
+    // the solver terminates at iteration i if
+    //
+    //   i * (Q(x_i) - Q(x_i-1)) / Q(x_i) < q_tolerance.
+    //
+    // This termination criterion is more useful when using CG to
+    // solve the Newton step. This particular convergence test comes
+    // from Stephen Nash's work on truncated Newton
+    // methods. References:
+    //
+    //   1. Stephen G. Nash & Ariela Sofer, Assessing A Search
+    //   Direction Within A Truncated Newton Method, Operation
+    //   Research Letters 9(1990) 219-221.
+    //
+    //   2. Stephen G. Nash, A Survey of Truncated Newton Methods,
+    //   Journal of Computational and Applied Mathematics,
+    //   124(1-2), 45-59, 2000.
+    //
+    const double zeta = summary.num_iterations * (Q1 - Q0) / Q1;
+    if (zeta < per_solve_options.q_tolerance &&
+        summary.num_iterations >= options_.min_num_iterations) {
+      summary.termination_type = LINEAR_SOLVER_SUCCESS;
+      summary.message =
+          StringPrintf("Iteration: %d Convergence: zeta = %e < %e. |r| = %e",
+                       summary.num_iterations,
+                       zeta,
+                       per_solve_options.q_tolerance,
+                       r.norm());
+      break;
+    }
+    Q0 = Q1;
+
+    // Residual based termination.
+    norm_r = r. norm();
+    if (norm_r <= tol_r &&
+        summary.num_iterations >= options_.min_num_iterations) {
+      summary.termination_type = LINEAR_SOLVER_SUCCESS;
+      summary.message =
+          StringPrintf("Iteration: %d Convergence. |r| = %e <= %e.",
+                       summary.num_iterations,
+                       norm_r,
+                       tol_r);
+      break;
+    }
+
+    if (summary.num_iterations >= options_.max_num_iterations) {
+      break;
+    }
+  }
+
+  return summary;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/conjugate_gradients_solver.h b/internal/ceres/conjugate_gradients_solver.h
new file mode 100644
index 0000000..a1e1833
--- /dev/null
+++ b/internal/ceres/conjugate_gradients_solver.h
@@ -0,0 +1,74 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Preconditioned Conjugate Gradients based solver for positive
+// semidefinite linear systems.
+
+#ifndef CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
+#define CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class LinearOperator;
+
+// This class implements the now classical Conjugate Gradients
+// algorithm of Hestenes & Stiefel for solving postive semidefinite
+// linear sytems. Optionally it can use a preconditioner also to
+// reduce the condition number of the linear system and improve the
+// convergence rate. Modern references for Conjugate Gradients are the
+// books by Yousef Saad and Trefethen & Bau. This implementation of CG
+// has been augmented with additional termination tests that are
+// needed for forcing early termination when used as part of an
+// inexact Newton solver.
+//
+// For more details see the documentation for
+// LinearSolver::PerSolveOptions::r_tolerance and
+// LinearSolver::PerSolveOptions::q_tolerance in linear_solver.h.
+class ConjugateGradientsSolver : public LinearSolver {
+ public:
+  explicit ConjugateGradientsSolver(const LinearSolver::Options& options);
+  virtual Summary Solve(LinearOperator* A,
+                        const double* b,
+                        const LinearSolver::PerSolveOptions& per_solve_options,
+                        double* x);
+
+ private:
+  const LinearSolver::Options options_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(ConjugateGradientsSolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
diff --git a/internal/ceres/conjugate_gradients_solver_test.cc b/internal/ceres/conjugate_gradients_solver_test.cc
new file mode 100644
index 0000000..1f5c3ae
--- /dev/null
+++ b/internal/ceres/conjugate_gradients_solver_test.cc
@@ -0,0 +1,135 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: fredp@google.com (Fred Pighin)
+//
+// TODO(sameeragarwal): More comprehensive testing with larger and
+// more badly conditioned problem.
+
+#include "gtest/gtest.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(ConjugateGradientTest, Solves3x3IdentitySystem) {
+  double diagonal[] = { 1.0, 1.0, 1.0 };
+  scoped_ptr<TripletSparseMatrix>
+      A(TripletSparseMatrix::CreateSparseDiagonalMatrix(diagonal, 3));
+  Vector b(3);
+  Vector x(3);
+
+  b(0) = 1.0;
+  b(1) = 2.0;
+  b(2) = 3.0;
+
+  x(0) = 1;
+  x(1) = 1;
+  x(2) = 1;
+
+  LinearSolver::Options options;
+  options.max_num_iterations = 10;
+
+  LinearSolver::PerSolveOptions per_solve_options;
+  per_solve_options.r_tolerance = 1e-9;
+
+  ConjugateGradientsSolver solver(options);
+  LinearSolver::Summary summary =
+      solver.Solve(A.get(), b.data(), per_solve_options, x.data());
+
+  EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+  ASSERT_EQ(summary.num_iterations, 1);
+
+  ASSERT_DOUBLE_EQ(1, x(0));
+  ASSERT_DOUBLE_EQ(2, x(1));
+  ASSERT_DOUBLE_EQ(3, x(2));
+}
+
+
+TEST(ConjuateGradientTest, Solves3x3SymmetricSystem) {
+  scoped_ptr<TripletSparseMatrix> A(new TripletSparseMatrix(3, 3, 9));
+  Vector b(3);
+  Vector x(3);
+
+  //      | 2  -1  0|
+  //  A = |-1   2 -1| is symmetric positive definite.
+  //      | 0  -1  2|
+  int* Ai = A->mutable_rows();
+  int* Aj = A->mutable_cols();
+  double* Ax = A->mutable_values();
+  int counter = 0;
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j) {
+      Ai[counter] = i;
+      Aj[counter] = j;
+      ++counter;
+    }
+  }
+  Ax[0] = 2.;
+  Ax[1] = -1.;
+  Ax[2] = 0;
+  Ax[3] = -1.;
+  Ax[4] = 2;
+  Ax[5] = -1;
+  Ax[6] = 0;
+  Ax[7] = -1;
+  Ax[8] = 2;
+  A->set_num_nonzeros(9);
+
+  b(0) = -1;
+  b(1) = 0;
+  b(2) = 3;
+
+  x(0) = 1;
+  x(1) = 1;
+  x(2) = 1;
+
+  LinearSolver::Options options;
+  options.max_num_iterations = 10;
+
+  LinearSolver::PerSolveOptions per_solve_options;
+  per_solve_options.r_tolerance = 1e-9;
+
+  ConjugateGradientsSolver solver(options);
+  LinearSolver::Summary summary =
+      solver.Solve(A.get(), b.data(), per_solve_options, x.data());
+
+  EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+  ASSERT_DOUBLE_EQ(0, x(0));
+  ASSERT_DOUBLE_EQ(1, x(1));
+  ASSERT_DOUBLE_EQ(2, x(2));
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/coordinate_descent_minimizer.cc b/internal/ceres/coordinate_descent_minimizer.cc
new file mode 100644
index 0000000..c6b42cf
--- /dev/null
+++ b/internal/ceres/coordinate_descent_minimizer.cc
@@ -0,0 +1,278 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/coordinate_descent_minimizer.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <iterator>
+#include <numeric>
+#include <vector>
+#include "ceres/evaluator.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/parameter_block.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/solver.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::max;
+using std::min;
+using std::set;
+using std::string;
+using std::vector;
+
+CoordinateDescentMinimizer::~CoordinateDescentMinimizer() {
+}
+
+bool CoordinateDescentMinimizer::Init(
+    const Program& program,
+    const ProblemImpl::ParameterMap& parameter_map,
+    const ParameterBlockOrdering& ordering,
+    string* error) {
+  parameter_blocks_.clear();
+  independent_set_offsets_.clear();
+  independent_set_offsets_.push_back(0);
+
+  // Serialize the OrderedGroups into a vector of parameter block
+  // offsets for parallel access.
+  map<ParameterBlock*, int> parameter_block_index;
+  map<int, set<double*> > group_to_elements = ordering.group_to_elements();
+  for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+       it != group_to_elements.end();
+       ++it) {
+    for (set<double*>::const_iterator ptr_it = it->second.begin();
+         ptr_it != it->second.end();
+         ++ptr_it) {
+      parameter_blocks_.push_back(parameter_map.find(*ptr_it)->second);
+      parameter_block_index[parameter_blocks_.back()] =
+          parameter_blocks_.size() - 1;
+    }
+    independent_set_offsets_.push_back(
+        independent_set_offsets_.back() + it->second.size());
+  }
+
+  // The ordering does not have to contain all parameter blocks, so
+  // assign zero offsets/empty independent sets to these parameter
+  // blocks.
+  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    if (!ordering.IsMember(parameter_blocks[i]->mutable_user_state())) {
+      parameter_blocks_.push_back(parameter_blocks[i]);
+      independent_set_offsets_.push_back(independent_set_offsets_.back());
+    }
+  }
+
+  // Compute the set of residual blocks that depend on each parameter
+  // block.
+  residual_blocks_.resize(parameter_block_index.size());
+  const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    ResidualBlock* residual_block = residual_blocks[i];
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+      const map<ParameterBlock*, int>::const_iterator it =
+          parameter_block_index.find(parameter_block);
+      if (it != parameter_block_index.end()) {
+        residual_blocks_[it->second].push_back(residual_block);
+      }
+    }
+  }
+
+  evaluator_options_.linear_solver_type = DENSE_QR;
+  evaluator_options_.num_eliminate_blocks = 0;
+  evaluator_options_.num_threads = 1;
+
+  return true;
+}
+
+void CoordinateDescentMinimizer::Minimize(
+    const Minimizer::Options& options,
+    double* parameters,
+    Solver::Summary* summary) {
+  // Set the state and mark all parameter blocks constant.
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    ParameterBlock* parameter_block = parameter_blocks_[i];
+    parameter_block->SetState(parameters + parameter_block->state_offset());
+    parameter_block->SetConstant();
+  }
+
+  scoped_array<LinearSolver*> linear_solvers(
+      new LinearSolver*[options.num_threads]);
+
+  LinearSolver::Options linear_solver_options;
+  linear_solver_options.type = DENSE_QR;
+
+  for (int i = 0; i < options.num_threads; ++i) {
+    linear_solvers[i] = LinearSolver::Create(linear_solver_options);
+  }
+
+  for (int i = 0; i < independent_set_offsets_.size() - 1; ++i) {
+    const int num_problems =
+        independent_set_offsets_[i + 1] - independent_set_offsets_[i];
+    // No point paying the price for an OpemMP call if the set is of
+    // size zero.
+    if (num_problems == 0) {
+      continue;
+    }
+
+#ifdef CERES_USE_OPENMP
+    const int num_inner_iteration_threads =
+        min(options.num_threads, num_problems);
+    evaluator_options_.num_threads =
+        max(1, options.num_threads / num_inner_iteration_threads);
+
+    // The parameter blocks in each independent set can be optimized
+    // in parallel, since they do not co-occur in any residual block.
+#pragma omp parallel for num_threads(num_inner_iteration_threads)
+#endif
+    for (int j = independent_set_offsets_[i];
+         j < independent_set_offsets_[i + 1];
+         ++j) {
+#ifdef CERES_USE_OPENMP
+      int thread_id = omp_get_thread_num();
+#else
+      int thread_id = 0;
+#endif
+
+      ParameterBlock* parameter_block = parameter_blocks_[j];
+      const int old_index = parameter_block->index();
+      const int old_delta_offset = parameter_block->delta_offset();
+      parameter_block->SetVarying();
+      parameter_block->set_index(0);
+      parameter_block->set_delta_offset(0);
+
+      Program inner_program;
+      inner_program.mutable_parameter_blocks()->push_back(parameter_block);
+      *inner_program.mutable_residual_blocks() = residual_blocks_[j];
+
+      // TODO(sameeragarwal): Better error handling. Right now we
+      // assume that this is not going to lead to problems of any
+      // sort. Basically we should be checking for numerical failure
+      // of some sort.
+      //
+      // On the other hand, if the optimization is a failure, that in
+      // some ways is fine, since it won't change the parameters and
+      // we are fine.
+      Solver::Summary inner_summary;
+      Solve(&inner_program,
+            linear_solvers[thread_id],
+            parameters + parameter_block->state_offset(),
+            &inner_summary);
+
+      parameter_block->set_index(old_index);
+      parameter_block->set_delta_offset(old_delta_offset);
+      parameter_block->SetState(parameters + parameter_block->state_offset());
+      parameter_block->SetConstant();
+    }
+  }
+
+  for (int i =  0; i < parameter_blocks_.size(); ++i) {
+    parameter_blocks_[i]->SetVarying();
+  }
+
+  for (int i = 0; i < options.num_threads; ++i) {
+    delete linear_solvers[i];
+  }
+}
+
+// Solve the optimization problem for one parameter block.
+void CoordinateDescentMinimizer::Solve(Program* program,
+                                       LinearSolver* linear_solver,
+                                       double* parameter,
+                                       Solver::Summary* summary) {
+  *summary = Solver::Summary();
+  summary->initial_cost = 0.0;
+  summary->fixed_cost = 0.0;
+  summary->final_cost = 0.0;
+  string error;
+
+  Minimizer::Options minimizer_options;
+  minimizer_options.evaluator.reset(
+      CHECK_NOTNULL(Evaluator::Create(evaluator_options_, program,  &error)));
+  minimizer_options.jacobian.reset(
+      CHECK_NOTNULL(minimizer_options.evaluator->CreateJacobian()));
+
+  TrustRegionStrategy::Options trs_options;
+  trs_options.linear_solver = linear_solver;
+  minimizer_options.trust_region_strategy.reset(
+      CHECK_NOTNULL(TrustRegionStrategy::Create(trs_options)));
+  minimizer_options.is_silent = true;
+
+  TrustRegionMinimizer minimizer;
+  minimizer.Minimize(minimizer_options, parameter, summary);
+}
+
+bool CoordinateDescentMinimizer::IsOrderingValid(
+    const Program& program,
+    const ParameterBlockOrdering& ordering,
+    string* message) {
+  const map<int, set<double*> >& group_to_elements =
+      ordering.group_to_elements();
+
+  // Verify that each group is an independent set
+  map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+  for (; it != group_to_elements.end(); ++it) {
+    if (!program.IsParameterBlockSetIndependent(it->second)) {
+      *message =
+          StringPrintf("The user-provided "
+                       "parameter_blocks_for_inner_iterations does not "
+                       "form an independent set. Group Id: %d", it->first);
+      return false;
+    }
+  }
+  return true;
+}
+
+// Find a recursive decomposition of the Hessian matrix as a set
+// of independent sets of decreasing size and invert it. This
+// seems to work better in practice, i.e., Cameras before
+// points.
+ParameterBlockOrdering* CoordinateDescentMinimizer::CreateOrdering(
+    const Program& program) {
+  scoped_ptr<ParameterBlockOrdering> ordering(new ParameterBlockOrdering);
+  ComputeRecursiveIndependentSetOrdering(program, ordering.get());
+  ordering->Reverse();
+  return ordering.release();
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/coordinate_descent_minimizer.h b/internal/ceres/coordinate_descent_minimizer.h
new file mode 100644
index 0000000..25ea04c
--- /dev/null
+++ b/internal/ceres/coordinate_descent_minimizer.h
@@ -0,0 +1,102 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
+#define CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
+
+#include <string>
+#include <vector>
+
+#include "ceres/evaluator.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem_impl.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class LinearSolver;
+
+// Given a Program, and a ParameterBlockOrdering which partitions
+// (non-exhaustively) the Hessian matrix into independent sets,
+// perform coordinate descent on the parameter blocks in the
+// ordering. The independent set structure allows for all parameter
+// blocks in the same independent set to be optimized in parallel, and
+// the order of the independent set determines the order in which the
+// parameter block groups are optimized.
+//
+// The minimizer assumes that none of the parameter blocks in the
+// program are constant.
+class CoordinateDescentMinimizer : public Minimizer {
+ public:
+  bool Init(const Program& program,
+            const ProblemImpl::ParameterMap& parameter_map,
+            const ParameterBlockOrdering& ordering,
+            std::string* error);
+
+  // Minimizer interface.
+  virtual ~CoordinateDescentMinimizer();
+  virtual void Minimize(const Minimizer::Options& options,
+                        double* parameters,
+                        Solver::Summary* summary);
+
+  // Verify that each group in the ordering forms an independent set.
+  static bool IsOrderingValid(const Program& program,
+                              const ParameterBlockOrdering& ordering,
+                              std::string* message);
+
+  // Find a recursive decomposition of the Hessian matrix as a set
+  // of independent sets of decreasing size and invert it. This
+  // seems to work better in practice, i.e., Cameras before
+  // points.
+  static ParameterBlockOrdering* CreateOrdering(const Program& program);
+
+ private:
+  void Solve(Program* program,
+             LinearSolver* linear_solver,
+             double* parameters,
+             Solver::Summary* summary);
+
+  std::vector<ParameterBlock*> parameter_blocks_;
+  std::vector<std::vector<ResidualBlock*> > residual_blocks_;
+  // The optimization is performed in rounds. In each round all the
+  // parameter blocks that form one independent set are optimized in
+  // parallel. This array, marks the boundaries of the independent
+  // sets in parameter_blocks_.
+  std::vector<int> independent_set_offsets_;
+
+  Evaluator::Options evaluator_options_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
diff --git a/internal/ceres/corrector.cc b/internal/ceres/corrector.cc
new file mode 100644
index 0000000..7201828
--- /dev/null
+++ b/internal/ceres/corrector.cc
@@ -0,0 +1,158 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/corrector.h"
+
+#include <cstddef>
+#include <cmath>
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Corrector::Corrector(const double sq_norm, const double rho[3]) {
+  CHECK_GE(sq_norm, 0.0);
+  sqrt_rho1_ = sqrt(rho[1]);
+
+  // If sq_norm = 0.0, the correction becomes trivial, the residual
+  // and the jacobian are scaled by the squareroot of the derivative
+  // of rho. Handling this case explicitly avoids the divide by zero
+  // error that would occur below.
+  //
+  // The case where rho'' < 0 also gets special handling. Technically
+  // it shouldn't, and the computation of the scaling should proceed
+  // as below, however we found in experiments that applying the
+  // curvature correction when rho'' < 0, which is the case when we
+  // are in the outlier region slows down the convergence of the
+  // algorithm significantly.
+  //
+  // Thus, we have divided the action of the robustifier into two
+  // parts. In the inliner region, we do the full second order
+  // correction which re-wights the gradient of the function by the
+  // square root of the derivative of rho, and the Gauss-Newton
+  // Hessian gets both the scaling and the rank-1 curvature
+  // correction. Normaly, alpha is upper bounded by one, but with this
+  // change, alpha is bounded above by zero.
+  //
+  // Empirically we have observed that the full Triggs correction and
+  // the clamped correction both start out as very good approximations
+  // to the loss function when we are in the convex part of the
+  // function, but as the function starts transitioning from convex to
+  // concave, the Triggs approximation diverges more and more and
+  // ultimately becomes linear. The clamped Triggs model however
+  // remains quadratic.
+  //
+  // The reason why the Triggs approximation becomes so poor is
+  // because the curvature correction that it applies to the gauss
+  // newton hessian goes from being a full rank correction to a rank
+  // deficient correction making the inversion of the Hessian fraught
+  // with all sorts of misery and suffering.
+  //
+  // The clamped correction retains its quadratic nature and inverting it
+  // is always well formed.
+  if ((sq_norm == 0.0) || (rho[2] <= 0.0)) {
+    residual_scaling_ = sqrt_rho1_;
+    alpha_sq_norm_ = 0.0;
+    return;
+  }
+
+  // We now require that the first derivative of the loss function be
+  // positive only if the second derivative is positive. This is
+  // because when the second derivative is non-positive, we do not use
+  // the second order correction suggested by BANS and instead use a
+  // simpler first order strategy which does not use a division by the
+  // gradient of the loss function.
+  CHECK_GT(rho[1], 0.0);
+
+  // Calculate the smaller of the two solutions to the equation
+  //
+  // 0.5 *  alpha^2 - alpha - rho'' / rho' *  z'z = 0.
+  //
+  // Start by calculating the discriminant D.
+  const double D = 1.0 + 2.0 * sq_norm * rho[2] / rho[1];
+
+  // Since both rho[1] and rho[2] are guaranteed to be positive at
+  // this point, we know that D > 1.0.
+
+  const double alpha = 1.0 - sqrt(D);
+
+  // Calculate the constants needed by the correction routines.
+  residual_scaling_ = sqrt_rho1_ / (1 - alpha);
+  alpha_sq_norm_ = alpha / sq_norm;
+}
+
+void Corrector::CorrectResiduals(const int num_rows, double* residuals) {
+  DCHECK(residuals != NULL);
+  // Equation 11 in BANS.
+  VectorRef(residuals, num_rows) *= residual_scaling_;
+}
+
+void Corrector::CorrectJacobian(const int num_rows,
+                                const int num_cols,
+                                double* residuals,
+                                double* jacobian) {
+  DCHECK(residuals != NULL);
+  DCHECK(jacobian != NULL);
+
+  // The common case (rho[2] <= 0).
+  if (alpha_sq_norm_ == 0.0) {
+    VectorRef(jacobian, num_rows * num_cols) *= sqrt_rho1_;
+    return;
+  }
+
+  // Equation 11 in BANS.
+  //
+  //  J = sqrt(rho) * (J - alpha^2 r * r' J)
+  //
+  // In days gone by this loop used to be a single Eigen expression of
+  // the form
+  //
+  //  J = sqrt_rho1_ * (J - alpha_sq_norm_ * r* (r.transpose() * J));
+  //
+  // Which turns out to about 17x slower on bal problems. The reason
+  // is that Eigen is unable to figure out that this expression can be
+  // evaluated columnwise and ends up creating a temporary.
+  for (int c = 0; c < num_cols; ++c) {
+    double r_transpose_j = 0.0;
+    for (int r = 0; r < num_rows; ++r) {
+      r_transpose_j += jacobian[r * num_cols + c] * residuals[r];
+    }
+
+    for (int r = 0; r < num_rows; ++r) {
+      jacobian[r * num_cols + c] = sqrt_rho1_ *
+          (jacobian[r * num_cols + c] -
+           alpha_sq_norm_ * residuals[r] * r_transpose_j);
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/corrector.h b/internal/ceres/corrector.h
new file mode 100644
index 0000000..315f012
--- /dev/null
+++ b/internal/ceres/corrector.h
@@ -0,0 +1,90 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Class definition for the object that is responsible for applying a
+// second order correction to the Gauss-Newton based on the ideas in
+// BANS by Triggs et al.
+
+#ifndef CERES_INTERNAL_CORRECTOR_H_
+#define CERES_INTERNAL_CORRECTOR_H_
+
+namespace ceres {
+namespace internal {
+
+// Corrector is responsible for applying the second order correction
+// to the residual and jacobian of a least squares problem based on a
+// radial robust loss.
+//
+// The key idea here is to look at the expressions for the robustified
+// gauss newton approximation and then take its squareroot to get the
+// corresponding corrections to the residual and jacobian.  For the
+// full expressions see Eq. 10 and 11 in BANS by Triggs et al.
+class Corrector {
+ public:
+  // The constructor takes the squared norm, the value, the first and
+  // second derivatives of the LossFunction. It precalculates some of
+  // the constants that are needed to apply the correction. The
+  // correction constant alpha is constrained to be smaller than 1, if
+  // it becomes larger than 1, then it will reverse the sign of the
+  // residual and the correction. If alpha is equal to 1 will result
+  // in a divide by zero error. Thus we constrain alpha to be upper
+  // bounded by 1 - epsilon_.
+  //
+  // rho[1] needs to be positive. The constructor will crash if this
+  // condition is not met.
+  //
+  // In practical use CorrectJacobian should always be called before
+  // CorrectResidual, because the jacobian correction depends on the
+  // value of the uncorrected residual values.
+  explicit Corrector(double sq_norm, const double rho[3]);
+
+  // residuals *= sqrt(rho[1]) / (1 - alpha)
+  void CorrectResiduals(int num_rows, double* residuals);
+
+  // jacobian = sqrt(rho[1]) * jacobian -
+  // sqrt(rho[1]) * alpha / sq_norm * residuals residuals' * jacobian.
+  //
+  // The method assumes that the jacobian has row-major storage. It is
+  // the caller's responsibility to ensure that the pointer to
+  // jacobian is not null.
+  void CorrectJacobian(int num_rows,
+                       int num_cols,
+                       double* residuals,
+                       double* jacobian);
+
+ private:
+  double sqrt_rho1_;
+  double residual_scaling_;
+  double alpha_sq_norm_;
+};
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_CORRECTOR_H_
diff --git a/internal/ceres/corrector_test.cc b/internal/ceres/corrector_test.cc
new file mode 100644
index 0000000..a6581fd
--- /dev/null
+++ b/internal/ceres/corrector_test.cc
@@ -0,0 +1,276 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/corrector.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstring>
+#include <cstdlib>
+#include "gtest/gtest.h"
+#include "ceres/random.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+// If rho[1] is zero, the Corrector constructor should crash.
+TEST(Corrector, ZeroGradientDeathTest) {
+  const double kRho[] = {0.0, 0.0, 1.0};
+  EXPECT_DEATH_IF_SUPPORTED({Corrector c(1.0, kRho);},
+               ".*");
+}
+
+// If rho[1] is negative, the Corrector constructor should crash.
+TEST(Corrector, NegativeGradientDeathTest) {
+  const double kRho[] = {0.0, -0.1, 1.0};
+  EXPECT_DEATH_IF_SUPPORTED({Corrector c(1.0, kRho);},
+               ".*");
+}
+
+TEST(Corrector, ScalarCorrection) {
+  double residuals = sqrt(3.0);
+  double jacobian = 10.0;
+  double sq_norm = residuals * residuals;
+
+  const double kRho[] = {sq_norm, 0.1, -0.01};
+
+  // In light of the rho'' < 0 clamping now implemented in
+  // corrector.cc, alpha = 0 whenever rho'' < 0.
+  const double kAlpha = 0.0;
+
+  // Thus the expected value of the residual is
+  // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
+  const double kExpectedResidual =
+      residuals * sqrt(kRho[1]) / (1 - kAlpha);
+
+  // The jacobian in this case will be
+  // sqrt(kRho[1]) * (1 - kAlpha) * jacobian.
+  const double kExpectedJacobian = sqrt(kRho[1]) * (1 - kAlpha) * jacobian;
+
+  Corrector c(sq_norm, kRho);
+  c.CorrectJacobian(1.0, 1.0, &residuals, &jacobian);
+  c.CorrectResiduals(1.0, &residuals);
+
+  ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+  ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+TEST(Corrector, ScalarCorrectionZeroResidual) {
+  double residuals = 0.0;
+  double jacobian = 10.0;
+  double sq_norm = residuals * residuals;
+
+  const double kRho[] = {0.0, 0.1, -0.01};
+  Corrector c(sq_norm, kRho);
+
+  // The alpha equation is
+  // 1/2 alpha^2 - alpha + 0.0 = 0.
+  // i.e. alpha = 1.0 - sqrt(1.0).
+  //      alpha = 0.0.
+  // Thus the expected value of the residual is
+  // residual[i] * sqrt(kRho[1])
+  const double kExpectedResidual = residuals * sqrt(kRho[1]);
+
+  // The jacobian in this case will be
+  // sqrt(kRho[1]) * jacobian.
+  const double kExpectedJacobian = sqrt(kRho[1]) * jacobian;
+
+  c.CorrectJacobian(1, 1, &residuals, &jacobian);
+  c.CorrectResiduals(1, &residuals);
+
+  ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+  ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+// Scaling behaviour for one dimensional functions.
+TEST(Corrector, ScalarCorrectionAlphaClamped) {
+  double residuals = sqrt(3.0);
+  double jacobian = 10.0;
+  double sq_norm = residuals * residuals;
+
+  const double kRho[] = {3, 0.1, -0.1};
+
+  // rho[2] < 0 -> alpha = 0.0
+  const double kAlpha = 0.0;
+
+  // Thus the expected value of the residual is
+  // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
+  const double kExpectedResidual =
+      residuals * sqrt(kRho[1]) / (1.0 - kAlpha);
+
+  // The jacobian in this case will be scaled by
+  // sqrt(rho[1]) * (1 - alpha) * J.
+  const double kExpectedJacobian = sqrt(kRho[1]) *
+      (1.0 - kAlpha) * jacobian;
+
+  Corrector c(sq_norm, kRho);
+  c.CorrectJacobian(1, 1, &residuals, &jacobian);
+  c.CorrectResiduals(1, &residuals);
+
+  ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+  ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+// Test that the corrected multidimensional residual and jacobians
+// match the expected values and the resulting modified normal
+// equations match the robustified gauss newton approximation.
+TEST(Corrector, MultidimensionalGaussNewtonApproximation) {
+  double residuals[3];
+  double jacobian[2 * 3];
+  double rho[3];
+
+  // Eigen matrix references for linear algebra.
+  MatrixRef jac(jacobian, 3, 2);
+  VectorRef res(residuals, 3);
+
+  // Ground truth values of the modified jacobian and residuals.
+  Matrix g_jac(3, 2);
+  Vector g_res(3);
+
+  // Ground truth values of the robustified Gauss-Newton
+  // approximation.
+  Matrix g_hess(2, 2);
+  Vector g_grad(2);
+
+  // Corrected hessian and gradient implied by the modified jacobian
+  // and hessians.
+  Matrix c_hess(2, 2);
+  Vector c_grad(2);
+
+  srand(5);
+  for (int iter = 0; iter < 10000; ++iter) {
+    // Initialize the jacobian and residual.
+    for (int i = 0; i < 2 * 3; ++i)
+      jacobian[i] = RandDouble();
+    for (int i = 0; i < 3; ++i)
+      residuals[i] = RandDouble();
+
+    const double sq_norm = res.dot(res);
+
+    rho[0] = sq_norm;
+    rho[1] = RandDouble();
+    rho[2] = 2.0 * RandDouble() - 1.0;
+
+    // If rho[2] > 0, then the curvature correction to the correction
+    // and the gauss newton approximation will match. Otherwise, we
+    // will clamp alpha to 0.
+
+    const double kD = 1 + 2 * rho[2] / rho[1] * sq_norm;
+    const double kAlpha = (rho[2] > 0.0) ? 1 - sqrt(kD) : 0.0;
+
+    // Ground truth values.
+    g_res = sqrt(rho[1]) / (1.0 - kAlpha) * res;
+    g_jac = sqrt(rho[1]) * (jac - kAlpha / sq_norm *
+                            res * res.transpose() * jac);
+
+    g_grad = rho[1] * jac.transpose() * res;
+    g_hess = rho[1] * jac.transpose() * jac +
+        2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;
+
+    Corrector c(sq_norm, rho);
+    c.CorrectJacobian(3, 2, residuals, jacobian);
+    c.CorrectResiduals(3, residuals);
+
+    // Corrected gradient and hessian.
+    c_grad  = jac.transpose() * res;
+    c_hess = jac.transpose() * jac;
+
+    ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
+    ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);
+
+    ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
+  }
+}
+
+TEST(Corrector, MultidimensionalGaussNewtonApproximationZeroResidual) {
+  double residuals[3];
+  double jacobian[2 * 3];
+  double rho[3];
+
+  // Eigen matrix references for linear algebra.
+  MatrixRef jac(jacobian, 3, 2);
+  VectorRef res(residuals, 3);
+
+  // Ground truth values of the modified jacobian and residuals.
+  Matrix g_jac(3, 2);
+  Vector g_res(3);
+
+  // Ground truth values of the robustified Gauss-Newton
+  // approximation.
+  Matrix g_hess(2, 2);
+  Vector g_grad(2);
+
+  // Corrected hessian and gradient implied by the modified jacobian
+  // and hessians.
+  Matrix c_hess(2, 2);
+  Vector c_grad(2);
+
+  srand(5);
+  for (int iter = 0; iter < 10000; ++iter) {
+    // Initialize the jacobian.
+    for (int i = 0; i < 2 * 3; ++i)
+      jacobian[i] = RandDouble();
+
+    // Zero residuals
+    res.setZero();
+
+    const double sq_norm = res.dot(res);
+
+    rho[0] = sq_norm;
+    rho[1] = RandDouble();
+    rho[2] = 2 * RandDouble() - 1.0;
+
+    // Ground truth values.
+    g_res = sqrt(rho[1]) * res;
+    g_jac = sqrt(rho[1]) * jac;
+
+    g_grad = rho[1] * jac.transpose() * res;
+    g_hess = rho[1] * jac.transpose() * jac +
+        2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;
+
+    Corrector c(sq_norm, rho);
+    c.CorrectJacobian(3, 2, residuals, jacobian);
+    c.CorrectResiduals(3, residuals);
+
+    // Corrected gradient and hessian.
+    c_grad = jac.transpose() * res;
+    c_hess = jac.transpose() * jac;
+
+    ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
+    ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);
+
+    ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
+    ASSERT_NEAR((g_hess - c_hess).norm(), 0.0, 1e-10);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/cost_function_to_functor_test.cc b/internal/ceres/cost_function_to_functor_test.cc
new file mode 100644
index 0000000..6c9a940
--- /dev/null
+++ b/internal/ceres/cost_function_to_functor_test.cc
@@ -0,0 +1,351 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/cost_function_to_functor.h"
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "ceres/dynamic_cost_function_to_functor.h"
+#include "ceres/autodiff_cost_function.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+const double kTolerance = 1e-18;
+
+void ExpectCostFunctionsAreEqual(const CostFunction& cost_function,
+                                 const CostFunction& actual_cost_function) {
+  EXPECT_EQ(cost_function.num_residuals(),
+            actual_cost_function.num_residuals());
+  const int num_residuals = cost_function.num_residuals();
+  const vector<int32>& parameter_block_sizes =
+      cost_function.parameter_block_sizes();
+  const vector<int32>& actual_parameter_block_sizes =
+      actual_cost_function.parameter_block_sizes();
+  EXPECT_EQ(parameter_block_sizes.size(),
+            actual_parameter_block_sizes.size());
+
+  int num_parameters = 0;
+  for (int i = 0; i < parameter_block_sizes.size(); ++i) {
+    EXPECT_EQ(parameter_block_sizes[i], actual_parameter_block_sizes[i]);
+    num_parameters += parameter_block_sizes[i];
+  }
+
+  scoped_array<double> parameters(new double[num_parameters]);
+  for (int i = 0; i < num_parameters; ++i) {
+    parameters[i] = static_cast<double>(i) + 1.0;
+  }
+
+  scoped_array<double> residuals(new double[num_residuals]);
+  scoped_array<double> jacobians(new double[num_parameters * num_residuals]);
+
+  scoped_array<double> actual_residuals(new double[num_residuals]);
+  scoped_array<double> actual_jacobians
+      (new double[num_parameters * num_residuals]);
+
+  scoped_array<double*> parameter_blocks(
+      new double*[parameter_block_sizes.size()]);
+  scoped_array<double*> jacobian_blocks(
+      new double*[parameter_block_sizes.size()]);
+  scoped_array<double*> actual_jacobian_blocks(
+      new double*[parameter_block_sizes.size()]);
+
+  num_parameters = 0;
+  for (int i = 0; i < parameter_block_sizes.size(); ++i) {
+    parameter_blocks[i] = parameters.get() + num_parameters;
+    jacobian_blocks[i] = jacobians.get() + num_parameters * num_residuals;
+    actual_jacobian_blocks[i] =
+        actual_jacobians.get() + num_parameters * num_residuals;
+    num_parameters += parameter_block_sizes[i];
+  }
+
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
+                                     residuals.get(), NULL));
+  EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
+                                            actual_residuals.get(), NULL));
+  for (int i = 0; i < num_residuals; ++i) {
+    EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
+        << "residual id: " << i;
+  }
+
+
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.get(),
+                                     residuals.get(),
+                                     jacobian_blocks.get()));
+  EXPECT_TRUE(actual_cost_function.Evaluate(parameter_blocks.get(),
+                                            actual_residuals.get(),
+                                            actual_jacobian_blocks.get()));
+  for (int i = 0; i < num_residuals; ++i) {
+    EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
+        << "residual : " << i;
+  }
+
+  for (int i = 0; i < num_residuals * num_parameters; ++i) {
+    EXPECT_NEAR(jacobians[i], actual_jacobians[i], kTolerance)
+        << "jacobian : " << i << " "
+        << jacobians[i] << " " << actual_jacobians[i];
+  }
+}
+
+struct OneParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, T* residuals) const {
+    residuals[0] = x1[0] * x1[0];
+    residuals[1] = x1[1] * x1[1];
+    return true;
+  }
+};
+
+struct TwoParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1];
+    return true;
+  }
+};
+
+struct ThreeParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1];
+    return true;
+  }
+};
+
+struct FourParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+                  T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
+        + x4[0] * x4[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
+        + x4[1] * x4[1];
+    return true;
+  }
+};
+
+struct FiveParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+                  const T* x5, T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
+        + x4[0] * x4[0] + x5[0] * x5[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
+        + x4[1] * x4[1] + x5[1] * x5[1];
+    return true;
+  }
+};
+
+struct SixParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+                  const T* x5, const T* x6,  T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
+        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
+        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1];
+    return true;
+  }
+};
+
+struct SevenParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+                  const T* x5, const T* x6, const T* x7, T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
+        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
+        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1];
+    return true;
+  }
+};
+
+struct EightParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+                  const T* x5, const T* x6, const T* x7, const T* x8,
+                  T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
+        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+        + x8[0] * x8[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
+        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+        + x8[1] * x8[1];
+    return true;
+  }
+};
+
+struct NineParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+                  const T* x5, const T* x6, const T* x7, const T* x8,
+                  const T* x9, T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
+        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+        + x8[0] * x8[0] + x9[0] * x9[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
+        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+        + x8[1] * x8[1] + x9[1] * x9[1];
+    return true;
+  }
+};
+
+struct TenParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(const T* x1, const T* x2, const T* x3, const T* x4,
+                  const T* x5, const T* x6, const T* x7, const T* x8,
+                  const T* x9, const T* x10, T* residuals) const {
+    residuals[0] = x1[0] * x1[0]  + x2[0] * x2[0] + x3[0] * x3[0]
+        + x4[0] * x4[0] + x5[0] * x5[0] + x6[0] * x6[0] + x7[0] * x7[0]
+        + x8[0] * x8[0] + x9[0] * x9[0] + x10[0] * x10[0];
+    residuals[1] = x1[1] * x1[1]  + x2[1] * x2[1] + x3[1] * x3[1]
+        + x4[1] * x4[1] + x5[1] * x5[1] + x6[1] * x6[1] + x7[1] * x7[1]
+        + x8[1] * x8[1] + x9[1] * x9[1] + x10[1] * x10[1];
+    return true;
+  }
+};
+
+class DynamicTwoParameterBlockFunctor {
+ public:
+  template <typename T>
+  bool operator()(T const* const* parameters, T* residuals) const {
+    for (int i = 0; i < 2; ++i) {
+      residuals[0] = parameters[i][0] * parameters[i][0];
+      residuals[1] = parameters[i][1] * parameters[i][1];
+    }
+    return true;
+  }
+};
+
+#define TEST_BODY(NAME)                                                 \
+  TEST(CostFunctionToFunctor, NAME) {                                   \
+    scoped_ptr<CostFunction> cost_function(                             \
+        new AutoDiffCostFunction<                                       \
+            CostFunctionToFunctor<2, PARAMETER_BLOCK_SIZES >,           \
+                2, PARAMETER_BLOCK_SIZES>(new CostFunctionToFunctor<    \
+                    2, PARAMETER_BLOCK_SIZES >(                         \
+                        new AutoDiffCostFunction<                       \
+                            NAME##Functor, 2, PARAMETER_BLOCK_SIZES >(  \
+                  new NAME##Functor))));                                \
+                                                                        \
+scoped_ptr<CostFunction> actual_cost_function(                          \
+    new AutoDiffCostFunction<NAME##Functor, 2, PARAMETER_BLOCK_SIZES >( \
+        new NAME##Functor));                                            \
+ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);     \
+}
+
+#define PARAMETER_BLOCK_SIZES 2
+TEST_BODY(OneParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2
+TEST_BODY(TwoParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2
+TEST_BODY(ThreeParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2
+TEST_BODY(FourParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2
+TEST_BODY(FiveParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2
+TEST_BODY(SixParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2
+TEST_BODY(SevenParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2
+TEST_BODY(EightParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2
+TEST_BODY(NineParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#define PARAMETER_BLOCK_SIZES 2,2,2,2,2,2,2,2,2,2
+TEST_BODY(TenParameterBlock)
+#undef PARAMETER_BLOCK_SIZES
+
+#undef TEST_BODY
+
+TEST(CostFunctionToFunctor, DynamicNumberOfResiduals) {
+  scoped_ptr<CostFunction> cost_function(
+      new AutoDiffCostFunction<
+      CostFunctionToFunctor<ceres::DYNAMIC, 2, 2 >, ceres::DYNAMIC, 2, 2>(
+          new CostFunctionToFunctor<ceres::DYNAMIC, 2, 2 >(
+              new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2 >(
+                  new TwoParameterBlockFunctor)), 2));
+
+  scoped_ptr<CostFunction> actual_cost_function(
+      new AutoDiffCostFunction<TwoParameterBlockFunctor, 2, 2, 2 >(
+          new TwoParameterBlockFunctor));
+  ExpectCostFunctionsAreEqual(*cost_function, *actual_cost_function);
+}
+
+TEST(CostFunctionToFunctor, DynamicCostFunctionToFunctor) {
+  DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>*
+      actual_cost_function(
+      new DynamicAutoDiffCostFunction<DynamicTwoParameterBlockFunctor>(
+          new DynamicTwoParameterBlockFunctor));
+  actual_cost_function->AddParameterBlock(2);
+  actual_cost_function->AddParameterBlock(2);
+  actual_cost_function->SetNumResiduals(2);
+
+  DynamicAutoDiffCostFunction<DynamicCostFunctionToFunctor> cost_function(
+      new DynamicCostFunctionToFunctor(actual_cost_function));
+  cost_function.AddParameterBlock(2);
+  cost_function.AddParameterBlock(2);
+  cost_function.SetNumResiduals(2);
+
+  ExpectCostFunctionsAreEqual(cost_function, *actual_cost_function);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/covariance.cc b/internal/ceres/covariance.cc
new file mode 100644
index 0000000..cb280a3
--- /dev/null
+++ b/internal/ceres/covariance.cc
@@ -0,0 +1,99 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/covariance.h"
+
+#include <utility>
+#include <vector>
+#include "ceres/covariance_impl.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+
+namespace ceres {
+
+using std::make_pair;
+using std::pair;
+using std::vector;
+
+Covariance::Covariance(const Covariance::Options& options) {
+  impl_.reset(new internal::CovarianceImpl(options));
+}
+
+Covariance::~Covariance() {
+}
+
+bool Covariance::Compute(
+    const vector<pair<const double*, const double*> >& covariance_blocks,
+    Problem* problem) {
+  return impl_->Compute(covariance_blocks, problem->problem_impl_.get());
+}
+
+bool Covariance::Compute(
+    const vector<const double*>& parameter_blocks,
+    Problem* problem) {
+  return impl_->Compute(parameter_blocks, problem->problem_impl_.get());
+}
+
+bool Covariance::GetCovarianceBlock(const double* parameter_block1,
+                                    const double* parameter_block2,
+                                    double* covariance_block) const {
+  return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
+                                                          parameter_block2,
+                                                          true,  // ambient
+                                                          covariance_block);
+}
+
+bool Covariance::GetCovarianceBlockInTangentSpace(
+    const double* parameter_block1,
+    const double* parameter_block2,
+    double* covariance_block) const {
+  return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
+                                                          parameter_block2,
+                                                          false,  // tangent
+                                                          covariance_block);
+}
+
+bool Covariance::GetCovarianceMatrix(
+    const vector<const double*>& parameter_blocks,
+    double* covariance_matrix) {
+  return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
+                                                           true,  // ambient
+                                                           covariance_matrix);
+}
+
+bool Covariance::GetCovarianceMatrixInTangentSpace(
+    const std::vector<const double *>& parameter_blocks,
+    double *covariance_matrix) {
+  return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
+                                                           false,  // tangent
+                                                           covariance_matrix);
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
new file mode 100644
index 0000000..1f594c1
--- /dev/null
+++ b/internal/ceres/covariance_impl.cc
@@ -0,0 +1,928 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/covariance_impl.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <algorithm>
+#include <cstdlib>
+#include <numeric>
+#include <sstream>
+#include <utility>
+#include <vector>
+
+#include "Eigen/SparseCore"
+#include "Eigen/SparseQR"
+#include "Eigen/SVD"
+
+#include "ceres/collections_port.h"
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/covariance.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/residual_block.h"
+#include "ceres/suitesparse.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::map;
+using std::pair;
+using std::sort;
+using std::swap;
+using std::vector;
+
+typedef vector<pair<const double*, const double*> > CovarianceBlocks;
+
+CovarianceImpl::CovarianceImpl(const Covariance::Options& options)
+    : options_(options),
+      is_computed_(false),
+      is_valid_(false) {
+#ifndef CERES_USE_OPENMP
+  if (options_.num_threads > 1) {
+    LOG(WARNING)
+        << "OpenMP support is not compiled into this binary; "
+        << "only options.num_threads = 1 is supported. Switching "
+        << "to single threaded mode.";
+    options_.num_threads = 1;
+  }
+#endif
+  evaluate_options_.num_threads = options_.num_threads;
+  evaluate_options_.apply_loss_function = options_.apply_loss_function;
+}
+
+CovarianceImpl::~CovarianceImpl() {
+}
+
+template <typename T> void CheckForDuplicates(vector<T> blocks) {
+  sort(blocks.begin(), blocks.end());
+  typename vector<T>::iterator it =
+      std::adjacent_find(blocks.begin(), blocks.end());
+  if (it != blocks.end()) {
+    // In case there are duplicates, we search for their location.
+    map<T, vector<int> > blocks_map;
+    for (int i = 0; i < blocks.size(); ++i) {
+      blocks_map[blocks[i]].push_back(i);
+    }
+
+    std::ostringstream duplicates;
+    while (it != blocks.end()) {
+      duplicates << "(";
+      for (int i = 0; i < blocks_map[*it].size() - 1; ++i) {
+        duplicates << blocks_map[*it][i] << ", ";
+      }
+      duplicates << blocks_map[*it].back() << ")";
+      it = std::adjacent_find(it + 1, blocks.end());
+      if (it < blocks.end()) {
+        duplicates << " and ";
+      }
+    }
+
+    LOG(FATAL) << "Covariance::Compute called with duplicate blocks at "
+               << "indices " << duplicates.str();
+  }
+}
+
+bool CovarianceImpl::Compute(const CovarianceBlocks& covariance_blocks,
+                             ProblemImpl* problem) {
+  CheckForDuplicates<pair<const double*, const double*> >(covariance_blocks);
+  problem_ = problem;
+  parameter_block_to_row_index_.clear();
+  covariance_matrix_.reset(NULL);
+  is_valid_ = (ComputeCovarianceSparsity(covariance_blocks, problem) &&
+               ComputeCovarianceValues());
+  is_computed_ = true;
+  return is_valid_;
+}
+
+bool CovarianceImpl::Compute(const vector<const double*>& parameter_blocks,
+                             ProblemImpl* problem) {
+  CheckForDuplicates<const double*>(parameter_blocks);
+  CovarianceBlocks covariance_blocks;
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    for (int j = i; j < parameter_blocks.size(); ++j) {
+      covariance_blocks.push_back(make_pair(parameter_blocks[i],
+                                            parameter_blocks[j]));
+    }
+  }
+
+  return Compute(covariance_blocks, problem);
+}
+
+bool CovarianceImpl::GetCovarianceBlockInTangentOrAmbientSpace(
+    const double* original_parameter_block1,
+    const double* original_parameter_block2,
+    bool lift_covariance_to_ambient_space,
+    double* covariance_block) const {
+  CHECK(is_computed_)
+      << "Covariance::GetCovarianceBlock called before Covariance::Compute";
+  CHECK(is_valid_)
+      << "Covariance::GetCovarianceBlock called when Covariance::Compute "
+      << "returned false.";
+
+  // If either of the two parameter blocks is constant, then the
+  // covariance block is also zero.
+  if (constant_parameter_blocks_.count(original_parameter_block1) > 0 ||
+      constant_parameter_blocks_.count(original_parameter_block2) > 0) {
+    const ProblemImpl::ParameterMap& parameter_map = problem_->parameter_map();
+    ParameterBlock* block1 =
+        FindOrDie(parameter_map,
+                  const_cast<double*>(original_parameter_block1));
+
+    ParameterBlock* block2 =
+        FindOrDie(parameter_map,
+                  const_cast<double*>(original_parameter_block2));
+
+    const int block1_size = block1->Size();
+    const int block2_size = block2->Size();
+    const int block1_local_size = block1->LocalSize();
+    const int block2_local_size = block2->LocalSize();
+    if (!lift_covariance_to_ambient_space) {
+      MatrixRef(covariance_block, block1_local_size, block2_local_size)
+          .setZero();
+    } else {
+      MatrixRef(covariance_block, block1_size, block2_size).setZero();
+    }
+    return true;
+  }
+
+  const double* parameter_block1 = original_parameter_block1;
+  const double* parameter_block2 = original_parameter_block2;
+  const bool transpose = parameter_block1 > parameter_block2;
+  if (transpose) {
+    swap(parameter_block1, parameter_block2);
+  }
+
+  // Find where in the covariance matrix the block is located.
+  const int row_begin =
+      FindOrDie(parameter_block_to_row_index_, parameter_block1);
+  const int col_begin =
+      FindOrDie(parameter_block_to_row_index_, parameter_block2);
+  const int* rows = covariance_matrix_->rows();
+  const int* cols = covariance_matrix_->cols();
+  const int row_size = rows[row_begin + 1] - rows[row_begin];
+  const int* cols_begin = cols + rows[row_begin];
+
+  // The only part that requires work is walking the compressed column
+  // vector to determine where the set of columns correspnding to the
+  // covariance block begin.
+  int offset = 0;
+  while (cols_begin[offset] != col_begin && offset < row_size) {
+    ++offset;
+  }
+
+  if (offset == row_size) {
+    LOG(ERROR) << "Unable to find covariance block for "
+               << original_parameter_block1 << " "
+               << original_parameter_block2;
+    return false;
+  }
+
+  const ProblemImpl::ParameterMap& parameter_map = problem_->parameter_map();
+  ParameterBlock* block1 =
+      FindOrDie(parameter_map, const_cast<double*>(parameter_block1));
+  ParameterBlock* block2 =
+      FindOrDie(parameter_map, const_cast<double*>(parameter_block2));
+  const LocalParameterization* local_param1 = block1->local_parameterization();
+  const LocalParameterization* local_param2 = block2->local_parameterization();
+  const int block1_size = block1->Size();
+  const int block1_local_size = block1->LocalSize();
+  const int block2_size = block2->Size();
+  const int block2_local_size = block2->LocalSize();
+
+  ConstMatrixRef cov(covariance_matrix_->values() + rows[row_begin],
+                     block1_size,
+                     row_size);
+
+  // Fast path when there are no local parameterizations or if the
+  // user does not want it lifted to the ambient space.
+  if ((local_param1 == NULL && local_param2 == NULL) ||
+      !lift_covariance_to_ambient_space) {
+    if (transpose) {
+      MatrixRef(covariance_block, block2_local_size, block1_local_size) =
+          cov.block(0, offset, block1_local_size,
+                    block2_local_size).transpose();
+    } else {
+      MatrixRef(covariance_block, block1_local_size, block2_local_size) =
+          cov.block(0, offset, block1_local_size, block2_local_size);
+    }
+    return true;
+  }
+
+  // If local parameterizations are used then the covariance that has
+  // been computed is in the tangent space and it needs to be lifted
+  // back to the ambient space.
+  //
+  // This is given by the formula
+  //
+  //  C'_12 = J_1 C_12 J_2'
+  //
+  // Where C_12 is the local tangent space covariance for parameter
+  // blocks 1 and 2. J_1 and J_2 are respectively the local to global
+  // jacobians for parameter blocks 1 and 2.
+  //
+  // See Result 5.11 on page 142 of Hartley & Zisserman (2nd Edition)
+  // for a proof.
+  //
+  // TODO(sameeragarwal): Add caching of local parameterization, so
+  // that they are computed just once per parameter block.
+  Matrix block1_jacobian(block1_size, block1_local_size);
+  if (local_param1 == NULL) {
+    block1_jacobian.setIdentity();
+  } else {
+    local_param1->ComputeJacobian(parameter_block1, block1_jacobian.data());
+  }
+
+  Matrix block2_jacobian(block2_size, block2_local_size);
+  // Fast path if the user is requesting a diagonal block.
+  if (parameter_block1 == parameter_block2) {
+    block2_jacobian = block1_jacobian;
+  } else {
+    if (local_param2 == NULL) {
+      block2_jacobian.setIdentity();
+    } else {
+      local_param2->ComputeJacobian(parameter_block2, block2_jacobian.data());
+    }
+  }
+
+  if (transpose) {
+    MatrixRef(covariance_block, block2_size, block1_size) =
+        block2_jacobian *
+        cov.block(0, offset, block1_local_size, block2_local_size).transpose() *
+        block1_jacobian.transpose();
+  } else {
+    MatrixRef(covariance_block, block1_size, block2_size) =
+        block1_jacobian *
+        cov.block(0, offset, block1_local_size, block2_local_size) *
+        block2_jacobian.transpose();
+  }
+
+  return true;
+}
+
+bool CovarianceImpl::GetCovarianceMatrixInTangentOrAmbientSpace(
+    const vector<const double*>& parameters,
+    bool lift_covariance_to_ambient_space,
+    double* covariance_matrix) const {
+  CHECK(is_computed_)
+      << "Covariance::GetCovarianceMatrix called before Covariance::Compute";
+  CHECK(is_valid_)
+      << "Covariance::GetCovarianceMatrix called when Covariance::Compute "
+      << "returned false.";
+
+  const ProblemImpl::ParameterMap& parameter_map = problem_->parameter_map();
+  // For OpenMP compatibility we need to define these vectors in advance
+  const int num_parameters = parameters.size();
+  vector<int> parameter_sizes;
+  vector<int> cum_parameter_size;
+  parameter_sizes.reserve(num_parameters);
+  cum_parameter_size.resize(num_parameters + 1);
+  cum_parameter_size[0] = 0;
+  for (int i = 0; i < num_parameters; ++i) {
+    ParameterBlock* block =
+        FindOrDie(parameter_map, const_cast<double*>(parameters[i]));
+    if (lift_covariance_to_ambient_space) {
+      parameter_sizes.push_back(block->Size());
+    } else {
+      parameter_sizes.push_back(block->LocalSize());
+    }
+  }
+  std::partial_sum(parameter_sizes.begin(), parameter_sizes.end(),
+                   cum_parameter_size.begin() + 1);
+  const int max_covariance_block_size =
+      *std::max_element(parameter_sizes.begin(), parameter_sizes.end());
+  const int covariance_size = cum_parameter_size.back();
+
+  // Assemble the blocks in the covariance matrix.
+  MatrixRef covariance(covariance_matrix, covariance_size, covariance_size);
+  const int num_threads = options_.num_threads;
+  scoped_array<double> workspace(
+      new double[num_threads * max_covariance_block_size *
+                 max_covariance_block_size]);
+
+  bool success = true;
+
+// The collapse() directive is only supported in OpenMP 3.0 and higher. OpenMP
+// 3.0 was released in May 2008 (hence the version number).
+#if _OPENMP >= 200805
+#  pragma omp parallel for num_threads(num_threads) schedule(dynamic) collapse(2)
+#else
+#  pragma omp parallel for num_threads(num_threads) schedule(dynamic)
+#endif
+  for (int i = 0; i < num_parameters; ++i) {
+    for (int j = 0; j < num_parameters; ++j) {
+      // The second loop can't start from j = i for compatibility with OpenMP
+      // collapse command. The conditional serves as a workaround
+      if (j >= i) {
+        int covariance_row_idx = cum_parameter_size[i];
+        int covariance_col_idx = cum_parameter_size[j];
+        int size_i = parameter_sizes[i];
+        int size_j = parameter_sizes[j];
+#ifdef CERES_USE_OPENMP
+        int thread_id = omp_get_thread_num();
+#else
+        int thread_id = 0;
+#endif
+        double* covariance_block =
+            workspace.get() +
+            thread_id * max_covariance_block_size * max_covariance_block_size;
+        if (!GetCovarianceBlockInTangentOrAmbientSpace(
+                parameters[i], parameters[j], lift_covariance_to_ambient_space,
+                covariance_block)) {
+          success = false;
+        }
+
+        covariance.block(covariance_row_idx, covariance_col_idx,
+                         size_i, size_j) =
+            MatrixRef(covariance_block, size_i, size_j);
+
+        if (i != j) {
+          covariance.block(covariance_col_idx, covariance_row_idx,
+                           size_j, size_i) =
+              MatrixRef(covariance_block, size_i, size_j).transpose();
+
+        }
+      }
+    }
+  }
+  return success;
+}
+
+// Determine the sparsity pattern of the covariance matrix based on
+// the block pairs requested by the user.
+bool CovarianceImpl::ComputeCovarianceSparsity(
+    const CovarianceBlocks&  original_covariance_blocks,
+    ProblemImpl* problem) {
+  EventLogger event_logger("CovarianceImpl::ComputeCovarianceSparsity");
+
+  // Determine an ordering for the parameter block, by sorting the
+  // parameter blocks by their pointers.
+  vector<double*> all_parameter_blocks;
+  problem->GetParameterBlocks(&all_parameter_blocks);
+  const ProblemImpl::ParameterMap& parameter_map = problem->parameter_map();
+  HashSet<ParameterBlock*> parameter_blocks_in_use;
+  vector<ResidualBlock*> residual_blocks;
+  problem->GetResidualBlocks(&residual_blocks);
+
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    ResidualBlock* residual_block = residual_blocks[i];
+    parameter_blocks_in_use.insert(residual_block->parameter_blocks(),
+                                   residual_block->parameter_blocks() +
+                                   residual_block->NumParameterBlocks());
+  }
+
+  constant_parameter_blocks_.clear();
+  vector<double*>& active_parameter_blocks =
+      evaluate_options_.parameter_blocks;
+  active_parameter_blocks.clear();
+  for (int i = 0; i < all_parameter_blocks.size(); ++i) {
+    double* parameter_block = all_parameter_blocks[i];
+    ParameterBlock* block = FindOrDie(parameter_map, parameter_block);
+    if (!block->IsConstant() && (parameter_blocks_in_use.count(block) > 0)) {
+      active_parameter_blocks.push_back(parameter_block);
+    } else {
+      constant_parameter_blocks_.insert(parameter_block);
+    }
+  }
+
+  std::sort(active_parameter_blocks.begin(), active_parameter_blocks.end());
+
+  // Compute the number of rows.  Map each parameter block to the
+  // first row corresponding to it in the covariance matrix using the
+  // ordering of parameter blocks just constructed.
+  int num_rows = 0;
+  parameter_block_to_row_index_.clear();
+  for (int i = 0; i < active_parameter_blocks.size(); ++i) {
+    double* parameter_block = active_parameter_blocks[i];
+    const int parameter_block_size =
+        problem->ParameterBlockLocalSize(parameter_block);
+    parameter_block_to_row_index_[parameter_block] = num_rows;
+    num_rows += parameter_block_size;
+  }
+
+  // Compute the number of non-zeros in the covariance matrix.  Along
+  // the way flip any covariance blocks which are in the lower
+  // triangular part of the matrix.
+  int num_nonzeros = 0;
+  CovarianceBlocks covariance_blocks;
+  for (int i = 0; i <  original_covariance_blocks.size(); ++i) {
+    const pair<const double*, const double*>& block_pair =
+        original_covariance_blocks[i];
+    if (constant_parameter_blocks_.count(block_pair.first) > 0 ||
+        constant_parameter_blocks_.count(block_pair.second) > 0) {
+      continue;
+    }
+
+    int index1 = FindOrDie(parameter_block_to_row_index_, block_pair.first);
+    int index2 = FindOrDie(parameter_block_to_row_index_, block_pair.second);
+    const int size1 = problem->ParameterBlockLocalSize(block_pair.first);
+    const int size2 = problem->ParameterBlockLocalSize(block_pair.second);
+    num_nonzeros += size1 * size2;
+
+    // Make sure we are constructing a block upper triangular matrix.
+    if (index1 > index2) {
+      covariance_blocks.push_back(make_pair(block_pair.second,
+                                            block_pair.first));
+    } else {
+      covariance_blocks.push_back(block_pair);
+    }
+  }
+
+  if (covariance_blocks.size() == 0) {
+    VLOG(2) << "No non-zero covariance blocks found";
+    covariance_matrix_.reset(NULL);
+    return true;
+  }
+
+  // Sort the block pairs. As a consequence we get the covariance
+  // blocks as they will occur in the CompressedRowSparseMatrix that
+  // will store the covariance.
+  sort(covariance_blocks.begin(), covariance_blocks.end());
+
+  // Fill the sparsity pattern of the covariance matrix.
+  covariance_matrix_.reset(
+      new CompressedRowSparseMatrix(num_rows, num_rows, num_nonzeros));
+
+  int* rows = covariance_matrix_->mutable_rows();
+  int* cols = covariance_matrix_->mutable_cols();
+
+  // Iterate over parameter blocks and in turn over the rows of the
+  // covariance matrix. For each parameter block, look in the upper
+  // triangular part of the covariance matrix to see if there are any
+  // blocks requested by the user. If this is the case then fill out a
+  // set of compressed rows corresponding to this parameter block.
+  //
+  // The key thing that makes this loop work is the fact that the
+  // row/columns of the covariance matrix are ordered by the pointer
+  // values of the parameter blocks. Thus iterating over the keys of
+  // parameter_block_to_row_index_ corresponds to iterating over the
+  // rows of the covariance matrix in order.
+  int i = 0;  // index into covariance_blocks.
+  int cursor = 0;  // index into the covariance matrix.
+  for (map<const double*, int>::const_iterator it =
+           parameter_block_to_row_index_.begin();
+       it != parameter_block_to_row_index_.end();
+       ++it) {
+    const double* row_block =  it->first;
+    const int row_block_size = problem->ParameterBlockLocalSize(row_block);
+    int row_begin = it->second;
+
+    // Iterate over the covariance blocks contained in this row block
+    // and count the number of columns in this row block.
+    int num_col_blocks = 0;
+    int num_columns = 0;
+    for (int j = i; j < covariance_blocks.size(); ++j, ++num_col_blocks) {
+      const pair<const double*, const double*>& block_pair =
+          covariance_blocks[j];
+      if (block_pair.first != row_block) {
+        break;
+      }
+      num_columns += problem->ParameterBlockLocalSize(block_pair.second);
+    }
+
+    // Fill out all the compressed rows for this parameter block.
+    for (int r = 0; r < row_block_size; ++r) {
+      rows[row_begin + r] = cursor;
+      for (int c = 0; c < num_col_blocks; ++c) {
+        const double* col_block = covariance_blocks[i + c].second;
+        const int col_block_size = problem->ParameterBlockLocalSize(col_block);
+        int col_begin = FindOrDie(parameter_block_to_row_index_, col_block);
+        for (int k = 0; k < col_block_size; ++k) {
+          cols[cursor++] = col_begin++;
+        }
+      }
+    }
+
+    i+= num_col_blocks;
+  }
+
+  rows[num_rows] = cursor;
+  return true;
+}
+
+bool CovarianceImpl::ComputeCovarianceValues() {
+  if (options_.algorithm_type == DENSE_SVD) {
+    return ComputeCovarianceValuesUsingDenseSVD();
+  }
+
+  if (options_.algorithm_type == SPARSE_QR) {
+    if (options_.sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+      return ComputeCovarianceValuesUsingEigenSparseQR();
+    }
+
+    if (options_.sparse_linear_algebra_library_type == SUITE_SPARSE) {
+#if !defined(CERES_NO_SUITESPARSE)
+      return ComputeCovarianceValuesUsingSuiteSparseQR();
+#else
+      LOG(ERROR) << "SuiteSparse is required to use the SPARSE_QR algorithm "
+                 << "with "
+                 << "Covariance::Options::sparse_linear_algebra_library_type "
+                 << "= SUITE_SPARSE.";
+      return false;
+#endif
+    }
+
+    LOG(ERROR) << "Unsupported "
+               << "Covariance::Options::sparse_linear_algebra_library_type "
+               << "= "
+               << SparseLinearAlgebraLibraryTypeToString(
+                      options_.sparse_linear_algebra_library_type);
+    return false;
+  }
+
+  LOG(ERROR) << "Unsupported Covariance::Options::algorithm_type = "
+             << CovarianceAlgorithmTypeToString(options_.algorithm_type);
+  return false;
+}
+
+bool CovarianceImpl::ComputeCovarianceValuesUsingSuiteSparseQR() {
+  EventLogger event_logger(
+      "CovarianceImpl::ComputeCovarianceValuesUsingSparseQR");
+
+#ifndef CERES_NO_SUITESPARSE
+  if (covariance_matrix_.get() == NULL) {
+    // Nothing to do, all zeros covariance matrix.
+    return true;
+  }
+
+  CRSMatrix jacobian;
+  problem_->Evaluate(evaluate_options_, NULL, NULL, NULL, &jacobian);
+  event_logger.AddEvent("Evaluate");
+
+  // Construct a compressed column form of the Jacobian.
+  const int num_rows = jacobian.num_rows;
+  const int num_cols = jacobian.num_cols;
+  const int num_nonzeros = jacobian.values.size();
+
+  vector<SuiteSparse_long> transpose_rows(num_cols + 1, 0);
+  vector<SuiteSparse_long> transpose_cols(num_nonzeros, 0);
+  vector<double> transpose_values(num_nonzeros, 0);
+
+  for (int idx = 0; idx < num_nonzeros; ++idx) {
+    transpose_rows[jacobian.cols[idx] + 1] += 1;
+  }
+
+  for (int i = 1; i < transpose_rows.size(); ++i) {
+    transpose_rows[i] += transpose_rows[i - 1];
+  }
+
+  for (int r = 0; r < num_rows; ++r) {
+    for (int idx = jacobian.rows[r]; idx < jacobian.rows[r + 1]; ++idx) {
+      const int c = jacobian.cols[idx];
+      const int transpose_idx = transpose_rows[c];
+      transpose_cols[transpose_idx] = r;
+      transpose_values[transpose_idx] = jacobian.values[idx];
+      ++transpose_rows[c];
+    }
+  }
+
+  for (int i = transpose_rows.size() - 1; i > 0 ; --i) {
+    transpose_rows[i] = transpose_rows[i - 1];
+  }
+  transpose_rows[0] = 0;
+
+  cholmod_sparse cholmod_jacobian;
+  cholmod_jacobian.nrow = num_rows;
+  cholmod_jacobian.ncol = num_cols;
+  cholmod_jacobian.nzmax = num_nonzeros;
+  cholmod_jacobian.nz = NULL;
+  cholmod_jacobian.p = reinterpret_cast<void*>(&transpose_rows[0]);
+  cholmod_jacobian.i = reinterpret_cast<void*>(&transpose_cols[0]);
+  cholmod_jacobian.x = reinterpret_cast<void*>(&transpose_values[0]);
+  cholmod_jacobian.z = NULL;
+  cholmod_jacobian.stype = 0;  // Matrix is not symmetric.
+  cholmod_jacobian.itype = CHOLMOD_LONG;
+  cholmod_jacobian.xtype = CHOLMOD_REAL;
+  cholmod_jacobian.dtype = CHOLMOD_DOUBLE;
+  cholmod_jacobian.sorted = 1;
+  cholmod_jacobian.packed = 1;
+
+  cholmod_common cc;
+  cholmod_l_start(&cc);
+
+  cholmod_sparse* R = NULL;
+  SuiteSparse_long* permutation = NULL;
+
+  // Compute a Q-less QR factorization of the Jacobian. Since we are
+  // only interested in inverting J'J = R'R, we do not need Q. This
+  // saves memory and gives us R as a permuted compressed column
+  // sparse matrix.
+  //
+  // TODO(sameeragarwal): Currently the symbolic factorization and the
+  // numeric factorization is done at the same time, and this does not
+  // explicitly account for the block column and row structure in the
+  // matrix. When using AMD, we have observed in the past that
+  // computing the ordering with the block matrix is significantly
+  // more efficient, both in runtime as well as the quality of
+  // ordering computed. So, it maybe worth doing that analysis
+  // separately.
+  const SuiteSparse_long rank =
+      SuiteSparseQR<double>(SPQR_ORDERING_BESTAMD,
+                            SPQR_DEFAULT_TOL,
+                            cholmod_jacobian.ncol,
+                            &cholmod_jacobian,
+                            &R,
+                            &permutation,
+                            &cc);
+  event_logger.AddEvent("Numeric Factorization");
+  CHECK_NOTNULL(permutation);
+  CHECK_NOTNULL(R);
+
+  if (rank < cholmod_jacobian.ncol) {
+    LOG(ERROR) << "Jacobian matrix is rank deficient. "
+               << "Number of columns: " << cholmod_jacobian.ncol
+               << " rank: " << rank;
+    free(permutation);
+    cholmod_l_free_sparse(&R, &cc);
+    cholmod_l_finish(&cc);
+    return false;
+  }
+
+  vector<int> inverse_permutation(num_cols);
+  for (SuiteSparse_long i = 0; i < num_cols; ++i) {
+    inverse_permutation[permutation[i]] = i;
+  }
+
+  const int* rows = covariance_matrix_->rows();
+  const int* cols = covariance_matrix_->cols();
+  double* values = covariance_matrix_->mutable_values();
+
+  // The following loop exploits the fact that the i^th column of A^{-1}
+  // is given by the solution to the linear system
+  //
+  //  A x = e_i
+  //
+  // where e_i is a vector with e(i) = 1 and all other entries zero.
+  //
+  // Since the covariance matrix is symmetric, the i^th row and column
+  // are equal.
+  const int num_threads = options_.num_threads;
+  scoped_array<double> workspace(new double[num_threads * num_cols]);
+
+#pragma omp parallel for num_threads(num_threads) schedule(dynamic)
+  for (int r = 0; r < num_cols; ++r) {
+    const int row_begin = rows[r];
+    const int row_end = rows[r + 1];
+    if (row_end == row_begin) {
+      continue;
+    }
+
+#  ifdef CERES_USE_OPENMP
+    int thread_id = omp_get_thread_num();
+#  else
+    int thread_id = 0;
+#  endif
+
+    double* solution = workspace.get() + thread_id * num_cols;
+    SolveRTRWithSparseRHS<SuiteSparse_long>(
+        num_cols,
+        static_cast<SuiteSparse_long*>(R->i),
+        static_cast<SuiteSparse_long*>(R->p),
+        static_cast<double*>(R->x),
+        inverse_permutation[r],
+        solution);
+    for (int idx = row_begin; idx < row_end; ++idx) {
+     const int c = cols[idx];
+     values[idx] = solution[inverse_permutation[c]];
+    }
+  }
+
+  free(permutation);
+  cholmod_l_free_sparse(&R, &cc);
+  cholmod_l_finish(&cc);
+  event_logger.AddEvent("Inversion");
+  return true;
+
+#else  // CERES_NO_SUITESPARSE
+
+  return false;
+
+#endif  // CERES_NO_SUITESPARSE
+}
+
+bool CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD() {
+  EventLogger event_logger(
+      "CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD");
+  if (covariance_matrix_.get() == NULL) {
+    // Nothing to do, all zeros covariance matrix.
+    return true;
+  }
+
+  CRSMatrix jacobian;
+  problem_->Evaluate(evaluate_options_, NULL, NULL, NULL, &jacobian);
+  event_logger.AddEvent("Evaluate");
+
+  Matrix dense_jacobian(jacobian.num_rows, jacobian.num_cols);
+  dense_jacobian.setZero();
+  for (int r = 0; r < jacobian.num_rows; ++r) {
+    for (int idx = jacobian.rows[r]; idx < jacobian.rows[r + 1]; ++idx) {
+      const int c = jacobian.cols[idx];
+      dense_jacobian(r, c) = jacobian.values[idx];
+    }
+  }
+  event_logger.AddEvent("ConvertToDenseMatrix");
+
+  Eigen::JacobiSVD<Matrix> svd(dense_jacobian,
+                               Eigen::ComputeThinU | Eigen::ComputeThinV);
+
+  event_logger.AddEvent("SingularValueDecomposition");
+
+  const Vector singular_values = svd.singularValues();
+  const int num_singular_values = singular_values.rows();
+  Vector inverse_squared_singular_values(num_singular_values);
+  inverse_squared_singular_values.setZero();
+
+  const double max_singular_value = singular_values[0];
+  const double min_singular_value_ratio =
+      sqrt(options_.min_reciprocal_condition_number);
+
+  const bool automatic_truncation = (options_.null_space_rank < 0);
+  const int max_rank = std::min(num_singular_values,
+                                num_singular_values - options_.null_space_rank);
+
+  // Compute the squared inverse of the singular values. Truncate the
+  // computation based on min_singular_value_ratio and
+  // null_space_rank. When either of these two quantities are active,
+  // the resulting covariance matrix is a Moore-Penrose inverse
+  // instead of a regular inverse.
+  for (int i = 0; i < max_rank; ++i) {
+    const double singular_value_ratio = singular_values[i] / max_singular_value;
+    if (singular_value_ratio < min_singular_value_ratio) {
+      // Since the singular values are in decreasing order, if
+      // automatic truncation is enabled, then from this point on
+      // all values will fail the ratio test and there is nothing to
+      // do in this loop.
+      if (automatic_truncation) {
+        break;
+      } else {
+        LOG(ERROR) << "Error: Covariance matrix is near rank deficient "
+                   << "and the user did not specify a non-zero"
+                   << "Covariance::Options::null_space_rank "
+                   << "to enable the computation of a Pseudo-Inverse. "
+                   << "Reciprocal condition number: "
+                   << singular_value_ratio * singular_value_ratio << " "
+                   << "min_reciprocal_condition_number: "
+                   << options_.min_reciprocal_condition_number;
+        return false;
+      }
+    }
+
+    inverse_squared_singular_values[i] =
+        1.0 / (singular_values[i] * singular_values[i]);
+  }
+
+  Matrix dense_covariance =
+      svd.matrixV() *
+      inverse_squared_singular_values.asDiagonal() *
+      svd.matrixV().transpose();
+  event_logger.AddEvent("PseudoInverse");
+
+  const int num_rows = covariance_matrix_->num_rows();
+  const int* rows = covariance_matrix_->rows();
+  const int* cols = covariance_matrix_->cols();
+  double* values = covariance_matrix_->mutable_values();
+
+  for (int r = 0; r < num_rows; ++r) {
+    for (int idx = rows[r]; idx < rows[r + 1]; ++idx) {
+      const int c = cols[idx];
+      values[idx] = dense_covariance(r, c);
+    }
+  }
+  event_logger.AddEvent("CopyToCovarianceMatrix");
+  return true;
+}
+
+bool CovarianceImpl::ComputeCovarianceValuesUsingEigenSparseQR() {
+  EventLogger event_logger(
+      "CovarianceImpl::ComputeCovarianceValuesUsingEigenSparseQR");
+  if (covariance_matrix_.get() == NULL) {
+    // Nothing to do, all zeros covariance matrix.
+    return true;
+  }
+
+  CRSMatrix jacobian;
+  problem_->Evaluate(evaluate_options_, NULL, NULL, NULL, &jacobian);
+  event_logger.AddEvent("Evaluate");
+
+  typedef Eigen::SparseMatrix<double, Eigen::ColMajor> EigenSparseMatrix;
+
+  // Convert the matrix to column major order as required by SparseQR.
+  EigenSparseMatrix sparse_jacobian =
+      Eigen::MappedSparseMatrix<double, Eigen::RowMajor>(
+          jacobian.num_rows, jacobian.num_cols,
+          static_cast<int>(jacobian.values.size()),
+          jacobian.rows.data(), jacobian.cols.data(), jacobian.values.data());
+  event_logger.AddEvent("ConvertToSparseMatrix");
+
+  Eigen::SparseQR<EigenSparseMatrix, Eigen::COLAMDOrdering<int> >
+      qr_solver(sparse_jacobian);
+  event_logger.AddEvent("QRDecomposition");
+
+  if (qr_solver.info() != Eigen::Success) {
+    LOG(ERROR) << "Eigen::SparseQR decomposition failed.";
+    return false;
+  }
+
+  if (qr_solver.rank() < jacobian.num_cols) {
+    LOG(ERROR) << "Jacobian matrix is rank deficient. "
+               << "Number of columns: " << jacobian.num_cols
+               << " rank: " << qr_solver.rank();
+    return false;
+  }
+
+  const int* rows = covariance_matrix_->rows();
+  const int* cols = covariance_matrix_->cols();
+  double* values = covariance_matrix_->mutable_values();
+
+  // Compute the inverse column permutation used by QR factorization.
+  Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic> inverse_permutation =
+      qr_solver.colsPermutation().inverse();
+
+  // The following loop exploits the fact that the i^th column of A^{-1}
+  // is given by the solution to the linear system
+  //
+  //  A x = e_i
+  //
+  // where e_i is a vector with e(i) = 1 and all other entries zero.
+  //
+  // Since the covariance matrix is symmetric, the i^th row and column
+  // are equal.
+  const int num_cols = jacobian.num_cols;
+  const int num_threads = options_.num_threads;
+  scoped_array<double> workspace(new double[num_threads * num_cols]);
+
+#pragma omp parallel for num_threads(num_threads) schedule(dynamic)
+  for (int r = 0; r < num_cols; ++r) {
+    const int row_begin = rows[r];
+    const int row_end = rows[r + 1];
+    if (row_end == row_begin) {
+      continue;
+    }
+
+#  ifdef CERES_USE_OPENMP
+    int thread_id = omp_get_thread_num();
+#  else
+    int thread_id = 0;
+#  endif
+
+    double* solution = workspace.get() + thread_id * num_cols;
+    SolveRTRWithSparseRHS<int>(
+        num_cols,
+        qr_solver.matrixR().innerIndexPtr(),
+        qr_solver.matrixR().outerIndexPtr(),
+        &qr_solver.matrixR().data().value(0),
+        inverse_permutation.indices().coeff(r),
+        solution);
+
+    // Assign the values of the computed covariance using the
+    // inverse permutation used in the QR factorization.
+    for (int idx = row_begin; idx < row_end; ++idx) {
+     const int c = cols[idx];
+     values[idx] = solution[inverse_permutation.indices().coeff(c)];
+    }
+  }
+
+  event_logger.AddEvent("Inverse");
+
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/covariance_impl.h b/internal/ceres/covariance_impl.h
new file mode 100644
index 0000000..a3f0761
--- /dev/null
+++ b/internal/ceres/covariance_impl.h
@@ -0,0 +1,101 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_COVARIANCE_IMPL_H_
+#define CERES_INTERNAL_COVARIANCE_IMPL_H_
+
+#include <map>
+#include <set>
+#include <utility>
+#include <vector>
+#include "ceres/covariance.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/problem_impl.h"
+#include "ceres/suitesparse.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+
+class CovarianceImpl {
+ public:
+  explicit CovarianceImpl(const Covariance::Options& options);
+  ~CovarianceImpl();
+
+  bool Compute(
+      const std::vector<std::pair<const double*,
+                                  const double*> >& covariance_blocks,
+      ProblemImpl* problem);
+
+  bool Compute(
+      const std::vector<const double*>& parameter_blocks,
+      ProblemImpl* problem);
+
+  bool GetCovarianceBlockInTangentOrAmbientSpace(
+      const double* parameter_block1,
+      const double* parameter_block2,
+      bool lift_covariance_to_ambient_space,
+      double* covariance_block) const;
+
+  bool GetCovarianceMatrixInTangentOrAmbientSpace(
+      const std::vector<const double*>& parameters,
+      bool lift_covariance_to_ambient_space,
+      double *covariance_matrix) const;
+
+  bool ComputeCovarianceSparsity(
+      const std::vector<std::pair<const double*,
+                                  const double*> >& covariance_blocks,
+      ProblemImpl* problem);
+
+  bool ComputeCovarianceValues();
+  bool ComputeCovarianceValuesUsingDenseSVD();
+  bool ComputeCovarianceValuesUsingSuiteSparseQR();
+  bool ComputeCovarianceValuesUsingEigenSparseQR();
+
+  const CompressedRowSparseMatrix* covariance_matrix() const {
+    return covariance_matrix_.get();
+  }
+
+ private:
+  ProblemImpl* problem_;
+  Covariance::Options options_;
+  Problem::EvaluateOptions evaluate_options_;
+  bool is_computed_;
+  bool is_valid_;
+  std::map<const double*, int> parameter_block_to_row_index_;
+  std::set<const double*> constant_parameter_blocks_;
+  scoped_ptr<CompressedRowSparseMatrix> covariance_matrix_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_COVARIANCE_IMPL_H_
diff --git a/internal/ceres/covariance_test.cc b/internal/ceres/covariance_test.cc
new file mode 100644
index 0000000..92a7626
--- /dev/null
+++ b/internal/ceres/covariance_test.cc
@@ -0,0 +1,1277 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/covariance.h"
+
+#include <algorithm>
+#include <cmath>
+#include <map>
+#include <utility>
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/covariance_impl.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/map_util.h"
+#include "ceres/problem_impl.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::map;
+using std::pair;
+using std::vector;
+
+class UnaryCostFunction: public CostFunction {
+ public:
+  UnaryCostFunction(const int num_residuals,
+                    const int32 parameter_block_size,
+                    const double* jacobian)
+      : jacobian_(jacobian, jacobian + num_residuals * parameter_block_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block_size);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 1;
+    }
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    if (jacobians[0] != NULL) {
+      copy(jacobian_.begin(), jacobian_.end(), jacobians[0]);
+    }
+
+    return true;
+  }
+
+ private:
+  vector<double> jacobian_;
+};
+
+
+class BinaryCostFunction: public CostFunction {
+ public:
+  BinaryCostFunction(const int num_residuals,
+                     const int32 parameter_block1_size,
+                     const int32 parameter_block2_size,
+                     const double* jacobian1,
+                     const double* jacobian2)
+      : jacobian1_(jacobian1,
+                   jacobian1 + num_residuals * parameter_block1_size),
+        jacobian2_(jacobian2,
+                   jacobian2 + num_residuals * parameter_block2_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 2;
+    }
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    if (jacobians[0] != NULL) {
+      copy(jacobian1_.begin(), jacobian1_.end(), jacobians[0]);
+    }
+
+    if (jacobians[1] != NULL) {
+      copy(jacobian2_.begin(), jacobian2_.end(), jacobians[1]);
+    }
+
+    return true;
+  }
+
+ private:
+  vector<double> jacobian1_;
+  vector<double> jacobian2_;
+};
+
+// x_plus_delta = delta * x;
+class PolynomialParameterization : public LocalParameterization {
+ public:
+  virtual ~PolynomialParameterization() {}
+
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const {
+    x_plus_delta[0] = delta[0] * x[0];
+    x_plus_delta[1] = delta[0] * x[1];
+    return true;
+  }
+
+  virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+    jacobian[0] = x[0];
+    jacobian[1] = x[1];
+    return true;
+  }
+
+  virtual int GlobalSize() const { return 2; }
+  virtual int LocalSize() const { return 1; }
+};
+
+TEST(CovarianceImpl, ComputeCovarianceSparsity) {
+  double parameters[10];
+
+  double* block1 = parameters;
+  double* block2 = block1 + 1;
+  double* block3 = block2 + 2;
+  double* block4 = block3 + 3;
+
+  ProblemImpl problem;
+
+  // Add in random order
+  Vector junk_jacobian = Vector::Zero(10);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 1, junk_jacobian.data()), NULL, block1);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 4, junk_jacobian.data()), NULL, block4);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 3, junk_jacobian.data()), NULL, block3);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 2, junk_jacobian.data()), NULL, block2);
+
+  // Sparsity pattern
+  //
+  // Note that the problem structure does not imply this sparsity
+  // pattern since all the residual blocks are unary. But the
+  // ComputeCovarianceSparsity function in its current incarnation
+  // does not pay attention to this fact and only looks at the
+  // parameter block pairs that the user provides.
+  //
+  //  X . . . . . X X X X
+  //  . X X X X X . . . .
+  //  . X X X X X . . . .
+  //  . . . X X X . . . .
+  //  . . . X X X . . . .
+  //  . . . X X X . . . .
+  //  . . . . . . X X X X
+  //  . . . . . . X X X X
+  //  . . . . . . X X X X
+  //  . . . . . . X X X X
+
+  int expected_rows[] = {0, 5, 10, 15, 18, 21, 24, 28, 32, 36, 40};
+  int expected_cols[] = {0, 6, 7, 8, 9,
+                         1, 2, 3, 4, 5,
+                         1, 2, 3, 4, 5,
+                         3, 4, 5,
+                         3, 4, 5,
+                         3, 4, 5,
+                         6, 7, 8, 9,
+                         6, 7, 8, 9,
+                         6, 7, 8, 9,
+                         6, 7, 8, 9};
+
+
+  vector<pair<const double*, const double*> > covariance_blocks;
+  covariance_blocks.push_back(make_pair(block1, block1));
+  covariance_blocks.push_back(make_pair(block4, block4));
+  covariance_blocks.push_back(make_pair(block2, block2));
+  covariance_blocks.push_back(make_pair(block3, block3));
+  covariance_blocks.push_back(make_pair(block2, block3));
+  covariance_blocks.push_back(make_pair(block4, block1));  // reversed
+
+  Covariance::Options options;
+  CovarianceImpl covariance_impl(options);
+  EXPECT_TRUE(covariance_impl
+              .ComputeCovarianceSparsity(covariance_blocks, &problem));
+
+  const CompressedRowSparseMatrix* crsm = covariance_impl.covariance_matrix();
+
+  EXPECT_EQ(crsm->num_rows(), 10);
+  EXPECT_EQ(crsm->num_cols(), 10);
+  EXPECT_EQ(crsm->num_nonzeros(), 40);
+
+  const int* rows = crsm->rows();
+  for (int r = 0; r < crsm->num_rows() + 1; ++r) {
+    EXPECT_EQ(rows[r], expected_rows[r])
+        << r << " "
+        << rows[r] << " "
+        << expected_rows[r];
+  }
+
+  const int* cols = crsm->cols();
+  for (int c = 0; c < crsm->num_nonzeros(); ++c) {
+    EXPECT_EQ(cols[c], expected_cols[c])
+        << c << " "
+        << cols[c] << " "
+        << expected_cols[c];
+  }
+}
+
+TEST(CovarianceImpl, ComputeCovarianceSparsityWithConstantParameterBlock) {
+  double parameters[10];
+
+  double* block1 = parameters;
+  double* block2 = block1 + 1;
+  double* block3 = block2 + 2;
+  double* block4 = block3 + 3;
+
+  ProblemImpl problem;
+
+  // Add in random order
+  Vector junk_jacobian = Vector::Zero(10);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 1, junk_jacobian.data()), NULL, block1);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 4, junk_jacobian.data()), NULL, block4);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 3, junk_jacobian.data()), NULL, block3);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 2, junk_jacobian.data()), NULL, block2);
+  problem.SetParameterBlockConstant(block3);
+
+  // Sparsity pattern
+  //
+  // Note that the problem structure does not imply this sparsity
+  // pattern since all the residual blocks are unary. But the
+  // ComputeCovarianceSparsity function in its current incarnation
+  // does not pay attention to this fact and only looks at the
+  // parameter block pairs that the user provides.
+  //
+  //  X . . X X X X
+  //  . X X . . . .
+  //  . X X . . . .
+  //  . . . X X X X
+  //  . . . X X X X
+  //  . . . X X X X
+  //  . . . X X X X
+
+  int expected_rows[] = {0, 5, 7, 9, 13, 17, 21, 25};
+  int expected_cols[] = {0, 3, 4, 5, 6,
+                         1, 2,
+                         1, 2,
+                         3, 4, 5, 6,
+                         3, 4, 5, 6,
+                         3, 4, 5, 6,
+                         3, 4, 5, 6};
+
+  vector<pair<const double*, const double*> > covariance_blocks;
+  covariance_blocks.push_back(make_pair(block1, block1));
+  covariance_blocks.push_back(make_pair(block4, block4));
+  covariance_blocks.push_back(make_pair(block2, block2));
+  covariance_blocks.push_back(make_pair(block3, block3));
+  covariance_blocks.push_back(make_pair(block2, block3));
+  covariance_blocks.push_back(make_pair(block4, block1));  // reversed
+
+  Covariance::Options options;
+  CovarianceImpl covariance_impl(options);
+  EXPECT_TRUE(covariance_impl
+              .ComputeCovarianceSparsity(covariance_blocks, &problem));
+
+  const CompressedRowSparseMatrix* crsm = covariance_impl.covariance_matrix();
+
+  EXPECT_EQ(crsm->num_rows(), 7);
+  EXPECT_EQ(crsm->num_cols(), 7);
+  EXPECT_EQ(crsm->num_nonzeros(), 25);
+
+  const int* rows = crsm->rows();
+  for (int r = 0; r < crsm->num_rows() + 1; ++r) {
+    EXPECT_EQ(rows[r], expected_rows[r])
+        << r << " "
+        << rows[r] << " "
+        << expected_rows[r];
+  }
+
+  const int* cols = crsm->cols();
+  for (int c = 0; c < crsm->num_nonzeros(); ++c) {
+    EXPECT_EQ(cols[c], expected_cols[c])
+        << c << " "
+        << cols[c] << " "
+        << expected_cols[c];
+  }
+}
+
+TEST(CovarianceImpl, ComputeCovarianceSparsityWithFreeParameterBlock) {
+  double parameters[10];
+
+  double* block1 = parameters;
+  double* block2 = block1 + 1;
+  double* block3 = block2 + 2;
+  double* block4 = block3 + 3;
+
+  ProblemImpl problem;
+
+  // Add in random order
+  Vector junk_jacobian = Vector::Zero(10);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 1, junk_jacobian.data()), NULL, block1);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 4, junk_jacobian.data()), NULL, block4);
+  problem.AddParameterBlock(block3, 3);
+  problem.AddResidualBlock(
+      new UnaryCostFunction(1, 2, junk_jacobian.data()), NULL, block2);
+
+  // Sparsity pattern
+  //
+  // Note that the problem structure does not imply this sparsity
+  // pattern since all the residual blocks are unary. But the
+  // ComputeCovarianceSparsity function in its current incarnation
+  // does not pay attention to this fact and only looks at the
+  // parameter block pairs that the user provides.
+  //
+  //  X . . X X X X
+  //  . X X . . . .
+  //  . X X . . . .
+  //  . . . X X X X
+  //  . . . X X X X
+  //  . . . X X X X
+  //  . . . X X X X
+
+  int expected_rows[] = {0, 5, 7, 9, 13, 17, 21, 25};
+  int expected_cols[] = {0, 3, 4, 5, 6,
+                         1, 2,
+                         1, 2,
+                         3, 4, 5, 6,
+                         3, 4, 5, 6,
+                         3, 4, 5, 6,
+                         3, 4, 5, 6};
+
+  vector<pair<const double*, const double*> > covariance_blocks;
+  covariance_blocks.push_back(make_pair(block1, block1));
+  covariance_blocks.push_back(make_pair(block4, block4));
+  covariance_blocks.push_back(make_pair(block2, block2));
+  covariance_blocks.push_back(make_pair(block3, block3));
+  covariance_blocks.push_back(make_pair(block2, block3));
+  covariance_blocks.push_back(make_pair(block4, block1));  // reversed
+
+  Covariance::Options options;
+  CovarianceImpl covariance_impl(options);
+  EXPECT_TRUE(covariance_impl
+              .ComputeCovarianceSparsity(covariance_blocks, &problem));
+
+  const CompressedRowSparseMatrix* crsm = covariance_impl.covariance_matrix();
+
+  EXPECT_EQ(crsm->num_rows(), 7);
+  EXPECT_EQ(crsm->num_cols(), 7);
+  EXPECT_EQ(crsm->num_nonzeros(), 25);
+
+  const int* rows = crsm->rows();
+  for (int r = 0; r < crsm->num_rows() + 1; ++r) {
+    EXPECT_EQ(rows[r], expected_rows[r])
+        << r << " "
+        << rows[r] << " "
+        << expected_rows[r];
+  }
+
+  const int* cols = crsm->cols();
+  for (int c = 0; c < crsm->num_nonzeros(); ++c) {
+    EXPECT_EQ(cols[c], expected_cols[c])
+        << c << " "
+        << cols[c] << " "
+        << expected_cols[c];
+  }
+}
+
+class CovarianceTest : public ::testing::Test {
+ protected:
+  typedef map<const double*, pair<int, int> > BoundsMap;
+
+  virtual void SetUp() {
+    double* x = parameters_;
+    double* y = x + 2;
+    double* z = y + 3;
+
+    x[0] = 1;
+    x[1] = 1;
+    y[0] = 2;
+    y[1] = 2;
+    y[2] = 2;
+    z[0] = 3;
+
+    {
+      double jacobian[] = { 1.0, 0.0, 0.0, 1.0};
+      problem_.AddResidualBlock(new UnaryCostFunction(2, 2, jacobian), NULL, x);
+    }
+
+    {
+      double jacobian[] = { 2.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 2.0 };
+      problem_.AddResidualBlock(new UnaryCostFunction(3, 3, jacobian), NULL, y);
+    }
+
+    {
+      double jacobian = 5.0;
+      problem_.AddResidualBlock(new UnaryCostFunction(1, 1, &jacobian),
+                                NULL,
+                                z);
+    }
+
+    {
+      double jacobian1[] = { 1.0, 2.0, 3.0 };
+      double jacobian2[] = { -5.0, -6.0 };
+      problem_.AddResidualBlock(
+          new BinaryCostFunction(1, 3, 2, jacobian1, jacobian2),
+          NULL,
+          y,
+          x);
+    }
+
+    {
+      double jacobian1[] = {2.0 };
+      double jacobian2[] = { 3.0, -2.0 };
+      problem_.AddResidualBlock(
+          new BinaryCostFunction(1, 1, 2, jacobian1, jacobian2),
+          NULL,
+          z,
+          x);
+    }
+
+    all_covariance_blocks_.push_back(make_pair(x, x));
+    all_covariance_blocks_.push_back(make_pair(y, y));
+    all_covariance_blocks_.push_back(make_pair(z, z));
+    all_covariance_blocks_.push_back(make_pair(x, y));
+    all_covariance_blocks_.push_back(make_pair(x, z));
+    all_covariance_blocks_.push_back(make_pair(y, z));
+
+    column_bounds_[x] = make_pair(0, 2);
+    column_bounds_[y] = make_pair(2, 5);
+    column_bounds_[z] = make_pair(5, 6);
+  }
+
+  // Computes covariance in ambient space.
+  void ComputeAndCompareCovarianceBlocks(const Covariance::Options& options,
+                                         const double* expected_covariance) {
+    ComputeAndCompareCovarianceBlocksInTangentOrAmbientSpace(
+        options,
+        true,  // ambient
+        expected_covariance);
+  }
+
+  // Computes covariance in tangent space.
+  void ComputeAndCompareCovarianceBlocksInTangentSpace(
+                                         const Covariance::Options& options,
+                                         const double* expected_covariance) {
+    ComputeAndCompareCovarianceBlocksInTangentOrAmbientSpace(
+        options,
+        false,  // tangent
+        expected_covariance);
+  }
+
+  void ComputeAndCompareCovarianceBlocksInTangentOrAmbientSpace(
+      const Covariance::Options& options,
+      bool lift_covariance_to_ambient_space,
+      const double* expected_covariance) {
+    // Generate all possible combination of block pairs and check if the
+    // covariance computation is correct.
+    for (int i = 0; i <= 64; ++i) {
+      vector<pair<const double*, const double*> > covariance_blocks;
+      if (i & 1) {
+        covariance_blocks.push_back(all_covariance_blocks_[0]);
+      }
+
+      if (i & 2) {
+        covariance_blocks.push_back(all_covariance_blocks_[1]);
+      }
+
+      if (i & 4) {
+        covariance_blocks.push_back(all_covariance_blocks_[2]);
+      }
+
+      if (i & 8) {
+        covariance_blocks.push_back(all_covariance_blocks_[3]);
+      }
+
+      if (i & 16) {
+        covariance_blocks.push_back(all_covariance_blocks_[4]);
+      }
+
+      if (i & 32) {
+        covariance_blocks.push_back(all_covariance_blocks_[5]);
+      }
+
+      Covariance covariance(options);
+      EXPECT_TRUE(covariance.Compute(covariance_blocks, &problem_));
+
+      for (int i = 0; i < covariance_blocks.size(); ++i) {
+        const double* block1 = covariance_blocks[i].first;
+        const double* block2 = covariance_blocks[i].second;
+        // block1, block2
+        GetCovarianceBlockAndCompare(block1,
+                                     block2,
+                                     lift_covariance_to_ambient_space,
+                                     covariance,
+                                     expected_covariance);
+        // block2, block1
+        GetCovarianceBlockAndCompare(block2,
+                                     block1,
+                                     lift_covariance_to_ambient_space,
+                                     covariance,
+                                     expected_covariance);
+      }
+    }
+  }
+
+  void GetCovarianceBlockAndCompare(const double* block1,
+                                    const double* block2,
+                                    bool lift_covariance_to_ambient_space,
+                                    const Covariance& covariance,
+                                    const double* expected_covariance) {
+    const BoundsMap& column_bounds = lift_covariance_to_ambient_space ?
+        column_bounds_ : local_column_bounds_;
+    const int row_begin = FindOrDie(column_bounds, block1).first;
+    const int row_end = FindOrDie(column_bounds, block1).second;
+    const int col_begin = FindOrDie(column_bounds, block2).first;
+    const int col_end = FindOrDie(column_bounds, block2).second;
+
+    Matrix actual(row_end - row_begin, col_end - col_begin);
+    if (lift_covariance_to_ambient_space) {
+      EXPECT_TRUE(covariance.GetCovarianceBlock(block1,
+                                                block2,
+                                                actual.data()));
+    } else {
+      EXPECT_TRUE(covariance.GetCovarianceBlockInTangentSpace(block1,
+                                                              block2,
+                                                              actual.data()));
+    }
+
+    int dof = 0;  // degrees of freedom = sum of LocalSize()s
+    for (BoundsMap::const_iterator iter = column_bounds.begin();
+         iter != column_bounds.end(); ++iter) {
+      dof = std::max(dof, iter->second.second);
+    }
+    ConstMatrixRef expected(expected_covariance, dof, dof);
+    double diff_norm = (expected.block(row_begin,
+                                       col_begin,
+                                       row_end - row_begin,
+                                       col_end - col_begin) - actual).norm();
+    diff_norm /= (row_end - row_begin) * (col_end - col_begin);
+
+    const double kTolerance = 1e-5;
+    EXPECT_NEAR(diff_norm, 0.0, kTolerance)
+        << "rows: " << row_begin << " " << row_end << "  "
+        << "cols: " << col_begin << " " << col_end << "  "
+        << "\n\n expected: \n " << expected.block(row_begin,
+                                                  col_begin,
+                                                  row_end - row_begin,
+                                                  col_end - col_begin)
+        << "\n\n actual: \n " << actual
+        << "\n\n full expected: \n" << expected;
+  }
+
+  double parameters_[6];
+  Problem problem_;
+  vector<pair<const double*, const double*> > all_covariance_blocks_;
+  BoundsMap column_bounds_;
+  BoundsMap local_column_bounds_;
+};
+
+
+TEST_F(CovarianceTest, NormalBehavior) {
+  // J
+  //
+  //   1  0  0  0  0  0
+  //   0  1  0  0  0  0
+  //   0  0  2  0  0  0
+  //   0  0  0  2  0  0
+  //   0  0  0  0  2  0
+  //   0  0  0  0  0  5
+  //  -5 -6  1  2  3  0
+  //   3 -2  0  0  0  2
+
+  // J'J
+  //
+  //   35  24 -5 -10 -15  6
+  //   24  41 -6 -12 -18 -4
+  //   -5  -6  5   2   3  0
+  //  -10 -12  2   8   6  0
+  //  -15 -18  3   6  13  0
+  //    6  -4  0   0   0 29
+
+  // inv(J'J) computed using octave.
+  double expected_covariance[] = {
+     7.0747e-02,  -8.4923e-03,   1.6821e-02,   3.3643e-02,   5.0464e-02,  -1.5809e-02,  // NOLINT
+    -8.4923e-03,   8.1352e-02,   2.4758e-02,   4.9517e-02,   7.4275e-02,   1.2978e-02,  // NOLINT
+     1.6821e-02,   2.4758e-02,   2.4904e-01,  -1.9271e-03,  -2.8906e-03,  -6.5325e-05,  // NOLINT
+     3.3643e-02,   4.9517e-02,  -1.9271e-03,   2.4615e-01,  -5.7813e-03,  -1.3065e-04,  // NOLINT
+     5.0464e-02,   7.4275e-02,  -2.8906e-03,  -5.7813e-03,   2.4133e-01,  -1.9598e-04,  // NOLINT
+    -1.5809e-02,   1.2978e-02,  -6.5325e-05,  -1.3065e-04,  -1.9598e-04,   3.9544e-02,  // NOLINT
+  };
+
+  Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+#ifdef CERES_USE_OPENMP
+
+TEST_F(CovarianceTest, ThreadedNormalBehavior) {
+  // J
+  //
+  //   1  0  0  0  0  0
+  //   0  1  0  0  0  0
+  //   0  0  2  0  0  0
+  //   0  0  0  2  0  0
+  //   0  0  0  0  2  0
+  //   0  0  0  0  0  5
+  //  -5 -6  1  2  3  0
+  //   3 -2  0  0  0  2
+
+  // J'J
+  //
+  //   35  24 -5 -10 -15  6
+  //   24  41 -6 -12 -18 -4
+  //   -5  -6  5   2   3  0
+  //  -10 -12  2   8   6  0
+  //  -15 -18  3   6  13  0
+  //    6  -4  0   0   0 29
+
+  // inv(J'J) computed using octave.
+  double expected_covariance[] = {
+     7.0747e-02,  -8.4923e-03,   1.6821e-02,   3.3643e-02,   5.0464e-02,  -1.5809e-02,  // NOLINT
+    -8.4923e-03,   8.1352e-02,   2.4758e-02,   4.9517e-02,   7.4275e-02,   1.2978e-02,  // NOLINT
+     1.6821e-02,   2.4758e-02,   2.4904e-01,  -1.9271e-03,  -2.8906e-03,  -6.5325e-05,  // NOLINT
+     3.3643e-02,   4.9517e-02,  -1.9271e-03,   2.4615e-01,  -5.7813e-03,  -1.3065e-04,  // NOLINT
+     5.0464e-02,   7.4275e-02,  -2.8906e-03,  -5.7813e-03,   2.4133e-01,  -1.9598e-04,  // NOLINT
+    -1.5809e-02,   1.2978e-02,  -6.5325e-05,  -1.3065e-04,  -1.9598e-04,   3.9544e-02,  // NOLINT
+  };
+
+  Covariance::Options options;
+  options.num_threads = 4;
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+#endif  // CERES_USE_OPENMP
+
+TEST_F(CovarianceTest, ConstantParameterBlock) {
+  problem_.SetParameterBlockConstant(parameters_);
+
+  // J
+  //
+  //  0  0  0  0  0  0
+  //  0  0  0  0  0  0
+  //  0  0  2  0  0  0
+  //  0  0  0  2  0  0
+  //  0  0  0  0  2  0
+  //  0  0  0  0  0  5
+  //  0  0  1  2  3  0
+  //  0  0  0  0  0  2
+
+  // J'J
+  //
+  //  0  0  0  0  0  0
+  //  0  0  0  0  0  0
+  //  0  0  5  2  3  0
+  //  0  0  2  8  6  0
+  //  0  0  3  6 13  0
+  //  0  0  0  0  0 29
+
+  // pinv(J'J) computed using octave.
+  double expected_covariance[] = {
+              0,            0,            0,            0,            0,            0,  // NOLINT
+              0,            0,            0,            0,            0,            0,  // NOLINT
+              0,            0,      0.23611,     -0.02778,     -0.04167,     -0.00000,  // NOLINT
+              0,            0,     -0.02778,      0.19444,     -0.08333,     -0.00000,  // NOLINT
+              0,            0,     -0.04167,     -0.08333,      0.12500,     -0.00000,  // NOLINT
+              0,            0,     -0.00000,     -0.00000,     -0.00000,      0.03448   // NOLINT
+  };
+
+  Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, LocalParameterization) {
+  double* x = parameters_;
+  double* y = x + 2;
+
+  problem_.SetParameterization(x, new PolynomialParameterization);
+
+  vector<int> subset;
+  subset.push_back(2);
+  problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+
+  // Raw Jacobian: J
+  //
+  //   1   0  0  0  0  0
+  //   0   1  0  0  0  0
+  //   0   0  2  0  0  0
+  //   0   0  0  2  0  0
+  //   0   0  0  0  2  0
+  //   0   0  0  0  0  5
+  //  -5  -6  1  2  3  0
+  //   3  -2  0  0  0  2
+
+  // Local to global jacobian: A
+  //
+  //  1   0   0   0
+  //  1   0   0   0
+  //  0   1   0   0
+  //  0   0   1   0
+  //  0   0   0   0
+  //  0   0   0   1
+
+  // A * inv((J*A)'*(J*A)) * A'
+  // Computed using octave.
+  double expected_covariance[] = {
+    0.01766,   0.01766,   0.02158,   0.04316,   0.00000,  -0.00122,
+    0.01766,   0.01766,   0.02158,   0.04316,   0.00000,  -0.00122,
+    0.02158,   0.02158,   0.24860,  -0.00281,   0.00000,  -0.00149,
+    0.04316,   0.04316,  -0.00281,   0.24439,   0.00000,  -0.00298,
+    0.00000,   0.00000,   0.00000,   0.00000,   0.00000,   0.00000,
+   -0.00122,  -0.00122,  -0.00149,  -0.00298,   0.00000,   0.03457
+  };
+
+  Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, LocalParameterizationInTangentSpace) {
+  double* x = parameters_;
+  double* y = x + 2;
+  double* z = y + 3;
+
+  problem_.SetParameterization(x, new PolynomialParameterization);
+
+  vector<int> subset;
+  subset.push_back(2);
+  problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+
+  local_column_bounds_[x] = make_pair(0, 1);
+  local_column_bounds_[y] = make_pair(1, 3);
+  local_column_bounds_[z] = make_pair(3, 4);
+
+  // Raw Jacobian: J
+  //
+  //   1   0  0  0  0  0
+  //   0   1  0  0  0  0
+  //   0   0  2  0  0  0
+  //   0   0  0  2  0  0
+  //   0   0  0  0  2  0
+  //   0   0  0  0  0  5
+  //  -5  -6  1  2  3  0
+  //   3  -2  0  0  0  2
+
+  // Local to global jacobian: A
+  //
+  //  1   0   0   0
+  //  1   0   0   0
+  //  0   1   0   0
+  //  0   0   1   0
+  //  0   0   0   0
+  //  0   0   0   1
+
+  // inv((J*A)'*(J*A))
+  // Computed using octave.
+  double expected_covariance[] = {
+    0.01766,   0.02158,   0.04316,   -0.00122,
+    0.02158,   0.24860,  -0.00281,   -0.00149,
+    0.04316,  -0.00281,   0.24439,   -0.00298,
+   -0.00122,  -0.00149,  -0.00298,    0.03457  // NOLINT
+  };
+
+  Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, LocalParameterizationInTangentSpaceWithConstantBlocks) {
+  double* x = parameters_;
+  double* y = x + 2;
+  double* z = y + 3;
+
+  problem_.SetParameterization(x, new PolynomialParameterization);
+  problem_.SetParameterBlockConstant(x);
+
+  vector<int> subset;
+  subset.push_back(2);
+  problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+  problem_.SetParameterBlockConstant(y);
+
+  local_column_bounds_[x] = make_pair(0, 1);
+  local_column_bounds_[y] = make_pair(1, 3);
+  local_column_bounds_[z] = make_pair(3, 4);
+
+  // Raw Jacobian: J
+  //
+  //   1   0  0  0  0  0
+  //   0   1  0  0  0  0
+  //   0   0  2  0  0  0
+  //   0   0  0  2  0  0
+  //   0   0  0  0  2  0
+  //   0   0  0  0  0  5
+  //  -5  -6  1  2  3  0
+  //   3  -2  0  0  0  2
+
+  // Local to global jacobian: A
+  //
+  //  0   0   0   0
+  //  0   0   0   0
+  //  0   0   0   0
+  //  0   0   0   0
+  //  0   0   0   0
+  //  0   0   0   1
+
+  // pinv((J*A)'*(J*A))
+  // Computed using octave.
+  double expected_covariance[] = {
+    0.0, 0.0, 0.0, 0.0,
+    0.0, 0.0, 0.0, 0.0,
+    0.0, 0.0, 0.0, 0.0,
+    0.0, 0.0, 0.0, 0.034482 // NOLINT
+  };
+
+  Covariance::Options options;
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, TruncatedRank) {
+  // J
+  //
+  //   1  0  0  0  0  0
+  //   0  1  0  0  0  0
+  //   0  0  2  0  0  0
+  //   0  0  0  2  0  0
+  //   0  0  0  0  2  0
+  //   0  0  0  0  0  5
+  //  -5 -6  1  2  3  0
+  //   3 -2  0  0  0  2
+
+  // J'J
+  //
+  //   35  24 -5 -10 -15  6
+  //   24  41 -6 -12 -18 -4
+  //   -5  -6  5   2   3  0
+  //  -10 -12  2   8   6  0
+  //  -15 -18  3   6  13  0
+  //    6  -4  0   0   0 29
+
+  // 3.4142 is the smallest eigen value of J'J. The following matrix
+  // was obtained by dropping the eigenvector corresponding to this
+  // eigenvalue.
+  double expected_covariance[] = {
+     5.4135e-02,  -3.5121e-02,   1.7257e-04,   3.4514e-04,   5.1771e-04,  -1.6076e-02,  // NOLINT
+    -3.5121e-02,   3.8667e-02,  -1.9288e-03,  -3.8576e-03,  -5.7864e-03,   1.2549e-02,  // NOLINT
+     1.7257e-04,  -1.9288e-03,   2.3235e-01,  -3.5297e-02,  -5.2946e-02,  -3.3329e-04,  // NOLINT
+     3.4514e-04,  -3.8576e-03,  -3.5297e-02,   1.7941e-01,  -1.0589e-01,  -6.6659e-04,  // NOLINT
+     5.1771e-04,  -5.7864e-03,  -5.2946e-02,  -1.0589e-01,   9.1162e-02,  -9.9988e-04,  // NOLINT
+    -1.6076e-02,   1.2549e-02,  -3.3329e-04,  -6.6659e-04,  -9.9988e-04,   3.9539e-02   // NOLINT
+  };
+
+
+  {
+    Covariance::Options options;
+    options.algorithm_type = DENSE_SVD;
+    // Force dropping of the smallest eigenvector.
+    options.null_space_rank = 1;
+    ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+  }
+
+  {
+    Covariance::Options options;
+    options.algorithm_type = DENSE_SVD;
+    // Force dropping of the smallest eigenvector via the ratio but
+    // automatic truncation.
+    options.min_reciprocal_condition_number = 0.044494;
+    options.null_space_rank = -1;
+    ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+  }
+}
+
+TEST_F(CovarianceTest, DenseCovarianceMatrixFromSetOfParameters) {
+  Covariance::Options options;
+  Covariance covariance(options);
+  double* x = parameters_;
+  double* y = x + 2;
+  double* z = y + 3;
+  vector<const double*> parameter_blocks;
+  parameter_blocks.push_back(x);
+  parameter_blocks.push_back(y);
+  parameter_blocks.push_back(z);
+  covariance.Compute(parameter_blocks, &problem_);
+  double expected_covariance[36];
+  covariance.GetCovarianceMatrix(parameter_blocks, expected_covariance);
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, DenseCovarianceMatrixFromSetOfParametersThreaded) {
+  Covariance::Options options;
+  options.num_threads = 4;
+  Covariance covariance(options);
+  double* x = parameters_;
+  double* y = x + 2;
+  double* z = y + 3;
+  vector<const double*> parameter_blocks;
+  parameter_blocks.push_back(x);
+  parameter_blocks.push_back(y);
+  parameter_blocks.push_back(z);
+  covariance.Compute(parameter_blocks, &problem_);
+  double expected_covariance[36];
+  covariance.GetCovarianceMatrix(parameter_blocks, expected_covariance);
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, DenseCovarianceMatrixFromSetOfParametersInTangentSpace) {
+  Covariance::Options options;
+  Covariance covariance(options);
+  double* x = parameters_;
+  double* y = x + 2;
+  double* z = y + 3;
+
+  problem_.SetParameterization(x, new PolynomialParameterization);
+
+  vector<int> subset;
+  subset.push_back(2);
+  problem_.SetParameterization(y, new SubsetParameterization(3, subset));
+
+  local_column_bounds_[x] = make_pair(0, 1);
+  local_column_bounds_[y] = make_pair(1, 3);
+  local_column_bounds_[z] = make_pair(3, 4);
+
+  vector<const double*> parameter_blocks;
+  parameter_blocks.push_back(x);
+  parameter_blocks.push_back(y);
+  parameter_blocks.push_back(z);
+  covariance.Compute(parameter_blocks, &problem_);
+  double expected_covariance[16];
+  covariance.GetCovarianceMatrixInTangentSpace(parameter_blocks,
+                                               expected_covariance);
+
+#ifndef CERES_NO_SUITESPARSE
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+#endif
+
+  options.algorithm_type = DENSE_SVD;
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+
+  options.algorithm_type = SPARSE_QR;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  ComputeAndCompareCovarianceBlocksInTangentSpace(options, expected_covariance);
+}
+
+TEST_F(CovarianceTest, ComputeCovarianceFailure) {
+  Covariance::Options options;
+  Covariance covariance(options);
+  double* x = parameters_;
+  double* y = x + 2;
+  vector<const double*> parameter_blocks;
+  parameter_blocks.push_back(x);
+  parameter_blocks.push_back(x);
+  parameter_blocks.push_back(y);
+  parameter_blocks.push_back(y);
+  EXPECT_DEATH_IF_SUPPORTED(covariance.Compute(parameter_blocks, &problem_),
+                            "Covariance::Compute called with duplicate blocks "
+                            "at indices \\(0, 1\\) and \\(2, 3\\)");
+  vector<pair<const double*, const double*> > covariance_blocks;
+  covariance_blocks.push_back(make_pair(x, x));
+  covariance_blocks.push_back(make_pair(x, x));
+  covariance_blocks.push_back(make_pair(y, y));
+  covariance_blocks.push_back(make_pair(y, y));
+  EXPECT_DEATH_IF_SUPPORTED(covariance.Compute(covariance_blocks, &problem_),
+                            "Covariance::Compute called with duplicate blocks "
+                            "at indices \\(0, 1\\) and \\(2, 3\\)");
+}
+
+class RankDeficientCovarianceTest : public CovarianceTest {
+ protected:
+  virtual void SetUp() {
+    double* x = parameters_;
+    double* y = x + 2;
+    double* z = y + 3;
+
+    {
+      double jacobian[] = { 1.0, 0.0, 0.0, 1.0};
+      problem_.AddResidualBlock(new UnaryCostFunction(2, 2, jacobian), NULL, x);
+    }
+
+    {
+      double jacobian[] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
+      problem_.AddResidualBlock(new UnaryCostFunction(3, 3, jacobian), NULL, y);
+    }
+
+    {
+      double jacobian = 5.0;
+      problem_.AddResidualBlock(new UnaryCostFunction(1, 1, &jacobian),
+                                NULL,
+                                z);
+    }
+
+    {
+      double jacobian1[] = { 0.0, 0.0, 0.0 };
+      double jacobian2[] = { -5.0, -6.0 };
+      problem_.AddResidualBlock(
+          new BinaryCostFunction(1, 3, 2, jacobian1, jacobian2),
+          NULL,
+          y,
+          x);
+    }
+
+    {
+      double jacobian1[] = {2.0 };
+      double jacobian2[] = { 3.0, -2.0 };
+      problem_.AddResidualBlock(
+          new BinaryCostFunction(1, 1, 2, jacobian1, jacobian2),
+          NULL,
+          z,
+          x);
+    }
+
+    all_covariance_blocks_.push_back(make_pair(x, x));
+    all_covariance_blocks_.push_back(make_pair(y, y));
+    all_covariance_blocks_.push_back(make_pair(z, z));
+    all_covariance_blocks_.push_back(make_pair(x, y));
+    all_covariance_blocks_.push_back(make_pair(x, z));
+    all_covariance_blocks_.push_back(make_pair(y, z));
+
+    column_bounds_[x] = make_pair(0, 2);
+    column_bounds_[y] = make_pair(2, 5);
+    column_bounds_[z] = make_pair(5, 6);
+  }
+};
+
+TEST_F(RankDeficientCovarianceTest, AutomaticTruncation) {
+  // J
+  //
+  //   1  0  0  0  0  0
+  //   0  1  0  0  0  0
+  //   0  0  0  0  0  0
+  //   0  0  0  0  0  0
+  //   0  0  0  0  0  0
+  //   0  0  0  0  0  5
+  //  -5 -6  0  0  0  0
+  //   3 -2  0  0  0  2
+
+  // J'J
+  //
+  //  35 24  0  0  0  6
+  //  24 41  0  0  0 -4
+  //   0  0  0  0  0  0
+  //   0  0  0  0  0  0
+  //   0  0  0  0  0  0
+  //   6 -4  0  0  0 29
+
+  // pinv(J'J) computed using octave.
+  double expected_covariance[] = {
+     0.053998,  -0.033145,   0.000000,   0.000000,   0.000000,  -0.015744,
+    -0.033145,   0.045067,   0.000000,   0.000000,   0.000000,   0.013074,
+     0.000000,   0.000000,   0.000000,   0.000000,   0.000000,   0.000000,
+     0.000000,   0.000000,   0.000000,   0.000000,   0.000000,   0.000000,
+     0.000000,   0.000000,   0.000000,   0.000000,   0.000000,   0.000000,
+    -0.015744,   0.013074,   0.000000,   0.000000,   0.000000,   0.039543
+  };
+
+  Covariance::Options options;
+  options.algorithm_type = DENSE_SVD;
+  options.null_space_rank = -1;
+  ComputeAndCompareCovarianceBlocks(options, expected_covariance);
+}
+
+class LargeScaleCovarianceTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    num_parameter_blocks_ = 2000;
+    parameter_block_size_ = 5;
+    parameters_.reset(
+        new double[parameter_block_size_ * num_parameter_blocks_]);
+
+    Matrix jacobian(parameter_block_size_, parameter_block_size_);
+    for (int i = 0; i < num_parameter_blocks_; ++i) {
+      jacobian.setIdentity();
+      jacobian *= (i + 1);
+
+      double* block_i = parameters_.get() + i * parameter_block_size_;
+      problem_.AddResidualBlock(new UnaryCostFunction(parameter_block_size_,
+                                                      parameter_block_size_,
+                                                      jacobian.data()),
+                                NULL,
+                                block_i);
+      for (int j = i; j < num_parameter_blocks_; ++j) {
+        double* block_j = parameters_.get() + j * parameter_block_size_;
+        all_covariance_blocks_.push_back(make_pair(block_i, block_j));
+      }
+    }
+  }
+
+  void ComputeAndCompare(
+      CovarianceAlgorithmType algorithm_type,
+      SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+      int num_threads) {
+    Covariance::Options options;
+    options.algorithm_type = algorithm_type;
+    options.sparse_linear_algebra_library_type =
+        sparse_linear_algebra_library_type;
+    options.num_threads = num_threads;
+    Covariance covariance(options);
+    EXPECT_TRUE(covariance.Compute(all_covariance_blocks_, &problem_));
+
+    Matrix expected(parameter_block_size_, parameter_block_size_);
+    Matrix actual(parameter_block_size_, parameter_block_size_);
+    const double kTolerance = 1e-16;
+
+    for (int i = 0; i < num_parameter_blocks_; ++i) {
+      expected.setIdentity();
+      expected /= (i + 1.0) * (i + 1.0);
+
+      double* block_i = parameters_.get() + i * parameter_block_size_;
+      covariance.GetCovarianceBlock(block_i, block_i, actual.data());
+      EXPECT_NEAR((expected - actual).norm(), 0.0, kTolerance)
+          << "block: " << i << ", " << i << "\n"
+          << "expected: \n" << expected << "\n"
+          << "actual: \n" << actual;
+
+      expected.setZero();
+      for (int j = i + 1; j < num_parameter_blocks_; ++j) {
+        double* block_j = parameters_.get() + j * parameter_block_size_;
+        covariance.GetCovarianceBlock(block_i, block_j, actual.data());
+        EXPECT_NEAR((expected - actual).norm(), 0.0, kTolerance)
+            << "block: " << i << ", " << j << "\n"
+            << "expected: \n" << expected << "\n"
+            << "actual: \n" << actual;
+      }
+    }
+  }
+
+  scoped_array<double> parameters_;
+  int parameter_block_size_;
+  int num_parameter_blocks_;
+
+  Problem problem_;
+  vector<pair<const double*, const double*> > all_covariance_blocks_;
+};
+
+#if !defined(CERES_NO_SUITESPARSE) && defined(CERES_USE_OPENMP)
+
+TEST_F(LargeScaleCovarianceTest, Parallel) {
+  ComputeAndCompare(SPARSE_QR, SUITE_SPARSE, 4);
+}
+
+#endif  // !defined(CERES_NO_SUITESPARSE) && defined(CERES_USE_OPENMP)
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/cubic_interpolation_test.cc b/internal/ceres/cubic_interpolation_test.cc
new file mode 100644
index 0000000..df43696
--- /dev/null
+++ b/internal/ceres/cubic_interpolation_test.cc
@@ -0,0 +1,510 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/cubic_interpolation.h"
+
+#include "ceres/jet.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+static const double kTolerance = 1e-12;
+
+TEST(Grid1D, OneDataDimension) {
+  int x[] = {1, 2, 3};
+  Grid1D<int, 1> grid(x, 0, 3);
+  for (int i = 0; i < 3; ++i) {
+    double value;
+    grid.GetValue(i, &value);
+    EXPECT_EQ(value, static_cast<double>(i + 1));
+  }
+}
+
+TEST(Grid1D, OneDataDimensionOutOfBounds) {
+  int x[] = {1, 2, 3};
+  Grid1D<int, 1> grid(x, 0, 3);
+  double value;
+  grid.GetValue(-1, &value);
+  EXPECT_EQ(value, x[0]);
+  grid.GetValue(-2, &value);
+  EXPECT_EQ(value, x[0]);
+  grid.GetValue(3, &value);
+  EXPECT_EQ(value, x[2]);
+  grid.GetValue(4, &value);
+  EXPECT_EQ(value, x[2]);
+}
+
+TEST(Grid1D, TwoDataDimensionIntegerDataInterleaved) {
+  int x[] = {1, 5,
+             2, 6,
+             3, 7};
+
+  Grid1D<int, 2, true> grid(x, 0, 3);
+  for (int i = 0; i < 3; ++i) {
+    double value[2];
+    grid.GetValue(i, value);
+    EXPECT_EQ(value[0], static_cast<double>(i + 1));
+    EXPECT_EQ(value[1], static_cast<double>(i + 5));
+  }
+}
+
+
+TEST(Grid1D, TwoDataDimensionIntegerDataStacked) {
+  int x[] = {1, 2, 3,
+             5, 6, 7};
+
+  Grid1D<int, 2, false> grid(x, 0, 3);
+  for (int i = 0; i < 3; ++i) {
+    double value[2];
+    grid.GetValue(i, value);
+    EXPECT_EQ(value[0], static_cast<double>(i + 1));
+    EXPECT_EQ(value[1], static_cast<double>(i + 5));
+  }
+}
+
+TEST(Grid2D, OneDataDimensionRowMajor) {
+  int x[] = {1, 2, 3,
+             2, 3, 4};
+  Grid2D<int, 1, true, true> grid(x, 0, 2, 0, 3);
+  for (int r = 0; r < 2; ++r) {
+    for (int c = 0; c < 3; ++c) {
+      double value;
+      grid.GetValue(r, c, &value);
+      EXPECT_EQ(value, static_cast<double>(r + c + 1));
+    }
+  }
+}
+
+TEST(Grid2D, OneDataDimensionRowMajorOutOfBounds) {
+  int x[] = {1, 2, 3,
+             2, 3, 4};
+  Grid2D<int, 1, true, true> grid(x, 0, 2, 0, 3);
+  double value;
+  grid.GetValue(-1, -1, &value);
+  EXPECT_EQ(value, x[0]);
+  grid.GetValue(-1, 0, &value);
+  EXPECT_EQ(value, x[0]);
+  grid.GetValue(-1, 1, &value);
+  EXPECT_EQ(value, x[1]);
+  grid.GetValue(-1, 2, &value);
+  EXPECT_EQ(value, x[2]);
+  grid.GetValue(-1, 3, &value);
+  EXPECT_EQ(value, x[2]);
+  grid.GetValue(0, 3, &value);
+  EXPECT_EQ(value, x[2]);
+  grid.GetValue(1, 3, &value);
+  EXPECT_EQ(value, x[5]);
+  grid.GetValue(2, 3, &value);
+  EXPECT_EQ(value, x[5]);
+  grid.GetValue(2, 2, &value);
+  EXPECT_EQ(value, x[5]);
+  grid.GetValue(2, 1, &value);
+  EXPECT_EQ(value, x[4]);
+  grid.GetValue(2, 0, &value);
+  EXPECT_EQ(value, x[3]);
+  grid.GetValue(2, -1, &value);
+  EXPECT_EQ(value, x[3]);
+  grid.GetValue(1, -1, &value);
+  EXPECT_EQ(value, x[3]);
+  grid.GetValue(0, -1, &value);
+  EXPECT_EQ(value, x[0]);
+}
+
+TEST(Grid2D, TwoDataDimensionRowMajorInterleaved) {
+  int x[] = {1, 4, 2, 8, 3, 12,
+             2, 8, 3, 12, 4, 16};
+  Grid2D<int, 2, true, true> grid(x, 0, 2, 0, 3);
+  for (int r = 0; r < 2; ++r) {
+    for (int c = 0; c < 3; ++c) {
+      double value[2];
+      grid.GetValue(r, c, value);
+      EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+      EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+    }
+  }
+}
+
+TEST(Grid2D, TwoDataDimensionRowMajorStacked) {
+  int x[] = {1,  2,  3,
+             2,  3,  4,
+             4,  8, 12,
+             8, 12, 16};
+  Grid2D<int, 2, true, false> grid(x, 0, 2, 0, 3);
+  for (int r = 0; r < 2; ++r) {
+    for (int c = 0; c < 3; ++c) {
+      double value[2];
+      grid.GetValue(r, c, value);
+      EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+      EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+    }
+  }
+}
+
+TEST(Grid2D, TwoDataDimensionColMajorInterleaved) {
+  int x[] = { 1,  4, 2,  8,
+              2,  8, 3, 12,
+              3, 12, 4, 16};
+  Grid2D<int, 2, false, true> grid(x, 0, 2, 0, 3);
+  for (int r = 0; r < 2; ++r) {
+    for (int c = 0; c < 3; ++c) {
+      double value[2];
+      grid.GetValue(r, c, value);
+      EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+      EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+    }
+  }
+}
+
+TEST(Grid2D, TwoDataDimensionColMajorStacked) {
+  int x[] = {1,   2,
+             2,   3,
+             3,   4,
+             4,   8,
+             8,  12,
+             12, 16};
+  Grid2D<int, 2, false, false> grid(x, 0, 2, 0, 3);
+  for (int r = 0; r < 2; ++r) {
+    for (int c = 0; c < 3; ++c) {
+      double value[2];
+      grid.GetValue(r, c, value);
+      EXPECT_EQ(value[0], static_cast<double>(r + c + 1));
+      EXPECT_EQ(value[1], static_cast<double>(4 *(r + c + 1)));
+    }
+  }
+}
+
+class CubicInterpolatorTest : public ::testing::Test {
+ public:
+  template <int kDataDimension>
+  void RunPolynomialInterpolationTest(const double a,
+                                      const double b,
+                                      const double c,
+                                      const double d) {
+    values_.reset(new double[kDataDimension * kNumSamples]);
+
+    for (int x = 0; x < kNumSamples; ++x) {
+      for (int dim = 0; dim < kDataDimension; ++dim) {
+      values_[x * kDataDimension + dim] =
+          (dim * dim  + 1) * (a  * x * x * x + b * x * x + c * x + d);
+      }
+    }
+
+    Grid1D<double, kDataDimension> grid(values_.get(), 0, kNumSamples);
+    CubicInterpolator<Grid1D<double, kDataDimension> > interpolator(grid);
+
+    // Check values in the all the cells but the first and the last
+    // ones. In these cells, the interpolated function values should
+    // match exactly the values of the function being interpolated.
+    //
+    // On the boundary, we extrapolate the values of the function on
+    // the basis of its first derivative, so we do not expect the
+    // function values and its derivatives not to match.
+    for (int j = 0; j < kNumTestSamples; ++j) {
+      const double x = 1.0 + 7.0 / (kNumTestSamples - 1) * j;
+      double expected_f[kDataDimension], expected_dfdx[kDataDimension];
+      double f[kDataDimension], dfdx[kDataDimension];
+
+      for (int dim = 0; dim < kDataDimension; ++dim) {
+        expected_f[dim] =
+            (dim * dim  + 1) * (a  * x * x * x + b * x * x + c * x + d);
+        expected_dfdx[dim] = (dim * dim + 1) * (3.0 * a * x * x + 2.0 * b * x + c);
+      }
+
+      interpolator.Evaluate(x, f, dfdx);
+      for (int dim = 0; dim < kDataDimension; ++dim) {
+        EXPECT_NEAR(f[dim], expected_f[dim], kTolerance)
+            << "x: " << x << " dim: " << dim
+            << " actual f(x): " << expected_f[dim]
+            << " estimated f(x): " << f[dim];
+        EXPECT_NEAR(dfdx[dim], expected_dfdx[dim], kTolerance)
+            << "x: " << x << " dim: " << dim
+            << " actual df(x)/dx: " << expected_dfdx[dim]
+            << " estimated df(x)/dx: " << dfdx[dim];
+      }
+    }
+  }
+
+ private:
+  static const int kNumSamples = 10;
+  static const int kNumTestSamples = 100;
+  scoped_array<double> values_;
+};
+
+TEST_F(CubicInterpolatorTest, ConstantFunction) {
+  RunPolynomialInterpolationTest<1>(0.0, 0.0, 0.0, 0.5);
+  RunPolynomialInterpolationTest<2>(0.0, 0.0, 0.0, 0.5);
+  RunPolynomialInterpolationTest<3>(0.0, 0.0, 0.0, 0.5);
+}
+
+TEST_F(CubicInterpolatorTest, LinearFunction) {
+  RunPolynomialInterpolationTest<1>(0.0, 0.0, 1.0, 0.5);
+  RunPolynomialInterpolationTest<2>(0.0, 0.0, 1.0, 0.5);
+  RunPolynomialInterpolationTest<3>(0.0, 0.0, 1.0, 0.5);
+}
+
+TEST_F(CubicInterpolatorTest, QuadraticFunction) {
+  RunPolynomialInterpolationTest<1>(0.0, 0.4, 1.0, 0.5);
+  RunPolynomialInterpolationTest<2>(0.0, 0.4, 1.0, 0.5);
+  RunPolynomialInterpolationTest<3>(0.0, 0.4, 1.0, 0.5);
+}
+
+
+TEST(CubicInterpolator, JetEvaluation) {
+  const double values[] = {1.0, 2.0, 2.0, 5.0, 3.0, 9.0, 2.0, 7.0};
+
+  Grid1D<double, 2, true> grid(values, 0, 4);
+  CubicInterpolator<Grid1D<double, 2, true> > interpolator(grid);
+
+  double f[2], dfdx[2];
+  const double x = 2.5;
+  interpolator.Evaluate(x, f, dfdx);
+
+  // Create a Jet with the same scalar part as x, so that the output
+  // Jet will be evaluated at x.
+  Jet<double, 4> x_jet;
+  x_jet.a = x;
+  x_jet.v(0) = 1.0;
+  x_jet.v(1) = 1.1;
+  x_jet.v(2) = 1.2;
+  x_jet.v(3) = 1.3;
+
+  Jet<double, 4> f_jets[2];
+  interpolator.Evaluate(x_jet, f_jets);
+
+  // Check that the scalar part of the Jet is f(x).
+  EXPECT_EQ(f_jets[0].a, f[0]);
+  EXPECT_EQ(f_jets[1].a, f[1]);
+
+  // Check that the derivative part of the Jet is dfdx * x_jet.v
+  // by the chain rule.
+  EXPECT_NEAR((f_jets[0].v - dfdx[0] * x_jet.v).norm(), 0.0, kTolerance);
+  EXPECT_NEAR((f_jets[1].v - dfdx[1] * x_jet.v).norm(), 0.0, kTolerance);
+}
+
+class BiCubicInterpolatorTest : public ::testing::Test {
+ public:
+  template <int kDataDimension>
+  void RunPolynomialInterpolationTest(const Eigen::Matrix3d& coeff) {
+    values_.reset(new double[kNumRows * kNumCols * kDataDimension]);
+    coeff_ = coeff;
+    double* v = values_.get();
+    for (int r = 0; r < kNumRows; ++r) {
+      for (int c = 0; c < kNumCols; ++c) {
+        for (int dim = 0; dim < kDataDimension; ++dim) {
+          *v++ = (dim * dim + 1) * EvaluateF(r, c);
+        }
+      }
+    }
+
+    Grid2D<double, kDataDimension> grid(values_.get(), 0, kNumRows, 0, kNumCols);
+    BiCubicInterpolator<Grid2D<double, kDataDimension> > interpolator(grid);
+
+    for (int j = 0; j < kNumRowSamples; ++j) {
+      const double r = 1.0 + 7.0 / (kNumRowSamples - 1) * j;
+      for (int k = 0; k < kNumColSamples; ++k) {
+        const double c = 1.0 + 7.0 / (kNumColSamples - 1) * k;
+        double f[kDataDimension], dfdr[kDataDimension], dfdc[kDataDimension];
+        interpolator.Evaluate(r, c, f, dfdr, dfdc);
+        for (int dim = 0; dim < kDataDimension; ++dim) {
+          EXPECT_NEAR(f[dim], (dim * dim + 1) * EvaluateF(r, c), kTolerance);
+          EXPECT_NEAR(dfdr[dim], (dim * dim + 1) * EvaluatedFdr(r, c), kTolerance);
+          EXPECT_NEAR(dfdc[dim], (dim * dim + 1) * EvaluatedFdc(r, c), kTolerance);
+        }
+      }
+    }
+  }
+
+ private:
+  double EvaluateF(double r, double c) {
+    Eigen::Vector3d x;
+    x(0) = r;
+    x(1) = c;
+    x(2) = 1;
+    return x.transpose() * coeff_ * x;
+  }
+
+  double EvaluatedFdr(double r, double c) {
+    Eigen::Vector3d x;
+    x(0) = r;
+    x(1) = c;
+    x(2) = 1;
+    return (coeff_.row(0) + coeff_.col(0).transpose()) * x;
+  }
+
+  double EvaluatedFdc(double r, double c) {
+    Eigen::Vector3d x;
+    x(0) = r;
+    x(1) = c;
+    x(2) = 1;
+    return (coeff_.row(1) + coeff_.col(1).transpose()) * x;
+  }
+
+
+  Eigen::Matrix3d coeff_;
+  static const int kNumRows = 10;
+  static const int kNumCols = 10;
+  static const int kNumRowSamples = 100;
+  static const int kNumColSamples = 100;
+  scoped_array<double> values_;
+};
+
+TEST_F(BiCubicInterpolatorTest, ZeroFunction) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree00Function) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  coeff(2, 2) = 1.0;
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree01Function) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  coeff(2, 2) = 1.0;
+  coeff(0, 2) = 0.1;
+  coeff(2, 0) = 0.1;
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree10Function) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  coeff(2, 2) = 1.0;
+  coeff(0, 1) = 0.1;
+  coeff(1, 0) = 0.1;
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree11Function) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  coeff(2, 2) = 1.0;
+  coeff(0, 1) = 0.1;
+  coeff(1, 0) = 0.1;
+  coeff(0, 2) = 0.2;
+  coeff(2, 0) = 0.2;
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree12Function) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  coeff(2, 2) = 1.0;
+  coeff(0, 1) = 0.1;
+  coeff(1, 0) = 0.1;
+  coeff(0, 2) = 0.2;
+  coeff(2, 0) = 0.2;
+  coeff(1, 1) = 0.3;
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree21Function) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  coeff(2, 2) = 1.0;
+  coeff(0, 1) = 0.1;
+  coeff(1, 0) = 0.1;
+  coeff(0, 2) = 0.2;
+  coeff(2, 0) = 0.2;
+  coeff(0, 0) = 0.3;
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST_F(BiCubicInterpolatorTest, Degree22Function) {
+  Eigen::Matrix3d coeff = Eigen::Matrix3d::Zero();
+  coeff(2, 2) = 1.0;
+  coeff(0, 1) = 0.1;
+  coeff(1, 0) = 0.1;
+  coeff(0, 2) = 0.2;
+  coeff(2, 0) = 0.2;
+  coeff(0, 0) = 0.3;
+  coeff(0, 1) = -0.4;
+  coeff(1, 0) = -0.4;
+  RunPolynomialInterpolationTest<1>(coeff);
+  RunPolynomialInterpolationTest<2>(coeff);
+  RunPolynomialInterpolationTest<3>(coeff);
+}
+
+TEST(BiCubicInterpolator, JetEvaluation) {
+  const double values[] = {1.0, 5.0, 2.0, 10.0, 2.0, 6.0, 3.0, 5.0,
+                           1.0, 2.0, 2.0,  2.0, 2.0, 2.0, 3.0, 1.0};
+
+  Grid2D<double, 2> grid(values, 0, 2, 0, 4);
+  BiCubicInterpolator<Grid2D<double, 2> > interpolator(grid);
+
+  double f[2], dfdr[2], dfdc[2];
+  const double r = 0.5;
+  const double c = 2.5;
+  interpolator.Evaluate(r, c, f, dfdr, dfdc);
+
+  // Create a Jet with the same scalar part as x, so that the output
+  // Jet will be evaluated at x.
+  Jet<double, 4> r_jet;
+  r_jet.a = r;
+  r_jet.v(0) = 1.0;
+  r_jet.v(1) = 1.1;
+  r_jet.v(2) = 1.2;
+  r_jet.v(3) = 1.3;
+
+  Jet<double, 4> c_jet;
+  c_jet.a = c;
+  c_jet.v(0) = 2.0;
+  c_jet.v(1) = 3.1;
+  c_jet.v(2) = 4.2;
+  c_jet.v(3) = 5.3;
+
+  Jet<double, 4> f_jets[2];
+  interpolator.Evaluate(r_jet, c_jet, f_jets);
+  EXPECT_EQ(f_jets[0].a, f[0]);
+  EXPECT_EQ(f_jets[1].a, f[1]);
+  EXPECT_NEAR((f_jets[0].v - dfdr[0] * r_jet.v - dfdc[0] * c_jet.v).norm(),
+              0.0,
+              kTolerance);
+  EXPECT_NEAR((f_jets[1].v - dfdr[1] * r_jet.v - dfdc[1] * c_jet.v).norm(),
+              0.0,
+              kTolerance);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/cxsparse.cc b/internal/ceres/cxsparse.cc
new file mode 100644
index 0000000..11ff943
--- /dev/null
+++ b/internal/ceres/cxsparse.cc
@@ -0,0 +1,283 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_CXSPARSE
+
+#include "ceres/cxsparse.h"
+
+#include <string>
+#include <vector>
+
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+CXSparse::CXSparse() : scratch_(NULL), scratch_size_(0) {}
+
+CXSparse::~CXSparse() {
+  if (scratch_size_ > 0) {
+    cs_di_free(scratch_);
+  }
+}
+
+csn* CXSparse::Cholesky(cs_di* A, cs_dis* symbolic_factor) {
+  return cs_di_chol(A, symbolic_factor);
+}
+
+void CXSparse::Solve(cs_dis* symbolic_factor, csn* numeric_factor, double* b) {
+  // Make sure we have enough scratch space available.
+  const int num_cols = numeric_factor->L->n;
+  if (scratch_size_ < num_cols) {
+    if (scratch_size_ > 0) {
+      cs_di_free(scratch_);
+    }
+    scratch_ =
+        reinterpret_cast<CS_ENTRY*>(cs_di_malloc(num_cols, sizeof(CS_ENTRY)));
+    scratch_size_ = num_cols;
+  }
+
+  // When the Cholesky factor succeeded, these methods are
+  // guaranteed to succeeded as well. In the comments below, "x"
+  // refers to the scratch space.
+  //
+  // Set x = P * b.
+  CHECK(cs_di_ipvec(symbolic_factor->pinv, b, scratch_, num_cols));
+  // Set x = L \ x.
+  CHECK(cs_di_lsolve(numeric_factor->L, scratch_));
+  // Set x = L' \ x.
+  CHECK(cs_di_ltsolve(numeric_factor->L, scratch_));
+  // Set b = P' * x.
+  CHECK(cs_di_pvec(symbolic_factor->pinv, scratch_, b, num_cols));
+}
+
+bool CXSparse::SolveCholesky(cs_di* lhs, double* rhs_and_solution) {
+  return cs_cholsol(1, lhs, rhs_and_solution);
+}
+
+cs_dis* CXSparse::AnalyzeCholesky(cs_di* A) {
+  // order = 1 for Cholesky factor.
+  return cs_schol(1, A);
+}
+
+cs_dis* CXSparse::AnalyzeCholeskyWithNaturalOrdering(cs_di* A) {
+  // order = 0 for Natural ordering.
+  return cs_schol(0, A);
+}
+
+cs_dis* CXSparse::BlockAnalyzeCholesky(cs_di* A,
+                                       const vector<int>& row_blocks,
+                                       const vector<int>& col_blocks) {
+  const int num_row_blocks = row_blocks.size();
+  const int num_col_blocks = col_blocks.size();
+
+  vector<int> block_rows;
+  vector<int> block_cols;
+  CompressedColumnScalarMatrixToBlockMatrix(
+      A->i, A->p, row_blocks, col_blocks, &block_rows, &block_cols);
+  cs_di block_matrix;
+  block_matrix.m = num_row_blocks;
+  block_matrix.n = num_col_blocks;
+  block_matrix.nz = -1;
+  block_matrix.nzmax = block_rows.size();
+  block_matrix.p = &block_cols[0];
+  block_matrix.i = &block_rows[0];
+  block_matrix.x = NULL;
+
+  int* ordering = cs_amd(1, &block_matrix);
+  vector<int> block_ordering(num_row_blocks, -1);
+  std::copy(ordering, ordering + num_row_blocks, &block_ordering[0]);
+  cs_free(ordering);
+
+  vector<int> scalar_ordering;
+  BlockOrderingToScalarOrdering(row_blocks, block_ordering, &scalar_ordering);
+
+  cs_dis* symbolic_factor =
+      reinterpret_cast<cs_dis*>(cs_calloc(1, sizeof(cs_dis)));
+  symbolic_factor->pinv = cs_pinv(&scalar_ordering[0], A->n);
+  cs* permuted_A = cs_symperm(A, symbolic_factor->pinv, 0);
+
+  symbolic_factor->parent = cs_etree(permuted_A, 0);
+  int* postordering = cs_post(symbolic_factor->parent, A->n);
+  int* column_counts =
+      cs_counts(permuted_A, symbolic_factor->parent, postordering, 0);
+  cs_free(postordering);
+  cs_spfree(permuted_A);
+
+  symbolic_factor->cp = (int*)cs_malloc(A->n + 1, sizeof(int));
+  symbolic_factor->lnz = cs_cumsum(symbolic_factor->cp, column_counts, A->n);
+  symbolic_factor->unz = symbolic_factor->lnz;
+
+  cs_free(column_counts);
+
+  if (symbolic_factor->lnz < 0) {
+    cs_sfree(symbolic_factor);
+    symbolic_factor = NULL;
+  }
+
+  return symbolic_factor;
+}
+
+cs_di CXSparse::CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A) {
+  cs_di At;
+  At.m = A->num_cols();
+  At.n = A->num_rows();
+  At.nz = -1;
+  At.nzmax = A->num_nonzeros();
+  At.p = A->mutable_rows();
+  At.i = A->mutable_cols();
+  At.x = A->mutable_values();
+  return At;
+}
+
+cs_di* CXSparse::CreateSparseMatrix(TripletSparseMatrix* tsm) {
+  cs_di_sparse tsm_wrapper;
+  tsm_wrapper.nzmax = tsm->num_nonzeros();
+  tsm_wrapper.nz = tsm->num_nonzeros();
+  tsm_wrapper.m = tsm->num_rows();
+  tsm_wrapper.n = tsm->num_cols();
+  tsm_wrapper.p = tsm->mutable_cols();
+  tsm_wrapper.i = tsm->mutable_rows();
+  tsm_wrapper.x = tsm->mutable_values();
+
+  return cs_compress(&tsm_wrapper);
+}
+
+void CXSparse::ApproximateMinimumDegreeOrdering(cs_di* A, int* ordering) {
+  int* cs_ordering = cs_amd(1, A);
+  std::copy(cs_ordering, cs_ordering + A->m, ordering);
+  cs_free(cs_ordering);
+}
+
+cs_di* CXSparse::TransposeMatrix(cs_di* A) { return cs_di_transpose(A, 1); }
+
+cs_di* CXSparse::MatrixMatrixMultiply(cs_di* A, cs_di* B) {
+  return cs_di_multiply(A, B);
+}
+
+void CXSparse::Free(cs_di* sparse_matrix) { cs_di_spfree(sparse_matrix); }
+
+void CXSparse::Free(cs_dis* symbolic_factor) { cs_di_sfree(symbolic_factor); }
+
+void CXSparse::Free(csn* numeric_factor) { cs_di_nfree(numeric_factor); }
+
+CXSparseCholesky* CXSparseCholesky::Create(const OrderingType ordering_type) {
+  return new CXSparseCholesky(ordering_type);
+}
+
+CompressedRowSparseMatrix::StorageType CXSparseCholesky::StorageType() const {
+  return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
+}
+
+CXSparseCholesky::CXSparseCholesky(const OrderingType ordering_type)
+    : ordering_type_(ordering_type),
+      symbolic_factor_(NULL),
+      numeric_factor_(NULL) {}
+
+CXSparseCholesky::~CXSparseCholesky() {
+  FreeSymbolicFactorization();
+  FreeNumericFactorization();
+}
+
+LinearSolverTerminationType CXSparseCholesky::Factorize(
+    CompressedRowSparseMatrix* lhs, std::string* message) {
+  CHECK_EQ(lhs->storage_type(), StorageType());
+  if (lhs == NULL) {
+    *message = "Failure: Input lhs is NULL.";
+    return LINEAR_SOLVER_FATAL_ERROR;
+  }
+
+  cs_di cs_lhs = cs_.CreateSparseMatrixTransposeView(lhs);
+
+  if (symbolic_factor_ == NULL) {
+    if (ordering_type_ == NATURAL) {
+      symbolic_factor_ = cs_.AnalyzeCholeskyWithNaturalOrdering(&cs_lhs);
+    } else {
+      if (!lhs->col_blocks().empty() && !(lhs->row_blocks().empty())) {
+        symbolic_factor_ = cs_.BlockAnalyzeCholesky(
+            &cs_lhs, lhs->col_blocks(), lhs->row_blocks());
+      } else {
+        symbolic_factor_ = cs_.AnalyzeCholesky(&cs_lhs);
+      }
+    }
+
+    if (symbolic_factor_ == NULL) {
+      *message = "CXSparse Failure : Symbolic factorization failed.";
+      return LINEAR_SOLVER_FATAL_ERROR;
+    }
+  }
+
+  FreeNumericFactorization();
+  numeric_factor_ = cs_.Cholesky(&cs_lhs, symbolic_factor_);
+  if (numeric_factor_ == NULL) {
+    *message = "CXSparse Failure : Numeric factorization failed.";
+    return LINEAR_SOLVER_FAILURE;
+  }
+
+  return LINEAR_SOLVER_SUCCESS;
+}
+
+LinearSolverTerminationType CXSparseCholesky::Solve(const double* rhs,
+                                                    double* solution,
+                                                    std::string* message) {
+  CHECK(numeric_factor_ != NULL)
+      << "Solve called without a call to Factorize first.";
+  const int num_cols = numeric_factor_->L->n;
+  memcpy(solution, rhs, num_cols * sizeof(*solution));
+  cs_.Solve(symbolic_factor_, numeric_factor_, solution);
+  return LINEAR_SOLVER_SUCCESS;
+}
+
+void CXSparseCholesky::FreeSymbolicFactorization() {
+  if (symbolic_factor_ != NULL) {
+    cs_.Free(symbolic_factor_);
+    symbolic_factor_ = NULL;
+  }
+}
+
+void CXSparseCholesky::FreeNumericFactorization() {
+  if (numeric_factor_ != NULL) {
+    cs_.Free(numeric_factor_);
+    numeric_factor_ = NULL;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_NO_CXSPARSE
diff --git a/internal/ceres/cxsparse.h b/internal/ceres/cxsparse.h
new file mode 100644
index 0000000..1ad79f9
--- /dev/null
+++ b/internal/ceres/cxsparse.h
@@ -0,0 +1,178 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#ifndef CERES_INTERNAL_CXSPARSE_H_
+#define CERES_INTERNAL_CXSPARSE_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_CXSPARSE
+
+#include <string>
+#include <vector>
+
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "cs.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class TripletSparseMatrix;
+
+// This object provides access to solving linear systems using Cholesky
+// factorization with a known symbolic factorization. This features does not
+// explicity exist in CXSparse. The methods in the class are nonstatic because
+// the class manages internal scratch space.
+class CXSparse {
+ public:
+  CXSparse();
+  ~CXSparse();
+
+  // Solve the system lhs * solution = rhs in place by using an
+  // approximate minimum degree fill reducing ordering.
+  bool SolveCholesky(cs_di* lhs, double* rhs_and_solution);
+
+  // Solves a linear system given its symbolic and numeric factorization.
+  void Solve(cs_dis* symbolic_factor,
+             csn* numeric_factor,
+             double* rhs_and_solution);
+
+  // Compute the numeric Cholesky factorization of A, given its
+  // symbolic factorization.
+  //
+  // Caller owns the result.
+  csn* Cholesky(cs_di* A, cs_dis* symbolic_factor);
+
+  // Creates a sparse matrix from a compressed-column form. No memory is
+  // allocated or copied; the structure A is filled out with info from the
+  // argument.
+  cs_di CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A);
+
+  // Creates a new matrix from a triplet form. Deallocate the returned matrix
+  // with Free. May return NULL if the compression or allocation fails.
+  cs_di* CreateSparseMatrix(TripletSparseMatrix* A);
+
+  // B = A'
+  //
+  // The returned matrix should be deallocated with Free when not used
+  // anymore.
+  cs_di* TransposeMatrix(cs_di* A);
+
+  // C = A * B
+  //
+  // The returned matrix should be deallocated with Free when not used
+  // anymore.
+  cs_di* MatrixMatrixMultiply(cs_di* A, cs_di* B);
+
+  // Computes a symbolic factorization of A that can be used in SolveCholesky.
+  //
+  // The returned matrix should be deallocated with Free when not used anymore.
+  cs_dis* AnalyzeCholesky(cs_di* A);
+
+  // Computes a symbolic factorization of A that can be used in
+  // SolveCholesky, but does not compute a fill-reducing ordering.
+  //
+  // The returned matrix should be deallocated with Free when not used anymore.
+  cs_dis* AnalyzeCholeskyWithNaturalOrdering(cs_di* A);
+
+  // Computes a symbolic factorization of A that can be used in
+  // SolveCholesky. The difference from AnalyzeCholesky is that this
+  // function first detects the block sparsity of the matrix using
+  // information about the row and column blocks and uses this block
+  // sparse matrix to find a fill-reducing ordering. This ordering is
+  // then used to find a symbolic factorization. This can result in a
+  // significant performance improvement AnalyzeCholesky on block
+  // sparse matrices.
+  //
+  // The returned matrix should be deallocated with Free when not used
+  // anymore.
+  cs_dis* BlockAnalyzeCholesky(cs_di* A,
+                               const std::vector<int>& row_blocks,
+                               const std::vector<int>& col_blocks);
+
+  // Compute an fill-reducing approximate minimum degree ordering of
+  // the matrix A. ordering should be non-NULL and should point to
+  // enough memory to hold the ordering for the rows of A.
+  void ApproximateMinimumDegreeOrdering(cs_di* A, int* ordering);
+
+  void Free(cs_di* sparse_matrix);
+  void Free(cs_dis* symbolic_factorization);
+  void Free(csn* numeric_factorization);
+
+ private:
+  // Cached scratch space
+  CS_ENTRY* scratch_;
+  int scratch_size_;
+};
+
+// An implementation of SparseCholesky interface using the CXSparse
+// library.
+class CXSparseCholesky : public SparseCholesky {
+ public:
+  // Factory
+  static CXSparseCholesky* Create(const OrderingType ordering_type);
+
+  // SparseCholesky interface.
+  virtual ~CXSparseCholesky();
+  virtual CompressedRowSparseMatrix::StorageType StorageType() const;
+  virtual LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs,
+                                                std::string* message);
+  virtual LinearSolverTerminationType Solve(const double* rhs,
+                                            double* solution,
+                                            std::string* message);
+
+ private:
+  CXSparseCholesky(const OrderingType ordering_type);
+  void FreeSymbolicFactorization();
+  void FreeNumericFactorization();
+
+  const OrderingType ordering_type_;
+  CXSparse cs_;
+  cs_dis* symbolic_factor_;
+  csn* numeric_factor_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#else   // CERES_NO_CXSPARSE
+
+typedef void cs_dis;
+
+class CXSparse {
+ public:
+  void Free(void* arg) {}
+};
+#endif  // CERES_NO_CXSPARSE
+
+#endif  // CERES_INTERNAL_CXSPARSE_H_
diff --git a/internal/ceres/dense_jacobian_writer.h b/internal/ceres/dense_jacobian_writer.h
new file mode 100644
index 0000000..1b04f38
--- /dev/null
+++ b/internal/ceres/dense_jacobian_writer.h
@@ -0,0 +1,108 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that writes to dense Eigen matrices.
+
+#ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
+
+#include "ceres/casts.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseJacobianWriter {
+ public:
+  DenseJacobianWriter(Evaluator::Options /* ignored */,
+                      Program* program)
+    : program_(program) {
+  }
+
+  // JacobianWriter interface.
+
+  // Since the dense matrix has different layout than that assumed by the cost
+  // functions, use scratch space to store the jacobians temporarily then copy
+  // them over to the larger jacobian later.
+  ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
+    return ScratchEvaluatePreparer::Create(*program_, num_threads);
+  }
+
+  SparseMatrix* CreateJacobian() const {
+    return new DenseSparseMatrix(program_->NumResiduals(),
+                                 program_->NumEffectiveParameters(),
+                                 true);
+  }
+
+  void Write(int residual_id,
+             int residual_offset,
+             double **jacobians,
+             SparseMatrix* jacobian) {
+    DenseSparseMatrix* dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
+    const ResidualBlock* residual_block =
+        program_->residual_blocks()[residual_id];
+    int num_parameter_blocks = residual_block->NumParameterBlocks();
+    int num_residuals = residual_block->NumResiduals();
+
+    // Now copy the jacobians for each parameter into the dense jacobian matrix.
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+
+      // If the parameter block is fixed, then there is nothing to do.
+      if (parameter_block->IsConstant()) {
+        continue;
+      }
+
+      const int parameter_block_size = parameter_block->LocalSize();
+      ConstMatrixRef parameter_jacobian(jacobians[j],
+                                        num_residuals,
+                                        parameter_block_size);
+
+      dense_jacobian->mutable_matrix().block(
+          residual_offset,
+          parameter_block->delta_offset(),
+          num_residuals,
+          parameter_block_size) = parameter_jacobian;
+    }
+  }
+
+ private:
+  Program* program_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
diff --git a/internal/ceres/dense_linear_solver_test.cc b/internal/ceres/dense_linear_solver_test.cc
new file mode 100644
index 0000000..48da2bd
--- /dev/null
+++ b/internal/ceres/dense_linear_solver_test.cc
@@ -0,0 +1,134 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/casts.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+typedef ::testing::
+    tuple<LinearSolverType, DenseLinearAlgebraLibraryType, bool, int>
+        Param;
+
+std::string ParamInfoToString(testing::TestParamInfo<Param> info) {
+  Param param = info.param;
+  std::stringstream ss;
+  ss << LinearSolverTypeToString(::testing::get<0>(param)) << "_"
+     << DenseLinearAlgebraLibraryTypeToString(::testing::get<1>(param)) << "_"
+     << (::testing::get<2>(param) ? "Regularized" : "Unregularized") << "_"
+     << ::testing::get<3>(param);
+  return ss.str();
+}
+
+class DenseLinearSolverTest : public ::testing::TestWithParam<Param> {};
+
+TEST_P(DenseLinearSolverTest, _) {
+  Param param = GetParam();
+  const bool regularized = testing::get<2>(param);
+
+  scoped_ptr<LinearLeastSquaresProblem> problem(
+      CreateLinearLeastSquaresProblemFromId(testing::get<3>(param)));
+  DenseSparseMatrix lhs(*down_cast<TripletSparseMatrix*>(problem->A.get()));
+
+  const int num_cols = lhs.num_cols();
+  const int num_rows = lhs.num_rows();
+
+  Vector rhs = Vector::Zero(num_rows + num_cols);
+  rhs.head(num_rows) = ConstVectorRef(problem->b.get(), num_rows);
+
+  LinearSolver::Options options;
+  options.type = ::testing::get<0>(param);
+  options.dense_linear_algebra_library_type = ::testing::get<1>(param);
+  scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+
+  LinearSolver::PerSolveOptions per_solve_options;
+  if (regularized) {
+    per_solve_options.D = problem->D.get();
+  }
+
+  Vector solution(num_cols);
+  LinearSolver::Summary summary =
+      solver->Solve(&lhs, rhs.data(), per_solve_options, solution.data());
+  EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+  // If solving for the regularized solution, add the diagonal to the
+  // matrix. This makes subsequent computations simpler.
+  if (testing::get<2>(param)) {
+    lhs.AppendDiagonal(problem->D.get());
+  };
+
+  Vector tmp = Vector::Zero(num_rows + num_cols);
+  lhs.RightMultiply(solution.data(), tmp.data());
+  Vector actual_normal_rhs = Vector::Zero(num_cols);
+  lhs.LeftMultiply(tmp.data(), actual_normal_rhs.data());
+
+  Vector expected_normal_rhs = Vector::Zero(num_cols);
+  lhs.LeftMultiply(rhs.data(), expected_normal_rhs.data());
+  const double residual = (expected_normal_rhs - actual_normal_rhs).norm() /
+                          expected_normal_rhs.norm();
+
+  EXPECT_NEAR(residual, 0.0, 10 * std::numeric_limits<double>::epsilon());
+}
+
+// TODO(sameeragarwal): Should we move away from hard coded linear
+// least squares problem to randomly generated ones?
+#ifndef CERES_NO_LAPACK
+
+INSTANTIATE_TEST_CASE_P(
+    DenseLinearSolver,
+    DenseLinearSolverTest,
+    ::testing::Combine(::testing::Values(DENSE_QR, DENSE_NORMAL_CHOLESKY),
+                       ::testing::Values(EIGEN, LAPACK),
+                       ::testing::Values(true, false),
+                       ::testing::Values(0, 1)),
+    ParamInfoToString);
+
+#else
+
+INSTANTIATE_TEST_CASE_P(
+    DenseLinearSolver,
+    DenseLinearSolverTest,
+    ::testing::Combine(::testing::Values(DENSE_QR, DENSE_NORMAL_CHOLESKY),
+                       ::testing::Values(EIGEN),
+                       ::testing::Values(true, false),
+                       ::testing::Values(0, 1)),
+    ParamInfoToString);
+
+#endif
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc
new file mode 100644
index 0000000..b13cf3f
--- /dev/null
+++ b/internal/ceres/dense_normal_cholesky_solver.cc
@@ -0,0 +1,166 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/dense_normal_cholesky_solver.h"
+
+#include <cstddef>
+
+#include "Eigen/Dense"
+#include "ceres/blas.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/lapack.h"
+#include "ceres/linear_solver.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+DenseNormalCholeskySolver::DenseNormalCholeskySolver(
+    const LinearSolver::Options& options)
+    : options_(options) {}
+
+LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
+    DenseSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  if (options_.dense_linear_algebra_library_type == EIGEN) {
+    return SolveUsingEigen(A, b, per_solve_options, x);
+  } else {
+    return SolveUsingLAPACK(A, b, per_solve_options, x);
+  }
+}
+
+LinearSolver::Summary DenseNormalCholeskySolver::SolveUsingEigen(
+    DenseSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("DenseNormalCholeskySolver::Solve");
+
+  const int num_rows = A->num_rows();
+  const int num_cols = A->num_cols();
+
+  ConstColMajorMatrixRef Aref = A->matrix();
+  Matrix lhs(num_cols, num_cols);
+  lhs.setZero();
+
+  event_logger.AddEvent("Setup");
+
+  //   lhs += A'A
+  //
+  // Using rankUpdate instead of GEMM, exposes the fact that its the
+  // same matrix being multiplied with itself and that the product is
+  // symmetric.
+  lhs.selfadjointView<Eigen::Upper>().rankUpdate(Aref.transpose());
+
+  //   rhs = A'b
+  Vector rhs = Aref.transpose() * ConstVectorRef(b, num_rows);
+
+  if (per_solve_options.D != NULL) {
+    ConstVectorRef D(per_solve_options.D, num_cols);
+    lhs += D.array().square().matrix().asDiagonal();
+  }
+  event_logger.AddEvent("Product");
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 1;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  Eigen::LLT<Matrix, Eigen::Upper> llt =
+      lhs.selfadjointView<Eigen::Upper>().llt();
+
+  if (llt.info() != Eigen::Success) {
+    summary.termination_type = LINEAR_SOLVER_FAILURE;
+    summary.message = "Eigen LLT decomposition failed.";
+  } else {
+    summary.termination_type = LINEAR_SOLVER_SUCCESS;
+    summary.message = "Success.";
+  }
+
+  VectorRef(x, num_cols) = llt.solve(rhs);
+  event_logger.AddEvent("Solve");
+  return summary;
+}
+
+LinearSolver::Summary DenseNormalCholeskySolver::SolveUsingLAPACK(
+    DenseSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("DenseNormalCholeskySolver::Solve");
+
+  if (per_solve_options.D != NULL) {
+    // Temporarily append a diagonal block to the A matrix, but undo
+    // it before returning the matrix to the user.
+    A->AppendDiagonal(per_solve_options.D);
+  }
+
+  const int num_cols = A->num_cols();
+  Matrix lhs(num_cols, num_cols);
+  event_logger.AddEvent("Setup");
+
+  // lhs = A'A
+  //
+  // Note: This is a bit delicate, it assumes that the stride on this
+  // matrix is the same as the number of rows.
+  BLAS::SymmetricRankKUpdate(A->num_rows(),
+                             num_cols,
+                             A->values(),
+                             true,
+                             1.0,
+                             0.0,
+                             lhs.data());
+
+  if (per_solve_options.D != NULL) {
+    // Undo the modifications to the matrix A.
+    A->RemoveDiagonal();
+  }
+
+  // TODO(sameeragarwal): Replace this with a gemv call for true blasness.
+  //   rhs = A'b
+  VectorRef(x, num_cols) =
+      A->matrix().transpose() * ConstVectorRef(b, A->num_rows());
+  event_logger.AddEvent("Product");
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 1;
+  summary.termination_type =
+      LAPACK::SolveInPlaceUsingCholesky(num_cols,
+                                        lhs.data(),
+                                        x,
+                                        &summary.message);
+  event_logger.AddEvent("Solve");
+  return summary;
+}
+}   // namespace internal
+}   // namespace ceres
diff --git a/internal/ceres/dense_normal_cholesky_solver.h b/internal/ceres/dense_normal_cholesky_solver.h
new file mode 100644
index 0000000..11287eb
--- /dev/null
+++ b/internal/ceres/dense_normal_cholesky_solver.h
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Solve dense rectangular systems Ax = b by forming the normal
+// equations and solving them using the Cholesky factorization.
+
+#ifndef CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseSparseMatrix;
+
+// This class implements the LinearSolver interface for solving
+// rectangular/unsymmetric (well constrained) linear systems of the
+// form
+//
+//   Ax = b
+//
+// Since there does not usually exist a solution that satisfies these
+// equations, the solver instead solves the linear least squares
+// problem
+//
+//   min_x |Ax - b|^2
+//
+// Setting the gradient of the above optimization problem to zero
+// gives us the normal equations
+//
+//   A'Ax = A'b
+//
+// A'A is a positive definite matrix (hopefully), and the resulting
+// linear system can be solved using Cholesky factorization.
+//
+// If the PerSolveOptions struct has a non-null array D, then the
+// augmented/regularized linear system
+//
+//   [    A    ]x = [b]
+//   [ diag(D) ]    [0]
+//
+// is solved.
+//
+// This class uses the LDLT factorization routines from the Eigen
+// library. This solver always returns a solution, it is the user's
+// responsibility to judge if the solution is good enough for their
+// purposes.
+class DenseNormalCholeskySolver: public DenseSparseMatrixSolver {
+ public:
+  explicit DenseNormalCholeskySolver(const LinearSolver::Options& options);
+
+ private:
+  virtual LinearSolver::Summary SolveImpl(
+      DenseSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+  LinearSolver::Summary SolveUsingLAPACK(
+      DenseSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+  LinearSolver::Summary SolveUsingEigen(
+      DenseSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+  const LinearSolver::Options options_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(DenseNormalCholeskySolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
diff --git a/internal/ceres/dense_qr_solver.cc b/internal/ceres/dense_qr_solver.cc
new file mode 100644
index 0000000..e85fdfc
--- /dev/null
+++ b/internal/ceres/dense_qr_solver.cc
@@ -0,0 +1,170 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/dense_qr_solver.h"
+
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/lapack.h"
+#include "ceres/linear_solver.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+DenseQRSolver::DenseQRSolver(const LinearSolver::Options& options)
+    : options_(options) {
+  work_.resize(1);
+}
+
+LinearSolver::Summary DenseQRSolver::SolveImpl(
+    DenseSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  if (options_.dense_linear_algebra_library_type == EIGEN) {
+    return SolveUsingEigen(A, b, per_solve_options, x);
+  } else {
+    return SolveUsingLAPACK(A, b, per_solve_options, x);
+  }
+}
+
+LinearSolver::Summary DenseQRSolver::SolveUsingLAPACK(
+    DenseSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("DenseQRSolver::Solve");
+
+  const int num_rows = A->num_rows();
+  const int num_cols = A->num_cols();
+
+  if (per_solve_options.D != NULL) {
+    // Temporarily append a diagonal block to the A matrix, but undo
+    // it before returning the matrix to the user.
+    A->AppendDiagonal(per_solve_options.D);
+  }
+
+  // TODO(sameeragarwal): Since we are copying anyways, the diagonal
+  // can be appended to the matrix instead of doing it on A.
+  lhs_ =  A->matrix();
+
+  if (per_solve_options.D != NULL) {
+    // Undo the modifications to the matrix A.
+    A->RemoveDiagonal();
+  }
+
+  // rhs = [b;0] to account for the additional rows in the lhs.
+  if (rhs_.rows() != lhs_.rows()) {
+    rhs_.resize(lhs_.rows());
+  }
+  rhs_.setZero();
+  rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
+
+  if (work_.rows() == 1) {
+    const int work_size =
+        LAPACK::EstimateWorkSizeForQR(lhs_.rows(), lhs_.cols());
+    VLOG(3) << "Working memory for Dense QR factorization: "
+            << work_size * sizeof(double);
+    work_.resize(work_size);
+  }
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 1;
+  summary.termination_type = LAPACK::SolveInPlaceUsingQR(lhs_.rows(),
+                                                         lhs_.cols(),
+                                                         lhs_.data(),
+                                                         work_.rows(),
+                                                         work_.data(),
+                                                         rhs_.data(),
+                                                         &summary.message);
+  event_logger.AddEvent("Solve");
+  if (summary.termination_type == LINEAR_SOLVER_SUCCESS) {
+    VectorRef(x, num_cols) = rhs_.head(num_cols);
+  }
+
+  event_logger.AddEvent("TearDown");
+  return summary;
+}
+
+LinearSolver::Summary DenseQRSolver::SolveUsingEigen(
+    DenseSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("DenseQRSolver::Solve");
+
+  const int num_rows = A->num_rows();
+  const int num_cols = A->num_cols();
+
+  if (per_solve_options.D != NULL) {
+    // Temporarily append a diagonal block to the A matrix, but undo
+    // it before returning the matrix to the user.
+    A->AppendDiagonal(per_solve_options.D);
+  }
+
+  // rhs = [b;0] to account for the additional rows in the lhs.
+  const int augmented_num_rows =
+      num_rows + ((per_solve_options.D != NULL) ? num_cols : 0);
+  if (rhs_.rows() != augmented_num_rows) {
+    rhs_.resize(augmented_num_rows);
+    rhs_.setZero();
+  }
+  rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
+  event_logger.AddEvent("Setup");
+
+  // Solve the system.
+  VectorRef(x, num_cols) = A->matrix().householderQr().solve(rhs_);
+  event_logger.AddEvent("Solve");
+
+  if (per_solve_options.D != NULL) {
+    // Undo the modifications to the matrix A.
+    A->RemoveDiagonal();
+  }
+
+  // We always succeed, since the QR solver returns the best solution
+  // it can. It is the job of the caller to determine if the solution
+  // is good enough or not.
+  LinearSolver::Summary summary;
+  summary.num_iterations = 1;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  summary.message = "Success.";
+
+  event_logger.AddEvent("TearDown");
+  return summary;
+}
+
+}   // namespace internal
+}   // namespace ceres
diff --git a/internal/ceres/dense_qr_solver.h b/internal/ceres/dense_qr_solver.h
new file mode 100644
index 0000000..1a6e089
--- /dev/null
+++ b/internal/ceres/dense_qr_solver.h
@@ -0,0 +1,115 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Solve dense rectangular systems Ax = b using the QR factorization.
+#ifndef CERES_INTERNAL_DENSE_QR_SOLVER_H_
+#define CERES_INTERNAL_DENSE_QR_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseSparseMatrix;
+
+// This class implements the LinearSolver interface for solving
+// rectangular/unsymmetric (well constrained) linear systems of the
+// form
+//
+//   Ax = b
+//
+// Since there does not usually exist a solution that satisfies these
+// equations, the solver instead solves the linear least squares
+// problem
+//
+//   min_x |Ax - b|^2
+//
+// The solution strategy is based on computing the QR decomposition of
+// A, i.e.
+//
+//   A = QR
+//
+// Where Q is an orthonormal matrix and R is an upper triangular
+// matrix. Then
+//
+//     Ax = b
+//    QRx = b
+//  Q'QRx = Q'b
+//     Rx = Q'b
+//      x = R^{-1} Q'b
+//
+// If the PerSolveOptions struct has a non-null array D, then the
+// augmented/regularized linear system
+//
+//   [    A    ]x = [b]
+//   [ diag(D) ]    [0]
+//
+// is solved.
+//
+// This class uses the dense QR factorization routines from the Eigen
+// library. This solver always returns a solution, it is the user's
+// responsibility to judge if the solution is good enough for their
+// purposes.
+class DenseQRSolver: public DenseSparseMatrixSolver {
+ public:
+  explicit DenseQRSolver(const LinearSolver::Options& options);
+
+ private:
+  virtual LinearSolver::Summary SolveImpl(
+      DenseSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+  LinearSolver::Summary SolveUsingEigen(
+      DenseSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+  LinearSolver::Summary SolveUsingLAPACK(
+      DenseSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+  const LinearSolver::Options options_;
+  ColMajorMatrix lhs_;
+  Vector rhs_;
+  Vector work_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(DenseQRSolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DENSE_QR_SOLVER_H_
diff --git a/internal/ceres/dense_sparse_matrix.cc b/internal/ceres/dense_sparse_matrix.cc
new file mode 100644
index 0000000..19db867
--- /dev/null
+++ b/internal/ceres/dense_sparse_matrix.cc
@@ -0,0 +1,183 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/dense_sparse_matrix.h"
+
+#include <algorithm>
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
+    : has_diagonal_appended_(false),
+      has_diagonal_reserved_(false) {
+  m_.resize(num_rows, num_cols);
+  m_.setZero();
+}
+
+DenseSparseMatrix::DenseSparseMatrix(int num_rows,
+                                     int num_cols,
+                                     bool reserve_diagonal)
+    : has_diagonal_appended_(false),
+      has_diagonal_reserved_(reserve_diagonal) {
+  if (reserve_diagonal) {
+    // Allocate enough space for the diagonal.
+    m_.resize(num_rows +  num_cols, num_cols);
+  } else {
+    m_.resize(num_rows, num_cols);
+  }
+  m_.setZero();
+}
+
+DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
+    : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())),
+      has_diagonal_appended_(false),
+      has_diagonal_reserved_(false) {
+  const double *values = m.values();
+  const int *rows = m.rows();
+  const int *cols = m.cols();
+  int num_nonzeros = m.num_nonzeros();
+
+  for (int i = 0; i < num_nonzeros; ++i) {
+    m_(rows[i], cols[i]) += values[i];
+  }
+}
+
+DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
+    : m_(m),
+      has_diagonal_appended_(false),
+      has_diagonal_reserved_(false) {
+}
+
+void DenseSparseMatrix::SetZero() {
+  m_.setZero();
+}
+
+void DenseSparseMatrix::RightMultiply(const double* x, double* y) const {
+  VectorRef(y, num_rows()) += matrix() * ConstVectorRef(x, num_cols());
+}
+
+void DenseSparseMatrix::LeftMultiply(const double* x, double* y) const {
+  VectorRef(y, num_cols()) +=
+      matrix().transpose() * ConstVectorRef(x, num_rows());
+}
+
+void DenseSparseMatrix::SquaredColumnNorm(double* x) const {
+  VectorRef(x, num_cols()) = m_.colwise().squaredNorm();
+}
+
+void DenseSparseMatrix::ScaleColumns(const double* scale) {
+  m_ *= ConstVectorRef(scale, num_cols()).asDiagonal();
+}
+
+void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+  *dense_matrix = m_.block(0, 0, num_rows(), num_cols());
+}
+
+void DenseSparseMatrix::AppendDiagonal(double *d) {
+  CHECK(!has_diagonal_appended_);
+  if (!has_diagonal_reserved_) {
+    ColMajorMatrix tmp = m_;
+    m_.resize(m_.rows() + m_.cols(), m_.cols());
+    m_.setZero();
+    m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
+    has_diagonal_reserved_ = true;
+  }
+
+  m_.bottomLeftCorner(m_.cols(), m_.cols()) =
+      ConstVectorRef(d, m_.cols()).asDiagonal();
+  has_diagonal_appended_ = true;
+}
+
+void DenseSparseMatrix::RemoveDiagonal() {
+  CHECK(has_diagonal_appended_);
+  has_diagonal_appended_ = false;
+  // Leave the diagonal reserved.
+}
+
+int DenseSparseMatrix::num_rows() const {
+  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+    return m_.rows() - m_.cols();
+  }
+  return m_.rows();
+}
+
+int DenseSparseMatrix::num_cols() const {
+  return m_.cols();
+}
+
+int DenseSparseMatrix::num_nonzeros() const {
+  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+    return (m_.rows() - m_.cols()) * m_.cols();
+  }
+  return m_.rows() * m_.cols();
+}
+
+ConstColMajorMatrixRef DenseSparseMatrix::matrix() const {
+  return ConstColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
+}
+
+ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() {
+  return ColMajorMatrixRef(
+      m_.data(),
+      ((has_diagonal_reserved_ && !has_diagonal_appended_)
+       ? m_.rows() - m_.cols()
+       : m_.rows()),
+      m_.cols(),
+      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
+}
+
+
+void DenseSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  const int active_rows =
+      (has_diagonal_reserved_ && !has_diagonal_appended_)
+      ? (m_.rows() - m_.cols())
+      : m_.rows();
+
+  for (int r = 0; r < active_rows; ++r) {
+    for (int c = 0; c < m_.cols(); ++c) {
+      fprintf(file,  "% 10d % 10d %17f\n", r, c, m_(r, c));
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dense_sparse_matrix.h b/internal/ceres/dense_sparse_matrix.h
new file mode 100644
index 0000000..b011bfd
--- /dev/null
+++ b/internal/ceres/dense_sparse_matrix.h
@@ -0,0 +1,109 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A dense matrix implemented under the SparseMatrix interface.
+
+#ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class TripletSparseMatrix;
+
+class DenseSparseMatrix : public SparseMatrix {
+ public:
+  // Build a matrix with the same content as the TripletSparseMatrix
+  // m. This assumes that m does not have any repeated entries.
+  explicit DenseSparseMatrix(const TripletSparseMatrix& m);
+  explicit DenseSparseMatrix(const ColMajorMatrix& m);
+
+  DenseSparseMatrix(int num_rows, int num_cols);
+  DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal);
+
+  virtual ~DenseSparseMatrix() {}
+
+  // SparseMatrix interface.
+  virtual void SetZero();
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual void LeftMultiply(const double* x, double* y) const;
+  virtual void SquaredColumnNorm(double* x) const;
+  virtual void ScaleColumns(const double* scale);
+  virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+  virtual void ToTextFile(FILE* file) const;
+  virtual int num_rows() const;
+  virtual int num_cols() const;
+  virtual int num_nonzeros() const;
+  virtual const double* values() const { return m_.data(); }
+  virtual double* mutable_values() { return m_.data(); }
+
+  ConstColMajorMatrixRef matrix() const;
+  ColMajorMatrixRef mutable_matrix();
+
+  // Only one diagonal can be appended at a time. The diagonal is appended to
+  // as a new set of rows, e.g.
+  //
+  // Original matrix:
+  //
+  //   x x x
+  //   x x x
+  //   x x x
+  //
+  // After append diagonal (1, 2, 3):
+  //
+  //   x x x
+  //   x x x
+  //   x x x
+  //   1 0 0
+  //   0 2 0
+  //   0 0 3
+  //
+  // Calling RemoveDiagonal removes the block. It is a fatal error to append a
+  // diagonal to a matrix that already has an appended diagonal, and it is also
+  // a fatal error to remove a diagonal from a matrix that has none.
+  void AppendDiagonal(double *d);
+  void RemoveDiagonal();
+
+ private:
+  ColMajorMatrix m_;
+  bool has_diagonal_appended_;
+  bool has_diagonal_reserved_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
diff --git a/internal/ceres/dense_sparse_matrix_test.cc b/internal/ceres/dense_sparse_matrix_test.cc
new file mode 100644
index 0000000..a77f5e3
--- /dev/null
+++ b/internal/ceres/dense_sparse_matrix_test.cc
@@ -0,0 +1,169 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// TODO(keir): Implement a generic "compare sparse matrix implementations" test
+// suite that can compare all the implementations. Then this file would shrink
+// in size.
+
+#include "ceres/dense_sparse_matrix.h"
+
+#include "ceres/casts.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void CompareMatrices(const SparseMatrix* a, const SparseMatrix* b) {
+  EXPECT_EQ(a->num_rows(), b->num_rows());
+  EXPECT_EQ(a->num_cols(), b->num_cols());
+
+  int num_rows = a->num_rows();
+  int num_cols = a->num_cols();
+
+  for (int i = 0; i < num_cols; ++i) {
+    Vector x = Vector::Zero(num_cols);
+    x(i) = 1.0;
+
+    Vector y_a = Vector::Zero(num_rows);
+    Vector y_b = Vector::Zero(num_rows);
+
+    a->RightMultiply(x.data(), y_a.data());
+    b->RightMultiply(x.data(), y_b.data());
+
+    EXPECT_EQ((y_a - y_b).norm(), 0);
+  }
+}
+
+class DenseSparseMatrixTest : public ::testing::Test {
+ protected :
+  virtual void SetUp() {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(1));
+
+    CHECK_NOTNULL(problem.get());
+
+    tsm.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+    dsm.reset(new DenseSparseMatrix(*tsm));
+
+    num_rows = tsm->num_rows();
+    num_cols = tsm->num_cols();
+  }
+
+  int num_rows;
+  int num_cols;
+
+  scoped_ptr<TripletSparseMatrix> tsm;
+  scoped_ptr<DenseSparseMatrix> dsm;
+};
+
+TEST_F(DenseSparseMatrixTest, RightMultiply) {
+  CompareMatrices(tsm.get(), dsm.get());
+
+  // Try with a not entirely zero vector to verify column interactions, which
+  // could be masked by a subtle bug when using the elementary vectors.
+  Vector a(num_cols);
+  for (int i = 0; i < num_cols; i++) {
+    a(i) = i;
+  }
+  Vector b1 = Vector::Zero(num_rows);
+  Vector b2 = Vector::Zero(num_rows);
+
+  tsm->RightMultiply(a.data(), b1.data());
+  dsm->RightMultiply(a.data(), b2.data());
+
+  EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, LeftMultiply) {
+  for (int i = 0; i < num_rows; ++i) {
+    Vector a = Vector::Zero(num_rows);
+    a(i) = 1.0;
+
+    Vector b1 = Vector::Zero(num_cols);
+    Vector b2 = Vector::Zero(num_cols);
+
+    tsm->LeftMultiply(a.data(), b1.data());
+    dsm->LeftMultiply(a.data(), b2.data());
+
+    EXPECT_EQ((b1 - b2).norm(), 0);
+  }
+
+  // Try with a not entirely zero vector to verify column interactions, which
+  // could be masked by a subtle bug when using the elementary vectors.
+  Vector a(num_rows);
+  for (int i = 0; i < num_rows; i++) {
+    a(i) = i;
+  }
+  Vector b1 = Vector::Zero(num_cols);
+  Vector b2 = Vector::Zero(num_cols);
+
+  tsm->LeftMultiply(a.data(), b1.data());
+  dsm->LeftMultiply(a.data(), b2.data());
+
+  EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, ColumnNorm) {
+  Vector b1 = Vector::Zero(num_cols);
+  Vector b2 = Vector::Zero(num_cols);
+
+  tsm->SquaredColumnNorm(b1.data());
+  dsm->SquaredColumnNorm(b2.data());
+
+  EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, Scale) {
+  Vector scale(num_cols);
+  for (int i = 0; i < num_cols; ++i) {
+    scale(i) = i + 1;
+  }
+  tsm->ScaleColumns(scale.data());
+  dsm->ScaleColumns(scale.data());
+  CompareMatrices(tsm.get(), dsm.get());
+}
+
+TEST_F(DenseSparseMatrixTest, ToDenseMatrix) {
+  Matrix tsm_dense;
+  Matrix dsm_dense;
+
+  tsm->ToDenseMatrix(&tsm_dense);
+  dsm->ToDenseMatrix(&dsm_dense);
+
+  EXPECT_EQ((tsm_dense - dsm_dense).norm(), 0.0);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/detect_structure.cc b/internal/ceres/detect_structure.cc
new file mode 100644
index 0000000..959a0ee
--- /dev/null
+++ b/internal/ceres/detect_structure.cc
@@ -0,0 +1,120 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+void DetectStructure(const CompressedRowBlockStructure& bs,
+                     const int num_eliminate_blocks,
+                     int* row_block_size,
+                     int* e_block_size,
+                     int* f_block_size) {
+  const int num_row_blocks = bs.rows.size();
+  *row_block_size = 0;
+  *e_block_size = 0;
+  *f_block_size = 0;
+
+  // Iterate over row blocks of the matrix, checking if row_block,
+  // e_block or f_block sizes remain constant.
+  for (int r = 0; r < num_row_blocks; ++r) {
+    const CompressedRow& row = bs.rows[r];
+    // We do not care about the sizes of the blocks in rows which do
+    // not contain e_blocks.
+    if (row.cells.front().block_id >= num_eliminate_blocks) {
+      break;
+    }
+
+    // Detect fixed or dynamic row block size.
+    if (*row_block_size == 0) {
+      *row_block_size = row.block.size;
+    } else if (*row_block_size != Eigen::Dynamic &&
+               *row_block_size != row.block.size) {
+      VLOG(2) << "Dynamic row block size because the block size changed from "
+              << *row_block_size << " to "
+              << row.block.size;
+      *row_block_size = Eigen::Dynamic;
+    }
+
+    // Detect fixed or dynamic e-block size.
+    const int e_block_id = row.cells.front().block_id;
+    if (*e_block_size == 0) {
+      *e_block_size = bs.cols[e_block_id].size;
+    } else if (*e_block_size != Eigen::Dynamic &&
+               *e_block_size != bs.cols[e_block_id].size) {
+      VLOG(2) << "Dynamic e block size because the block size changed from "
+              << *e_block_size << " to "
+              << bs.cols[e_block_id].size;
+      *e_block_size = Eigen::Dynamic;
+    }
+
+    // Detect fixed or dynamic f-block size. We are only interested in
+    // rows with e-blocks, and the e-block is always the first block,
+    // so only rows of size greater than 1 are of interest.
+    if (row.cells.size() > 1) {
+      if (*f_block_size == 0) {
+        const int f_block_id = row.cells[1].block_id;
+        *f_block_size = bs.cols[f_block_id].size;
+      }
+
+      for (int c = 1;
+           (c < row.cells.size()) && (*f_block_size != Eigen::Dynamic);
+           ++c) {
+        const int f_block_id = row.cells[c].block_id;
+        if (*f_block_size != bs.cols[f_block_id].size) {
+          VLOG(2) << "Dynamic f block size because the block size "
+                  << "changed from " << *f_block_size << " to "
+                  << bs.cols[f_block_id].size;
+          *f_block_size = Eigen::Dynamic;
+        }
+      }
+    }
+
+    const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic &&
+                                        *e_block_size == Eigen::Dynamic &&
+                                        *f_block_size == Eigen::Dynamic);
+    if (is_everything_dynamic) {
+      break;
+    }
+  }
+
+  CHECK_NE(*row_block_size, 0) << "No rows found";
+  CHECK_NE(*e_block_size, 0) << "No e type blocks found";
+  VLOG(1) << "Schur complement static structure <"
+          << *row_block_size << ","
+          << *e_block_size << ","
+          << *f_block_size << ">.";
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/detect_structure.h b/internal/ceres/detect_structure.h
new file mode 100644
index 0000000..602581c
--- /dev/null
+++ b/internal/ceres/detect_structure.h
@@ -0,0 +1,67 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_DETECT_STRUCTURE_H_
+#define CERES_INTERNAL_DETECT_STRUCTURE_H_
+
+#include "ceres/block_structure.h"
+
+namespace ceres {
+namespace internal {
+
+// Detect static blocks in the problem sparsity. For rows containing
+// e_blocks, we are interested in detecting if the size of the row
+// blocks, e_blocks and the f_blocks remain constant. If they do, then
+// we can use template specialization to improve the performance of
+// the block level linear algebra operations used by the
+// SchurEliminator.
+//
+// If a block size is not constant, we return Eigen::Dynamic as the
+// value. This just means that the eliminator uses dynamically sized
+// linear algebra operations rather than static operations whose size
+// is known as compile time.
+//
+// For more details about e_blocks and f_blocks, see
+// schur_eliminator.h. This information is used to initialized an
+// appropriate template specialization of SchurEliminator.
+//
+// Note: The structure of rows without any e-blocks has no effect on
+// the values returned by this function. It is entirely possible that
+// the f_block_size and row_blocks_size is not constant in such rows.
+void DetectStructure(const CompressedRowBlockStructure& bs,
+                     const int num_eliminate_blocks,
+                     int* row_block_size,
+                     int* e_block_size,
+                     int* f_block_size);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DETECT_STRUCTURE_H_
diff --git a/internal/ceres/detect_structure_test.cc b/internal/ceres/detect_structure_test.cc
new file mode 100644
index 0000000..a701a19
--- /dev/null
+++ b/internal/ceres/detect_structure_test.cc
@@ -0,0 +1,294 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "Eigen/Core"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "ceres/block_structure.h"
+#include "ceres/detect_structure.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(DetectStructure, EverythingStatic) {
+  const int expected_row_block_size = 2;
+  const int expected_e_block_size = 3;
+  const int expected_f_block_size = 4;
+
+  CompressedRowBlockStructure bs;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 0;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 4;
+  bs.cols.back().position = 3;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 4;
+  bs.cols.back().position = 7;
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(1, 0));
+  }
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 2;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(2, 0));
+  }
+
+  int row_block_size = 0;
+  int e_block_size = 0;
+  int f_block_size = 0;
+  const int num_eliminate_blocks = 1;
+  DetectStructure(bs,
+                  num_eliminate_blocks,
+                  &row_block_size,
+                  &e_block_size,
+                  &f_block_size);
+
+  EXPECT_EQ(row_block_size, expected_row_block_size);
+  EXPECT_EQ(e_block_size, expected_e_block_size);
+  EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicRow) {
+  const int expected_row_block_size = Eigen::Dynamic;
+  const int expected_e_block_size = 3;
+  const int expected_f_block_size = 4;
+
+  CompressedRowBlockStructure bs;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 0;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 4;
+  bs.cols.back().position = 3;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 4;
+  bs.cols.back().position = 7;
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(1, 0));
+  }
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 1;
+    row.block.position = 2;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(2, 0));
+  }
+
+  int row_block_size = 0;
+  int e_block_size = 0;
+  int f_block_size = 0;
+  const int num_eliminate_blocks = 1;
+  DetectStructure(bs,
+                  num_eliminate_blocks,
+                  &row_block_size,
+                  &e_block_size,
+                  &f_block_size);
+
+  EXPECT_EQ(row_block_size, expected_row_block_size);
+  EXPECT_EQ(e_block_size, expected_e_block_size);
+  EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicFBlockDifferentRows) {
+  const int expected_row_block_size = 2;
+  const int expected_e_block_size = 3;
+  const int expected_f_block_size = Eigen::Dynamic;
+
+
+  CompressedRowBlockStructure bs;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 0;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 4;
+  bs.cols.back().position = 3;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 7;
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(1, 0));
+  }
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 2;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(2, 0));
+  }
+
+  int row_block_size = 0;
+  int e_block_size = 0;
+  int f_block_size = 0;
+  const int num_eliminate_blocks = 1;
+  DetectStructure(bs,
+                  num_eliminate_blocks,
+                  &row_block_size,
+                  &e_block_size,
+                  &f_block_size);
+
+  EXPECT_EQ(row_block_size, expected_row_block_size);
+  EXPECT_EQ(e_block_size, expected_e_block_size);
+  EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicEBlock) {
+  const int expected_row_block_size = 2;
+  const int expected_e_block_size = Eigen::Dynamic;
+  const int expected_f_block_size = 3;
+
+  CompressedRowBlockStructure bs;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 0;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 4;
+  bs.cols.back().position = 3;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 7;
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(2, 0));
+  }
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 2;
+    row.cells.push_back(Cell(1, 0));
+    row.cells.push_back(Cell(2, 0));
+  }
+
+  int row_block_size = 0;
+  int e_block_size = 0;
+  int f_block_size = 0;
+  const int num_eliminate_blocks = 2;
+  DetectStructure(bs,
+                  num_eliminate_blocks,
+                  &row_block_size,
+                  &e_block_size,
+                  &f_block_size);
+
+  EXPECT_EQ(row_block_size, expected_row_block_size);
+  EXPECT_EQ(e_block_size, expected_e_block_size);
+  EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+TEST(DetectStructure, DynamicFBlockSameRow) {
+  const int expected_row_block_size = 2;
+  const int expected_e_block_size = 3;
+  const int expected_f_block_size = Eigen::Dynamic;
+
+  CompressedRowBlockStructure bs;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 0;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 4;
+  bs.cols.back().position = 3;
+
+  bs.cols.push_back(Block());
+  bs.cols.back().size = 3;
+  bs.cols.back().position = 7;
+
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(1, 0));
+    row.cells.push_back(Cell(2, 0));
+  }
+
+  int row_block_size = 0;
+  int e_block_size = 0;
+  int f_block_size = 0;
+  const int num_eliminate_blocks = 1;
+  DetectStructure(bs,
+                  num_eliminate_blocks,
+                  &row_block_size,
+                  &e_block_size,
+                  &f_block_size);
+
+  EXPECT_EQ(row_block_size, expected_row_block_size);
+  EXPECT_EQ(e_block_size, expected_e_block_size);
+  EXPECT_EQ(f_block_size, expected_f_block_size);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dogleg_strategy.cc b/internal/ceres/dogleg_strategy.cc
new file mode 100644
index 0000000..839e181
--- /dev/null
+++ b/internal/ceres/dogleg_strategy.cc
@@ -0,0 +1,718 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/dogleg_strategy.h"
+
+#include <cmath>
+#include "Eigen/Dense"
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/polynomial.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+const double kMaxMu = 1.0;
+const double kMinMu = 1e-8;
+}
+
+DoglegStrategy::DoglegStrategy(const TrustRegionStrategy::Options& options)
+    : linear_solver_(options.linear_solver),
+      radius_(options.initial_radius),
+      max_radius_(options.max_radius),
+      min_diagonal_(options.min_lm_diagonal),
+      max_diagonal_(options.max_lm_diagonal),
+      mu_(kMinMu),
+      min_mu_(kMinMu),
+      max_mu_(kMaxMu),
+      mu_increase_factor_(10.0),
+      increase_threshold_(0.75),
+      decrease_threshold_(0.25),
+      dogleg_step_norm_(0.0),
+      reuse_(false),
+      dogleg_type_(options.dogleg_type) {
+  CHECK_NOTNULL(linear_solver_);
+  CHECK_GT(min_diagonal_, 0.0);
+  CHECK_LE(min_diagonal_, max_diagonal_);
+  CHECK_GT(max_radius_, 0.0);
+}
+
+// If the reuse_ flag is not set, then the Cauchy point (scaled
+// gradient) and the new Gauss-Newton step are computed from
+// scratch. The Dogleg step is then computed as interpolation of these
+// two vectors.
+TrustRegionStrategy::Summary DoglegStrategy::ComputeStep(
+    const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+    SparseMatrix* jacobian,
+    const double* residuals,
+    double* step) {
+  CHECK_NOTNULL(jacobian);
+  CHECK_NOTNULL(residuals);
+  CHECK_NOTNULL(step);
+
+  const int n = jacobian->num_cols();
+  if (reuse_) {
+    // Gauss-Newton and gradient vectors are always available, only a
+    // new interpolant need to be computed. For the subspace case,
+    // the subspace and the two-dimensional model are also still valid.
+    switch (dogleg_type_) {
+      case TRADITIONAL_DOGLEG:
+        ComputeTraditionalDoglegStep(step);
+        break;
+
+      case SUBSPACE_DOGLEG:
+        ComputeSubspaceDoglegStep(step);
+        break;
+    }
+    TrustRegionStrategy::Summary summary;
+    summary.num_iterations = 0;
+    summary.termination_type = LINEAR_SOLVER_SUCCESS;
+    return summary;
+  }
+
+  reuse_ = true;
+  // Check that we have the storage needed to hold the various
+  // temporary vectors.
+  if (diagonal_.rows() != n) {
+    diagonal_.resize(n, 1);
+    gradient_.resize(n, 1);
+    gauss_newton_step_.resize(n, 1);
+  }
+
+  // Vector used to form the diagonal matrix that is used to
+  // regularize the Gauss-Newton solve and that defines the
+  // elliptical trust region
+  //
+  //   || D * step || <= radius_ .
+  //
+  jacobian->SquaredColumnNorm(diagonal_.data());
+  for (int i = 0; i < n; ++i) {
+    diagonal_[i] = std::min(std::max(diagonal_[i], min_diagonal_),
+                            max_diagonal_);
+  }
+  diagonal_ = diagonal_.array().sqrt();
+
+  ComputeGradient(jacobian, residuals);
+  ComputeCauchyPoint(jacobian);
+
+  LinearSolver::Summary linear_solver_summary =
+      ComputeGaussNewtonStep(per_solve_options, jacobian, residuals);
+
+  TrustRegionStrategy::Summary summary;
+  summary.residual_norm = linear_solver_summary.residual_norm;
+  summary.num_iterations = linear_solver_summary.num_iterations;
+  summary.termination_type = linear_solver_summary.termination_type;
+
+  if (linear_solver_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+    return summary;
+  }
+
+  if (linear_solver_summary.termination_type != LINEAR_SOLVER_FAILURE) {
+    switch (dogleg_type_) {
+      // Interpolate the Cauchy point and the Gauss-Newton step.
+      case TRADITIONAL_DOGLEG:
+        ComputeTraditionalDoglegStep(step);
+        break;
+
+      // Find the minimum in the subspace defined by the
+      // Cauchy point and the (Gauss-)Newton step.
+      case SUBSPACE_DOGLEG:
+        if (!ComputeSubspaceModel(jacobian)) {
+          summary.termination_type = LINEAR_SOLVER_FAILURE;
+          break;
+        }
+        ComputeSubspaceDoglegStep(step);
+        break;
+    }
+  }
+
+  return summary;
+}
+
+// The trust region is assumed to be elliptical with the
+// diagonal scaling matrix D defined by sqrt(diagonal_).
+// It is implemented by substituting step' = D * step.
+// The trust region for step' is spherical.
+// The gradient, the Gauss-Newton step, the Cauchy point,
+// and all calculations involving the Jacobian have to
+// be adjusted accordingly.
+void DoglegStrategy::ComputeGradient(
+    SparseMatrix* jacobian,
+    const double* residuals) {
+  gradient_.setZero();
+  jacobian->LeftMultiply(residuals, gradient_.data());
+  gradient_.array() /= diagonal_.array();
+}
+
+// The Cauchy point is the global minimizer of the quadratic model
+// along the one-dimensional subspace spanned by the gradient.
+void DoglegStrategy::ComputeCauchyPoint(SparseMatrix* jacobian) {
+  // alpha * -gradient is the Cauchy point.
+  Vector Jg(jacobian->num_rows());
+  Jg.setZero();
+  // The Jacobian is scaled implicitly by computing J * (D^-1 * (D^-1 * g))
+  // instead of (J * D^-1) * (D^-1 * g).
+  Vector scaled_gradient =
+      (gradient_.array() / diagonal_.array()).matrix();
+  jacobian->RightMultiply(scaled_gradient.data(), Jg.data());
+  alpha_ = gradient_.squaredNorm() / Jg.squaredNorm();
+}
+
+// The dogleg step is defined as the intersection of the trust region
+// boundary with the piecewise linear path from the origin to the Cauchy
+// point and then from there to the Gauss-Newton point (global minimizer
+// of the model function). The Gauss-Newton point is taken if it lies
+// within the trust region.
+void DoglegStrategy::ComputeTraditionalDoglegStep(double* dogleg) {
+  VectorRef dogleg_step(dogleg, gradient_.rows());
+
+  // Case 1. The Gauss-Newton step lies inside the trust region, and
+  // is therefore the optimal solution to the trust-region problem.
+  const double gradient_norm = gradient_.norm();
+  const double gauss_newton_norm = gauss_newton_step_.norm();
+  if (gauss_newton_norm <= radius_) {
+    dogleg_step = gauss_newton_step_;
+    dogleg_step_norm_ = gauss_newton_norm;
+    dogleg_step.array() /= diagonal_.array();
+    VLOG(3) << "GaussNewton step size: " << dogleg_step_norm_
+            << " radius: " << radius_;
+    return;
+  }
+
+  // Case 2. The Cauchy point and the Gauss-Newton steps lie outside
+  // the trust region. Rescale the Cauchy point to the trust region
+  // and return.
+  if  (gradient_norm * alpha_ >= radius_) {
+    dogleg_step = -(radius_ / gradient_norm) * gradient_;
+    dogleg_step_norm_ = radius_;
+    dogleg_step.array() /= diagonal_.array();
+    VLOG(3) << "Cauchy step size: " << dogleg_step_norm_
+            << " radius: " << radius_;
+    return;
+  }
+
+  // Case 3. The Cauchy point is inside the trust region and the
+  // Gauss-Newton step is outside. Compute the line joining the two
+  // points and the point on it which intersects the trust region
+  // boundary.
+
+  // a = alpha * -gradient
+  // b = gauss_newton_step
+  const double b_dot_a = -alpha_ * gradient_.dot(gauss_newton_step_);
+  const double a_squared_norm = pow(alpha_ * gradient_norm, 2.0);
+  const double b_minus_a_squared_norm =
+      a_squared_norm - 2 * b_dot_a + pow(gauss_newton_norm, 2);
+
+  // c = a' (b - a)
+  //   = alpha * -gradient' gauss_newton_step - alpha^2 |gradient|^2
+  const double c = b_dot_a - a_squared_norm;
+  const double d = sqrt(c * c + b_minus_a_squared_norm *
+                        (pow(radius_, 2.0) - a_squared_norm));
+
+  double beta =
+      (c <= 0)
+      ? (d - c) /  b_minus_a_squared_norm
+      : (radius_ * radius_ - a_squared_norm) / (d + c);
+  dogleg_step = (-alpha_ * (1.0 - beta)) * gradient_
+      + beta * gauss_newton_step_;
+  dogleg_step_norm_ = dogleg_step.norm();
+  dogleg_step.array() /= diagonal_.array();
+  VLOG(3) << "Dogleg step size: " << dogleg_step_norm_
+          << " radius: " << radius_;
+}
+
+// The subspace method finds the minimum of the two-dimensional problem
+//
+//   min. 1/2 x' B' H B x + g' B x
+//   s.t. || B x ||^2 <= r^2
+//
+// where r is the trust region radius and B is the matrix with unit columns
+// spanning the subspace defined by the steepest descent and Newton direction.
+// This subspace by definition includes the Gauss-Newton point, which is
+// therefore taken if it lies within the trust region.
+void DoglegStrategy::ComputeSubspaceDoglegStep(double* dogleg) {
+  VectorRef dogleg_step(dogleg, gradient_.rows());
+
+  // The Gauss-Newton point is inside the trust region if |GN| <= radius_.
+  // This test is valid even though radius_ is a length in the two-dimensional
+  // subspace while gauss_newton_step_ is expressed in the (scaled)
+  // higher dimensional original space. This is because
+  //
+  //   1. gauss_newton_step_ by definition lies in the subspace, and
+  //   2. the subspace basis is orthonormal.
+  //
+  // As a consequence, the norm of the gauss_newton_step_ in the subspace is
+  // the same as its norm in the original space.
+  const double gauss_newton_norm = gauss_newton_step_.norm();
+  if (gauss_newton_norm <= radius_) {
+    dogleg_step = gauss_newton_step_;
+    dogleg_step_norm_ = gauss_newton_norm;
+    dogleg_step.array() /= diagonal_.array();
+    VLOG(3) << "GaussNewton step size: " << dogleg_step_norm_
+            << " radius: " << radius_;
+    return;
+  }
+
+  // The optimum lies on the boundary of the trust region. The above problem
+  // therefore becomes
+  //
+  //   min. 1/2 x^T B^T H B x + g^T B x
+  //   s.t. || B x ||^2 = r^2
+  //
+  // Notice the equality in the constraint.
+  //
+  // This can be solved by forming the Lagrangian, solving for x(y), where
+  // y is the Lagrange multiplier, using the gradient of the objective, and
+  // putting x(y) back into the constraint. This results in a fourth order
+  // polynomial in y, which can be solved using e.g. the companion matrix.
+  // See the description of MakePolynomialForBoundaryConstrainedProblem for
+  // details. The result is up to four real roots y*, not all of which
+  // correspond to feasible points. The feasible points x(y*) have to be
+  // tested for optimality.
+
+  if (subspace_is_one_dimensional_) {
+    // The subspace is one-dimensional, so both the gradient and
+    // the Gauss-Newton step point towards the same direction.
+    // In this case, we move along the gradient until we reach the trust
+    // region boundary.
+    dogleg_step = -(radius_ / gradient_.norm()) * gradient_;
+    dogleg_step_norm_ = radius_;
+    dogleg_step.array() /= diagonal_.array();
+    VLOG(3) << "Dogleg subspace step size (1D): " << dogleg_step_norm_
+            << " radius: " << radius_;
+    return;
+  }
+
+  Vector2d minimum(0.0, 0.0);
+  if (!FindMinimumOnTrustRegionBoundary(&minimum)) {
+    // For the positive semi-definite case, a traditional dogleg step
+    // is taken in this case.
+    LOG(WARNING) << "Failed to compute polynomial roots. "
+                 << "Taking traditional dogleg step instead.";
+    ComputeTraditionalDoglegStep(dogleg);
+    return;
+  }
+
+  // Test first order optimality at the minimum.
+  // The first order KKT conditions state that the minimum x*
+  // has to satisfy either || x* ||^2 < r^2 (i.e. has to lie within
+  // the trust region), or
+  //
+  //   (B x* + g) + y x* = 0
+  //
+  // for some positive scalar y.
+  // Here, as it is already known that the minimum lies on the boundary, the
+  // latter condition is tested. To allow for small imprecisions, we test if
+  // the angle between (B x* + g) and -x* is smaller than acos(0.99).
+  // The exact value of the cosine is arbitrary but should be close to 1.
+  //
+  // This condition should not be violated. If it is, the minimum was not
+  // correctly determined.
+  const double kCosineThreshold = 0.99;
+  const Vector2d grad_minimum = subspace_B_ * minimum + subspace_g_;
+  const double cosine_angle = -minimum.dot(grad_minimum) /
+      (minimum.norm() * grad_minimum.norm());
+  if (cosine_angle < kCosineThreshold) {
+    LOG(WARNING) << "First order optimality seems to be violated "
+                 << "in the subspace method!\n"
+                 << "Cosine of angle between x and B x + g is "
+                 << cosine_angle << ".\n"
+                 << "Taking a regular dogleg step instead.\n"
+                 << "Please consider filing a bug report if this "
+                 << "happens frequently or consistently.\n";
+    ComputeTraditionalDoglegStep(dogleg);
+    return;
+  }
+
+  // Create the full step from the optimal 2d solution.
+  dogleg_step = subspace_basis_ * minimum;
+  dogleg_step_norm_ = radius_;
+  dogleg_step.array() /= diagonal_.array();
+  VLOG(3) << "Dogleg subspace step size: " << dogleg_step_norm_
+          << " radius: " << radius_;
+}
+
+// Build the polynomial that defines the optimal Lagrange multipliers.
+// Let the Lagrangian be
+//
+//   L(x, y) = 0.5 x^T B x + x^T g + y (0.5 x^T x - 0.5 r^2).       (1)
+//
+// Stationary points of the Lagrangian are given by
+//
+//   0 = d L(x, y) / dx = Bx + g + y x                              (2)
+//   0 = d L(x, y) / dy = 0.5 x^T x - 0.5 r^2                       (3)
+//
+// For any given y, we can solve (2) for x as
+//
+//   x(y) = -(B + y I)^-1 g .                                       (4)
+//
+// As B + y I is 2x2, we form the inverse explicitly:
+//
+//   (B + y I)^-1 = (1 / det(B + y I)) adj(B + y I)                 (5)
+//
+// where adj() denotes adjugation. This should be safe, as B is positive
+// semi-definite and y is necessarily positive, so (B + y I) is indeed
+// invertible.
+// Plugging (5) into (4) and the result into (3), then dividing by 0.5 we
+// obtain
+//
+//   0 = (1 / det(B + y I))^2 g^T adj(B + y I)^T adj(B + y I) g - r^2
+//                                                                  (6)
+//
+// or
+//
+//   det(B + y I)^2 r^2 = g^T adj(B + y I)^T adj(B + y I) g         (7a)
+//                      = g^T adj(B)^T adj(B) g
+//                           + 2 y g^T adj(B)^T g + y^2 g^T g       (7b)
+//
+// as
+//
+//   adj(B + y I) = adj(B) + y I = adj(B)^T + y I .                 (8)
+//
+// The left hand side can be expressed explicitly using
+//
+//   det(B + y I) = det(B) + y tr(B) + y^2 .                        (9)
+//
+// So (7) is a polynomial in y of degree four.
+// Bringing everything back to the left hand side, the coefficients can
+// be read off as
+//
+//     y^4  r^2
+//   + y^3  2 r^2 tr(B)
+//   + y^2 (r^2 tr(B)^2 + 2 r^2 det(B) - g^T g)
+//   + y^1 (2 r^2 det(B) tr(B) - 2 g^T adj(B)^T g)
+//   + y^0 (r^2 det(B)^2 - g^T adj(B)^T adj(B) g)
+//
+Vector DoglegStrategy::MakePolynomialForBoundaryConstrainedProblem() const {
+  const double detB = subspace_B_.determinant();
+  const double trB = subspace_B_.trace();
+  const double r2 = radius_ * radius_;
+  Matrix2d B_adj;
+  B_adj <<  subspace_B_(1, 1) , -subspace_B_(0, 1),
+            -subspace_B_(1, 0) ,  subspace_B_(0, 0);
+
+  Vector polynomial(5);
+  polynomial(0) = r2;
+  polynomial(1) = 2.0 * r2 * trB;
+  polynomial(2) = r2 * (trB * trB + 2.0 * detB) - subspace_g_.squaredNorm();
+  polynomial(3) = -2.0 * (subspace_g_.transpose() * B_adj * subspace_g_
+      - r2 * detB * trB);
+  polynomial(4) = r2 * detB * detB - (B_adj * subspace_g_).squaredNorm();
+
+  return polynomial;
+}
+
+// Given a Lagrange multiplier y that corresponds to a stationary point
+// of the Lagrangian L(x, y), compute the corresponding x from the
+// equation
+//
+//   0 = d L(x, y) / dx
+//     = B * x + g + y * x
+//     = (B + y * I) * x + g
+//
+DoglegStrategy::Vector2d DoglegStrategy::ComputeSubspaceStepFromRoot(
+    double y) const {
+  const Matrix2d B_i = subspace_B_ + y * Matrix2d::Identity();
+  return -B_i.partialPivLu().solve(subspace_g_);
+}
+
+// This function evaluates the quadratic model at a point x in the
+// subspace spanned by subspace_basis_.
+double DoglegStrategy::EvaluateSubspaceModel(const Vector2d& x) const {
+  return 0.5 * x.dot(subspace_B_ * x) + subspace_g_.dot(x);
+}
+
+// This function attempts to solve the boundary-constrained subspace problem
+//
+//   min. 1/2 x^T B^T H B x + g^T B x
+//   s.t. || B x ||^2 = r^2
+//
+// where B is an orthonormal subspace basis and r is the trust-region radius.
+//
+// This is done by finding the roots of a fourth degree polynomial. If the
+// root finding fails, the function returns false and minimum will be set
+// to (0, 0). If it succeeds, true is returned.
+//
+// In the failure case, another step should be taken, such as the traditional
+// dogleg step.
+bool DoglegStrategy::FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const {
+  CHECK_NOTNULL(minimum);
+
+  // Return (0, 0) in all error cases.
+  minimum->setZero();
+
+  // Create the fourth-degree polynomial that is a necessary condition for
+  // optimality.
+  const Vector polynomial = MakePolynomialForBoundaryConstrainedProblem();
+
+  // Find the real parts y_i of its roots (not only the real roots).
+  Vector roots_real;
+  if (!FindPolynomialRoots(polynomial, &roots_real, NULL)) {
+    // Failed to find the roots of the polynomial, i.e. the candidate
+    // solutions of the constrained problem. Report this back to the caller.
+    return false;
+  }
+
+  // For each root y, compute B x(y) and check for feasibility.
+  // Notice that there should always be four roots, as the leading term of
+  // the polynomial is r^2 and therefore non-zero. However, as some roots
+  // may be complex, the real parts are not necessarily unique.
+  double minimum_value = std::numeric_limits<double>::max();
+  bool valid_root_found = false;
+  for (int i = 0; i < roots_real.size(); ++i) {
+    const Vector2d x_i = ComputeSubspaceStepFromRoot(roots_real(i));
+
+    // Not all roots correspond to points on the trust region boundary.
+    // There are at most four candidate solutions. As we are interested
+    // in the minimum, it is safe to consider all of them after projecting
+    // them onto the trust region boundary.
+    if (x_i.norm() > 0) {
+      const double f_i = EvaluateSubspaceModel((radius_ / x_i.norm()) * x_i);
+      valid_root_found = true;
+      if (f_i < minimum_value) {
+        minimum_value = f_i;
+        *minimum = x_i;
+      }
+    }
+  }
+
+  return valid_root_found;
+}
+
+LinearSolver::Summary DoglegStrategy::ComputeGaussNewtonStep(
+    const PerSolveOptions& per_solve_options,
+    SparseMatrix* jacobian,
+    const double* residuals) {
+  const int n = jacobian->num_cols();
+  LinearSolver::Summary linear_solver_summary;
+  linear_solver_summary.termination_type = LINEAR_SOLVER_FAILURE;
+
+  // The Jacobian matrix is often quite poorly conditioned. Thus it is
+  // necessary to add a diagonal matrix at the bottom to prevent the
+  // linear solver from failing.
+  //
+  // We do this by computing the same diagonal matrix as the one used
+  // by Levenberg-Marquardt (other choices are possible), and scaling
+  // it by a small constant (independent of the trust region radius).
+  //
+  // If the solve fails, the multiplier to the diagonal is increased
+  // up to max_mu_ by a factor of mu_increase_factor_ every time. If
+  // the linear solver is still not successful, the strategy returns
+  // with LINEAR_SOLVER_FAILURE.
+  //
+  // Next time when a new Gauss-Newton step is requested, the
+  // multiplier starts out from the last successful solve.
+  //
+  // When a step is declared successful, the multiplier is decreased
+  // by half of mu_increase_factor_.
+
+  while (mu_ < max_mu_) {
+    // Dogleg, as far as I (sameeragarwal) understand it, requires a
+    // reasonably good estimate of the Gauss-Newton step. This means
+    // that we need to solve the normal equations more or less
+    // exactly. This is reflected in the values of the tolerances set
+    // below.
+    //
+    // For now, this strategy should only be used with exact
+    // factorization based solvers, for which these tolerances are
+    // automatically satisfied.
+    //
+    // The right way to combine inexact solves with trust region
+    // methods is to use Stiehaug's method.
+    LinearSolver::PerSolveOptions solve_options;
+    solve_options.q_tolerance = 0.0;
+    solve_options.r_tolerance = 0.0;
+
+    lm_diagonal_ = diagonal_ * std::sqrt(mu_);
+    solve_options.D = lm_diagonal_.data();
+
+    // As in the LevenbergMarquardtStrategy, solve Jy = r instead
+    // of Jx = -r and later set x = -y to avoid having to modify
+    // either jacobian or residuals.
+    InvalidateArray(n, gauss_newton_step_.data());
+    linear_solver_summary = linear_solver_->Solve(jacobian,
+                                                  residuals,
+                                                  solve_options,
+                                                  gauss_newton_step_.data());
+
+    if (per_solve_options.dump_format_type == CONSOLE ||
+        (per_solve_options.dump_format_type != CONSOLE &&
+         !per_solve_options.dump_filename_base.empty())) {
+      if (!DumpLinearLeastSquaresProblem(per_solve_options.dump_filename_base,
+                                         per_solve_options.dump_format_type,
+                                         jacobian,
+                                         solve_options.D,
+                                         residuals,
+                                         gauss_newton_step_.data(),
+                                         0)) {
+        LOG(ERROR) << "Unable to dump trust region problem."
+                   << " Filename base: "
+                   << per_solve_options.dump_filename_base;
+      }
+    }
+
+    if (linear_solver_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+      return linear_solver_summary;
+    }
+
+    if (linear_solver_summary.termination_type == LINEAR_SOLVER_FAILURE ||
+        !IsArrayValid(n, gauss_newton_step_.data())) {
+      mu_ *= mu_increase_factor_;
+      VLOG(2) << "Increasing mu " << mu_;
+      linear_solver_summary.termination_type = LINEAR_SOLVER_FAILURE;
+      continue;
+    }
+    break;
+  }
+
+  if (linear_solver_summary.termination_type != LINEAR_SOLVER_FAILURE) {
+    // The scaled Gauss-Newton step is D * GN:
+    //
+    //     - (D^-1 J^T J D^-1)^-1 (D^-1 g)
+    //   = - D (J^T J)^-1 D D^-1 g
+    //   = D -(J^T J)^-1 g
+    //
+    gauss_newton_step_.array() *= -diagonal_.array();
+  }
+
+  return linear_solver_summary;
+}
+
+void DoglegStrategy::StepAccepted(double step_quality) {
+  CHECK_GT(step_quality, 0.0);
+
+  if (step_quality < decrease_threshold_) {
+    radius_ *= 0.5;
+  }
+
+  if (step_quality > increase_threshold_) {
+    radius_ = std::max(radius_, 3.0 * dogleg_step_norm_);
+  }
+
+  // Reduce the regularization multiplier, in the hope that whatever
+  // was causing the rank deficiency has gone away and we can return
+  // to doing a pure Gauss-Newton solve.
+  mu_ = std::max(min_mu_, 2.0 * mu_ / mu_increase_factor_);
+  reuse_ = false;
+}
+
+void DoglegStrategy::StepRejected(double step_quality) {
+  radius_ *= 0.5;
+  reuse_ = true;
+}
+
+void DoglegStrategy::StepIsInvalid() {
+  mu_ *= mu_increase_factor_;
+  reuse_ = false;
+}
+
+double DoglegStrategy::Radius() const {
+  return radius_;
+}
+
+bool DoglegStrategy::ComputeSubspaceModel(SparseMatrix* jacobian) {
+  // Compute an orthogonal basis for the subspace using QR decomposition.
+  Matrix basis_vectors(jacobian->num_cols(), 2);
+  basis_vectors.col(0) = gradient_;
+  basis_vectors.col(1) = gauss_newton_step_;
+  Eigen::ColPivHouseholderQR<Matrix> basis_qr(basis_vectors);
+
+  switch (basis_qr.rank()) {
+    case 0:
+      // This should never happen, as it implies that both the gradient
+      // and the Gauss-Newton step are zero. In this case, the minimizer should
+      // have stopped due to the gradient being too small.
+      LOG(ERROR) << "Rank of subspace basis is 0. "
+                 << "This means that the gradient at the current iterate is "
+                 << "zero but the optimization has not been terminated. "
+                 << "You may have found a bug in Ceres.";
+      return false;
+
+    case 1:
+      // Gradient and Gauss-Newton step coincide, so we lie on one of the
+      // major axes of the quadratic problem. In this case, we simply move
+      // along the gradient until we reach the trust region boundary.
+      subspace_is_one_dimensional_ = true;
+      return true;
+
+    case 2:
+      subspace_is_one_dimensional_ = false;
+      break;
+
+    default:
+      LOG(ERROR) << "Rank of the subspace basis matrix is reported to be "
+                 << "greater than 2. As the matrix contains only two "
+                 << "columns this cannot be true and is indicative of "
+                 << "a bug.";
+      return false;
+  }
+
+  // The subspace is two-dimensional, so compute the subspace model.
+  // Given the basis U, this is
+  //
+  //   subspace_g_ = g_scaled^T U
+  //
+  // and
+  //
+  //   subspace_B_ = U^T (J_scaled^T J_scaled) U
+  //
+  // As J_scaled = J * D^-1, the latter becomes
+  //
+  //   subspace_B_ = ((U^T D^-1) J^T) (J (D^-1 U))
+  //               = (J (D^-1 U))^T (J (D^-1 U))
+
+  subspace_basis_ =
+      basis_qr.householderQ() * Matrix::Identity(jacobian->num_cols(), 2);
+
+  subspace_g_ = subspace_basis_.transpose() * gradient_;
+
+  Eigen::Matrix<double, 2, Eigen::Dynamic, Eigen::RowMajor>
+      Jb(2, jacobian->num_rows());
+  Jb.setZero();
+
+  Vector tmp;
+  tmp = (subspace_basis_.col(0).array() / diagonal_.array()).matrix();
+  jacobian->RightMultiply(tmp.data(), Jb.row(0).data());
+  tmp = (subspace_basis_.col(1).array() / diagonal_.array()).matrix();
+  jacobian->RightMultiply(tmp.data(), Jb.row(1).data());
+
+  subspace_B_ = Jb * Jb.transpose();
+
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dogleg_strategy.h b/internal/ceres/dogleg_strategy.h
new file mode 100644
index 0000000..046b9d8
--- /dev/null
+++ b/internal/ceres/dogleg_strategy.h
@@ -0,0 +1,165 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_DOGLEG_STRATEGY_H_
+#define CERES_INTERNAL_DOGLEG_STRATEGY_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+// Dogleg step computation and trust region sizing strategy based on
+// on "Methods for Nonlinear Least Squares" by K. Madsen, H.B. Nielsen
+// and O. Tingleff. Available to download from
+//
+// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf
+//
+// One minor modification is that instead of computing the pure
+// Gauss-Newton step, we compute a regularized version of it. This is
+// because the Jacobian is often rank-deficient and in such cases
+// using a direct solver leads to numerical failure.
+//
+// If SUBSPACE is passed as the type argument to the constructor, the
+// DoglegStrategy follows the approach by Shultz, Schnabel, Byrd.
+// This finds the exact optimum over the two-dimensional subspace
+// spanned by the two Dogleg vectors.
+class DoglegStrategy : public TrustRegionStrategy {
+ public:
+  explicit DoglegStrategy(const TrustRegionStrategy::Options& options);
+  virtual ~DoglegStrategy() {}
+
+  // TrustRegionStrategy interface
+  virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+                              SparseMatrix* jacobian,
+                              const double* residuals,
+                              double* step);
+  virtual void StepAccepted(double step_quality);
+  virtual void StepRejected(double step_quality);
+  virtual void StepIsInvalid();
+
+  virtual double Radius() const;
+
+  // These functions are predominantly for testing.
+  Vector gradient() const { return gradient_; }
+  Vector gauss_newton_step() const { return gauss_newton_step_; }
+  Matrix subspace_basis() const { return subspace_basis_; }
+  Vector subspace_g() const { return subspace_g_; }
+  Matrix subspace_B() const { return subspace_B_; }
+
+ private:
+  typedef Eigen::Matrix<double, 2, 1, Eigen::DontAlign> Vector2d;
+  typedef Eigen::Matrix<double, 2, 2, Eigen::DontAlign> Matrix2d;
+
+  LinearSolver::Summary ComputeGaussNewtonStep(
+      const PerSolveOptions& per_solve_options,
+      SparseMatrix* jacobian,
+      const double* residuals);
+  void ComputeCauchyPoint(SparseMatrix* jacobian);
+  void ComputeGradient(SparseMatrix* jacobian, const double* residuals);
+  void ComputeTraditionalDoglegStep(double* step);
+  bool ComputeSubspaceModel(SparseMatrix* jacobian);
+  void ComputeSubspaceDoglegStep(double* step);
+
+  bool FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const;
+  Vector MakePolynomialForBoundaryConstrainedProblem() const;
+  Vector2d ComputeSubspaceStepFromRoot(double lambda) const;
+  double EvaluateSubspaceModel(const Vector2d& x) const;
+
+  LinearSolver* linear_solver_;
+  double radius_;
+  const double max_radius_;
+
+  const double min_diagonal_;
+  const double max_diagonal_;
+
+  // mu is used to scale the diagonal matrix used to make the
+  // Gauss-Newton solve full rank. In each solve, the strategy starts
+  // out with mu = min_mu, and tries values upto max_mu. If the user
+  // reports an invalid step, the value of mu_ is increased so that
+  // the next solve starts with a stronger regularization.
+  //
+  // If a successful step is reported, then the value of mu_ is
+  // decreased with a lower bound of min_mu_.
+  double mu_;
+  const double min_mu_;
+  const double max_mu_;
+  const double mu_increase_factor_;
+  const double increase_threshold_;
+  const double decrease_threshold_;
+
+  Vector diagonal_;  // sqrt(diag(J^T J))
+  Vector lm_diagonal_;
+
+  Vector gradient_;
+  Vector gauss_newton_step_;
+
+  // cauchy_step = alpha * gradient
+  double alpha_;
+  double dogleg_step_norm_;
+
+  // When, ComputeStep is called, reuse_ indicates whether the
+  // Gauss-Newton and Cauchy steps from the last call to ComputeStep
+  // can be reused or not.
+  //
+  // If the user called StepAccepted, then it is expected that the
+  // user has recomputed the Jacobian matrix and new Gauss-Newton
+  // solve is needed and reuse is set to false.
+  //
+  // If the user called StepRejected, then it is expected that the
+  // user wants to solve the trust region problem with the same matrix
+  // but a different trust region radius and the Gauss-Newton and
+  // Cauchy steps can be reused to compute the Dogleg, thus reuse is
+  // set to true.
+  //
+  // If the user called StepIsInvalid, then there was a numerical
+  // problem with the step computed in the last call to ComputeStep,
+  // and the regularization used to do the Gauss-Newton solve is
+  // increased and a new solve should be done when ComputeStep is
+  // called again, thus reuse is set to false.
+  bool reuse_;
+
+  // The dogleg type determines how the minimum of the local
+  // quadratic model is found.
+  DoglegType dogleg_type_;
+
+  // If the type is SUBSPACE_DOGLEG, the two-dimensional
+  // model 1/2 x^T B x + g^T x has to be computed and stored.
+  bool subspace_is_one_dimensional_;
+  Matrix subspace_basis_;
+  Vector2d subspace_g_;
+  Matrix2d subspace_B_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DOGLEG_STRATEGY_H_
diff --git a/internal/ceres/dogleg_strategy_test.cc b/internal/ceres/dogleg_strategy_test.cc
new file mode 100644
index 0000000..f1fe05a
--- /dev/null
+++ b/internal/ceres/dogleg_strategy_test.cc
@@ -0,0 +1,287 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+
+#include <limits>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/dogleg_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+class Fixture : public testing::Test {
+ protected:
+  scoped_ptr<DenseSparseMatrix> jacobian_;
+  Vector residual_;
+  Vector x_;
+  TrustRegionStrategy::Options options_;
+};
+
+// A test problem where
+//
+//   J^T J = Q diag([1 2 4 8 16 32]) Q^T
+//
+// where Q is a randomly chosen orthonormal basis of R^6.
+// The residual is chosen so that the minimum of the quadratic function is
+// at (1, 1, 1, 1, 1, 1). It is therefore at a distance of sqrt(6) ~ 2.45
+// from the origin.
+class DoglegStrategyFixtureEllipse : public Fixture {
+ protected:
+  virtual void SetUp() {
+    Matrix basis(6, 6);
+    // The following lines exceed 80 characters for better readability.
+    basis << -0.1046920933796121, -0.7449367449921986, -0.4190744502875876, -0.4480450716142566,  0.2375351607929440, -0.0363053418882862,  // NOLINT
+              0.4064975684355914,  0.2681113508511354, -0.7463625494601520, -0.0803264850508117, -0.4463149623021321,  0.0130224954867195,  // NOLINT
+             -0.5514387729089798,  0.1026621026168657, -0.5008316122125011,  0.5738122212666414,  0.2974664724007106,  0.1296020877535158,  // NOLINT
+              0.5037835370947156,  0.2668479925183712, -0.1051754618492798, -0.0272739396578799,  0.7947481647088278, -0.1776623363955670,  // NOLINT
+             -0.4005458426625444,  0.2939330589634109, -0.0682629380550051, -0.2895448882503687, -0.0457239396341685, -0.8139899477847840,  // NOLINT
+             -0.3247764582762654,  0.4528151365941945, -0.0276683863102816, -0.6155994592510784,  0.1489240599972848,  0.5362574892189350;  // NOLINT
+
+    Vector Ddiag(6);
+    Ddiag << 1.0, 2.0, 4.0, 8.0, 16.0, 32.0;
+
+    Matrix sqrtD = Ddiag.array().sqrt().matrix().asDiagonal();
+    Matrix jacobian = sqrtD * basis;
+    jacobian_.reset(new DenseSparseMatrix(jacobian));
+
+    Vector minimum(6);
+    minimum << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
+    residual_ = -jacobian * minimum;
+
+    x_.resize(6);
+    x_.setZero();
+
+    options_.min_lm_diagonal = 1.0;
+    options_.max_lm_diagonal = 1.0;
+  }
+};
+
+// A test problem where
+//
+//   J^T J = diag([1 2 4 8 16 32]) .
+//
+// The residual is chosen so that the minimum of the quadratic function is
+// at (0, 0, 1, 0, 0, 0). It is therefore at a distance of 1 from the origin.
+// The gradient at the origin points towards the global minimum.
+class DoglegStrategyFixtureValley : public Fixture {
+ protected:
+  virtual void SetUp() {
+    Vector Ddiag(6);
+    Ddiag << 1.0, 2.0, 4.0, 8.0, 16.0, 32.0;
+
+    Matrix jacobian = Ddiag.asDiagonal();
+    jacobian_.reset(new DenseSparseMatrix(jacobian));
+
+    Vector minimum(6);
+    minimum << 0.0, 0.0, 1.0, 0.0, 0.0, 0.0;
+    residual_ = -jacobian * minimum;
+
+    x_.resize(6);
+    x_.setZero();
+
+    options_.min_lm_diagonal = 1.0;
+    options_.max_lm_diagonal = 1.0;
+  }
+};
+
+const double kTolerance = 1e-14;
+const double kToleranceLoose = 1e-5;
+const double kEpsilon = std::numeric_limits<double>::epsilon();
+
+}  // namespace
+
+// The DoglegStrategy must never return a step that is longer than the current
+// trust region radius.
+TEST_F(DoglegStrategyFixtureEllipse, TrustRegionObeyedTraditional) {
+  scoped_ptr<LinearSolver> linear_solver(
+      new DenseQRSolver(LinearSolver::Options()));
+  options_.linear_solver = linear_solver.get();
+  // The global minimum is at (1, 1, ..., 1), so the distance to it is
+  // sqrt(6.0).  By restricting the trust region to a radius of 2.0,
+  // we test if the trust region is actually obeyed.
+  options_.dogleg_type = TRADITIONAL_DOGLEG;
+  options_.initial_radius = 2.0;
+  options_.max_radius = 2.0;
+
+  DoglegStrategy strategy(options_);
+  TrustRegionStrategy::PerSolveOptions pso;
+
+  TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+                                                              jacobian_.get(),
+                                                              residual_.data(),
+                                                              x_.data());
+
+  EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+  EXPECT_LE(x_.norm(), options_.initial_radius * (1.0 + 4.0 * kEpsilon));
+}
+
+TEST_F(DoglegStrategyFixtureEllipse, TrustRegionObeyedSubspace) {
+  scoped_ptr<LinearSolver> linear_solver(
+      new DenseQRSolver(LinearSolver::Options()));
+  options_.linear_solver = linear_solver.get();
+  options_.dogleg_type = SUBSPACE_DOGLEG;
+  options_.initial_radius = 2.0;
+  options_.max_radius = 2.0;
+
+  DoglegStrategy strategy(options_);
+  TrustRegionStrategy::PerSolveOptions pso;
+
+  TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+                                                              jacobian_.get(),
+                                                              residual_.data(),
+                                                              x_.data());
+
+  EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+  EXPECT_LE(x_.norm(), options_.initial_radius * (1.0 + 4.0 * kEpsilon));
+}
+
+TEST_F(DoglegStrategyFixtureEllipse, CorrectGaussNewtonStep) {
+  scoped_ptr<LinearSolver> linear_solver(
+      new DenseQRSolver(LinearSolver::Options()));
+  options_.linear_solver = linear_solver.get();
+  options_.dogleg_type = SUBSPACE_DOGLEG;
+  options_.initial_radius = 10.0;
+  options_.max_radius = 10.0;
+
+  DoglegStrategy strategy(options_);
+  TrustRegionStrategy::PerSolveOptions pso;
+
+  TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+                                                              jacobian_.get(),
+                                                              residual_.data(),
+                                                              x_.data());
+
+  EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+  EXPECT_NEAR(x_(0), 1.0, kToleranceLoose);
+  EXPECT_NEAR(x_(1), 1.0, kToleranceLoose);
+  EXPECT_NEAR(x_(2), 1.0, kToleranceLoose);
+  EXPECT_NEAR(x_(3), 1.0, kToleranceLoose);
+  EXPECT_NEAR(x_(4), 1.0, kToleranceLoose);
+  EXPECT_NEAR(x_(5), 1.0, kToleranceLoose);
+}
+
+// Test if the subspace basis is a valid orthonormal basis of the space spanned
+// by the gradient and the Gauss-Newton point.
+TEST_F(DoglegStrategyFixtureEllipse, ValidSubspaceBasis) {
+  scoped_ptr<LinearSolver> linear_solver(
+      new DenseQRSolver(LinearSolver::Options()));
+  options_.linear_solver = linear_solver.get();
+  options_.dogleg_type = SUBSPACE_DOGLEG;
+  options_.initial_radius = 2.0;
+  options_.max_radius = 2.0;
+
+  DoglegStrategy strategy(options_);
+  TrustRegionStrategy::PerSolveOptions pso;
+
+  strategy.ComputeStep(pso, jacobian_.get(), residual_.data(), x_.data());
+
+  // Check if the basis is orthonormal.
+  const Matrix basis = strategy.subspace_basis();
+  EXPECT_NEAR(basis.col(0).norm(), 1.0, kTolerance);
+  EXPECT_NEAR(basis.col(1).norm(), 1.0, kTolerance);
+  EXPECT_NEAR(basis.col(0).dot(basis.col(1)), 0.0, kTolerance);
+
+  // Check if the gradient projects onto itself.
+  const Vector gradient = strategy.gradient();
+  EXPECT_NEAR((gradient - basis*(basis.transpose()*gradient)).norm(),
+              0.0,
+              kTolerance);
+
+  // Check if the Gauss-Newton point projects onto itself.
+  const Vector gn = strategy.gauss_newton_step();
+  EXPECT_NEAR((gn - basis*(basis.transpose()*gn)).norm(),
+              0.0,
+              kTolerance);
+}
+
+// Test if the step is correct if the gradient and the Gauss-Newton step point
+// in the same direction and the Gauss-Newton step is outside the trust region,
+// i.e. the trust region is active.
+TEST_F(DoglegStrategyFixtureValley, CorrectStepLocalOptimumAlongGradient) {
+  scoped_ptr<LinearSolver> linear_solver(
+      new DenseQRSolver(LinearSolver::Options()));
+  options_.linear_solver = linear_solver.get();
+  options_.dogleg_type = SUBSPACE_DOGLEG;
+  options_.initial_radius = 0.25;
+  options_.max_radius = 0.25;
+
+  DoglegStrategy strategy(options_);
+  TrustRegionStrategy::PerSolveOptions pso;
+
+  TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+                                                              jacobian_.get(),
+                                                              residual_.data(),
+                                                              x_.data());
+
+  EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+  EXPECT_NEAR(x_(0), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(1), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(2), options_.initial_radius, kToleranceLoose);
+  EXPECT_NEAR(x_(3), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(4), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(5), 0.0, kToleranceLoose);
+}
+
+// Test if the step is correct if the gradient and the Gauss-Newton step point
+// in the same direction and the Gauss-Newton step is inside the trust region,
+// i.e. the trust region is inactive.
+TEST_F(DoglegStrategyFixtureValley, CorrectStepGlobalOptimumAlongGradient) {
+  scoped_ptr<LinearSolver> linear_solver(
+      new DenseQRSolver(LinearSolver::Options()));
+  options_.linear_solver = linear_solver.get();
+  options_.dogleg_type = SUBSPACE_DOGLEG;
+  options_.initial_radius = 2.0;
+  options_.max_radius = 2.0;
+
+  DoglegStrategy strategy(options_);
+  TrustRegionStrategy::PerSolveOptions pso;
+
+  TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+                                                              jacobian_.get(),
+                                                              residual_.data(),
+                                                              x_.data());
+
+  EXPECT_NE(summary.termination_type, LINEAR_SOLVER_FAILURE);
+  EXPECT_NEAR(x_(0), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(1), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(2), 1.0, kToleranceLoose);
+  EXPECT_NEAR(x_(3), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(4), 0.0, kToleranceLoose);
+  EXPECT_NEAR(x_(5), 0.0, kToleranceLoose);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_autodiff_cost_function_test.cc b/internal/ceres/dynamic_autodiff_cost_function_test.cc
new file mode 100644
index 0000000..ea51c2d
--- /dev/null
+++ b/internal/ceres/dynamic_autodiff_cost_function_test.cc
@@ -0,0 +1,775 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: thadh@gmail.com (Thad Hughes)
+//         mierle@gmail.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cstddef>
+
+#include "ceres/dynamic_autodiff_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// Takes 2 parameter blocks:
+//     parameters[0] is size 10.
+//     parameters[1] is size 5.
+// Emits 21 residuals:
+//     A: i - parameters[0][i], for i in [0,10)  -- this is 10 residuals
+//     B: parameters[0][i] - i, for i in [0,10)  -- this is another 10.
+//     C: sum(parameters[0][i]^2 - 8*parameters[0][i]) + sum(parameters[1][i])
+class MyCostFunctor {
+ public:
+  template <typename T>
+  bool operator()(T const* const* parameters, T* residuals) const {
+    const T* params0 = parameters[0];
+    int r = 0;
+    for (int i = 0; i < 10; ++i) {
+      residuals[r++] = T(i) - params0[i];
+      residuals[r++] = params0[i] - T(i);
+    }
+
+    T c_residual(0.0);
+    for (int i = 0; i < 10; ++i) {
+      c_residual += pow(params0[i], 2) - T(8) * params0[i];
+    }
+
+    const T* params1 = parameters[1];
+    for (int i = 0; i < 5; ++i) {
+      c_residual += params1[i];
+    }
+    residuals[r++] = c_residual;
+    return true;
+  }
+};
+
+TEST(DynamicAutodiffCostFunctionTest, TestResiduals) {
+  vector<double> param_block_0(10, 0.0);
+  vector<double> param_block_1(5, 0.0);
+  DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Test residual computation.
+  vector<double> residuals(21, -100000);
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+  EXPECT_TRUE(cost_function.Evaluate(&parameter_blocks[0],
+                                     residuals.data(),
+                                     NULL));
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(0, residuals.at(20));
+}
+
+TEST(DynamicAutodiffCostFunctionTest, TestJacobian) {
+  // Test the residual counting.
+  vector<double> param_block_0(10, 0.0);
+  for (int i = 0; i < 10; ++i) {
+    param_block_0[i] = 2 * i;
+  }
+  vector<double> param_block_1(5, 0.0);
+  DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Prepare the residuals.
+  vector<double> residuals(21, -100000);
+
+  // Prepare the parameters.
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+
+  // Prepare the jacobian.
+  vector<vector<double> > jacobian_vect(2);
+  jacobian_vect[0].resize(21 * 10, -100000);
+  jacobian_vect[1].resize(21 * 5, -100000);
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect[0].data());
+  jacobian.push_back(jacobian_vect[1].data());
+
+  // Test jacobian computation.
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+                                     residuals.data(),
+                                     jacobian.data()));
+
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(420, residuals.at(20));
+  for (int p = 0; p < 10; ++p) {
+    // Check "A" Jacobian.
+    EXPECT_EQ(-1.0, jacobian_vect[0][2*p * 10 + p]);
+    // Check "B" Jacobian.
+    EXPECT_EQ(+1.0, jacobian_vect[0][(2*p+1) * 10 + p]);
+    jacobian_vect[0][2*p * 10 + p] = 0.0;
+    jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+  }
+
+  // Check "C" Jacobian for first parameter block.
+  for (int p = 0; p < 10; ++p) {
+    EXPECT_EQ(4 * p - 8, jacobian_vect[0][20 * 10 + p]);
+    jacobian_vect[0][20 * 10 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+    EXPECT_EQ(0.0, jacobian_vect[0][i]);
+  }
+
+  // Check "C" Jacobian for second parameter block.
+  for (int p = 0; p < 5; ++p) {
+    EXPECT_EQ(1.0, jacobian_vect[1][20 * 5 + p]);
+    jacobian_vect[1][20 * 5 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+    EXPECT_EQ(0.0, jacobian_vect[1][i]);
+  }
+}
+
+TEST(DynamicAutodiffCostFunctionTest, JacobianWithFirstParameterBlockConstant) {
+  // Test the residual counting.
+  vector<double> param_block_0(10, 0.0);
+  for (int i = 0; i < 10; ++i) {
+    param_block_0[i] = 2 * i;
+  }
+  vector<double> param_block_1(5, 0.0);
+  DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Prepare the residuals.
+  vector<double> residuals(21, -100000);
+
+  // Prepare the parameters.
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+
+  // Prepare the jacobian.
+  vector<vector<double> > jacobian_vect(2);
+  jacobian_vect[0].resize(21 * 10, -100000);
+  jacobian_vect[1].resize(21 * 5, -100000);
+  vector<double*> jacobian;
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect[1].data());
+
+  // Test jacobian computation.
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+                                     residuals.data(),
+                                     jacobian.data()));
+
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(420, residuals.at(20));
+
+  // Check "C" Jacobian for second parameter block.
+  for (int p = 0; p < 5; ++p) {
+    EXPECT_EQ(1.0, jacobian_vect[1][20 * 5 + p]);
+    jacobian_vect[1][20 * 5 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+    EXPECT_EQ(0.0, jacobian_vect[1][i]);
+  }
+}
+
+TEST(DynamicAutodiffCostFunctionTest, JacobianWithSecondParameterBlockConstant) {  // NOLINT
+  // Test the residual counting.
+  vector<double> param_block_0(10, 0.0);
+  for (int i = 0; i < 10; ++i) {
+    param_block_0[i] = 2 * i;
+  }
+  vector<double> param_block_1(5, 0.0);
+  DynamicAutoDiffCostFunction<MyCostFunctor, 3> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Prepare the residuals.
+  vector<double> residuals(21, -100000);
+
+  // Prepare the parameters.
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+
+  // Prepare the jacobian.
+  vector<vector<double> > jacobian_vect(2);
+  jacobian_vect[0].resize(21 * 10, -100000);
+  jacobian_vect[1].resize(21 * 5, -100000);
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect[0].data());
+  jacobian.push_back(NULL);
+
+  // Test jacobian computation.
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+                                     residuals.data(),
+                                     jacobian.data()));
+
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(420, residuals.at(20));
+  for (int p = 0; p < 10; ++p) {
+    // Check "A" Jacobian.
+    EXPECT_EQ(-1.0, jacobian_vect[0][2*p * 10 + p]);
+    // Check "B" Jacobian.
+    EXPECT_EQ(+1.0, jacobian_vect[0][(2*p+1) * 10 + p]);
+    jacobian_vect[0][2*p * 10 + p] = 0.0;
+    jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+  }
+
+  // Check "C" Jacobian for first parameter block.
+  for (int p = 0; p < 10; ++p) {
+    EXPECT_EQ(4 * p - 8, jacobian_vect[0][20 * 10 + p]);
+    jacobian_vect[0][20 * 10 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+    EXPECT_EQ(0.0, jacobian_vect[0][i]);
+  }
+}
+
+// Takes 3 parameter blocks:
+//     parameters[0] (x) is size 1.
+//     parameters[1] (y) is size 2.
+//     parameters[2] (z) is size 3.
+// Emits 7 residuals:
+//     A: x[0] (= sum_x)
+//     B: y[0] + 2.0 * y[1] (= sum_y)
+//     C: z[0] + 3.0 * z[1] + 6.0 * z[2] (= sum_z)
+//     D: sum_x * sum_y
+//     E: sum_y * sum_z
+//     F: sum_x * sum_z
+//     G: sum_x * sum_y * sum_z
+class MyThreeParameterCostFunctor {
+ public:
+  template <typename T>
+  bool operator()(T const* const* parameters, T* residuals) const {
+    const T* x = parameters[0];
+    const T* y = parameters[1];
+    const T* z = parameters[2];
+
+    T sum_x = x[0];
+    T sum_y = y[0] + 2.0 * y[1];
+    T sum_z = z[0] + 3.0 * z[1] + 6.0 * z[2];
+
+    residuals[0] = sum_x;
+    residuals[1] = sum_y;
+    residuals[2] = sum_z;
+    residuals[3] = sum_x * sum_y;
+    residuals[4] = sum_y * sum_z;
+    residuals[5] = sum_x * sum_z;
+    residuals[6] = sum_x * sum_y * sum_z;
+    return true;
+  }
+};
+
+class ThreeParameterCostFunctorTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    // Prepare the parameters.
+    x_.resize(1);
+    x_[0] = 0.0;
+
+    y_.resize(2);
+    y_[0] = 1.0;
+    y_[1] = 3.0;
+
+    z_.resize(3);
+    z_[0] = 2.0;
+    z_[1] = 4.0;
+    z_[2] = 6.0;
+
+    parameter_blocks_.resize(3);
+    parameter_blocks_[0] = &x_[0];
+    parameter_blocks_[1] = &y_[0];
+    parameter_blocks_[2] = &z_[0];
+
+    // Prepare the cost function.
+    typedef DynamicAutoDiffCostFunction<MyThreeParameterCostFunctor, 3>
+      DynamicMyThreeParameterCostFunction;
+    DynamicMyThreeParameterCostFunction * cost_function =
+      new DynamicMyThreeParameterCostFunction(
+        new MyThreeParameterCostFunctor());
+    cost_function->AddParameterBlock(1);
+    cost_function->AddParameterBlock(2);
+    cost_function->AddParameterBlock(3);
+    cost_function->SetNumResiduals(7);
+
+    cost_function_.reset(cost_function);
+
+    // Setup jacobian data.
+    jacobian_vect_.resize(3);
+    jacobian_vect_[0].resize(7 * x_.size(), -100000);
+    jacobian_vect_[1].resize(7 * y_.size(), -100000);
+    jacobian_vect_[2].resize(7 * z_.size(), -100000);
+
+    // Prepare the expected residuals.
+    const double sum_x = x_[0];
+    const double sum_y = y_[0] + 2.0 * y_[1];
+    const double sum_z = z_[0] + 3.0 * z_[1] + 6.0 * z_[2];
+
+    expected_residuals_.resize(7);
+    expected_residuals_[0] = sum_x;
+    expected_residuals_[1] = sum_y;
+    expected_residuals_[2] = sum_z;
+    expected_residuals_[3] = sum_x * sum_y;
+    expected_residuals_[4] = sum_y * sum_z;
+    expected_residuals_[5] = sum_x * sum_z;
+    expected_residuals_[6] = sum_x * sum_y * sum_z;
+
+    // Prepare the expected jacobian entries.
+    expected_jacobian_x_.resize(7);
+    expected_jacobian_x_[0] = 1.0;
+    expected_jacobian_x_[1] = 0.0;
+    expected_jacobian_x_[2] = 0.0;
+    expected_jacobian_x_[3] = sum_y;
+    expected_jacobian_x_[4] = 0.0;
+    expected_jacobian_x_[5] = sum_z;
+    expected_jacobian_x_[6] = sum_y * sum_z;
+
+    expected_jacobian_y_.resize(14);
+    expected_jacobian_y_[0] = 0.0;
+    expected_jacobian_y_[1] = 0.0;
+    expected_jacobian_y_[2] = 1.0;
+    expected_jacobian_y_[3] = 2.0;
+    expected_jacobian_y_[4] = 0.0;
+    expected_jacobian_y_[5] = 0.0;
+    expected_jacobian_y_[6] = sum_x;
+    expected_jacobian_y_[7] = 2.0 * sum_x;
+    expected_jacobian_y_[8] = sum_z;
+    expected_jacobian_y_[9] = 2.0 * sum_z;
+    expected_jacobian_y_[10] = 0.0;
+    expected_jacobian_y_[11] = 0.0;
+    expected_jacobian_y_[12] = sum_x * sum_z;
+    expected_jacobian_y_[13] = 2.0 * sum_x * sum_z;
+
+    expected_jacobian_z_.resize(21);
+    expected_jacobian_z_[0] = 0.0;
+    expected_jacobian_z_[1] = 0.0;
+    expected_jacobian_z_[2] = 0.0;
+    expected_jacobian_z_[3] = 0.0;
+    expected_jacobian_z_[4] = 0.0;
+    expected_jacobian_z_[5] = 0.0;
+    expected_jacobian_z_[6] = 1.0;
+    expected_jacobian_z_[7] = 3.0;
+    expected_jacobian_z_[8] = 6.0;
+    expected_jacobian_z_[9] = 0.0;
+    expected_jacobian_z_[10] = 0.0;
+    expected_jacobian_z_[11] = 0.0;
+    expected_jacobian_z_[12] = sum_y;
+    expected_jacobian_z_[13] = 3.0 * sum_y;
+    expected_jacobian_z_[14] = 6.0 * sum_y;
+    expected_jacobian_z_[15] = sum_x;
+    expected_jacobian_z_[16] = 3.0 * sum_x;
+    expected_jacobian_z_[17] = 6.0 * sum_x;
+    expected_jacobian_z_[18] = sum_x * sum_y;
+    expected_jacobian_z_[19] = 3.0 * sum_x * sum_y;
+    expected_jacobian_z_[20] = 6.0 * sum_x * sum_y;
+  }
+
+ protected:
+  vector<double> x_;
+  vector<double> y_;
+  vector<double> z_;
+
+  vector<double*> parameter_blocks_;
+
+  scoped_ptr<CostFunction> cost_function_;
+
+  vector<vector<double> > jacobian_vect_;
+
+  vector<double> expected_residuals_;
+
+  vector<double> expected_jacobian_x_;
+  vector<double> expected_jacobian_y_;
+  vector<double> expected_jacobian_z_;
+};
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterResiduals) {
+  vector<double> residuals(7, -100000);
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       NULL));
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+}
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterJacobian) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect_[0].data());
+  jacobian.push_back(jacobian_vect_[1].data());
+  jacobian.push_back(jacobian_vect_[2].data());
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_jacobian_x_[i], jacobian[0][i]);
+  }
+
+  for (int i = 0; i < 14; ++i) {
+    EXPECT_EQ(expected_jacobian_y_[i], jacobian[1][i]);
+  }
+
+  for (int i = 0; i < 21; ++i) {
+    EXPECT_EQ(expected_jacobian_z_[i], jacobian[2][i]);
+  }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+       ThreeParameterJacobianWithFirstAndLastParameterBlockConstant) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect_[1].data());
+  jacobian.push_back(NULL);
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 14; ++i) {
+    EXPECT_EQ(expected_jacobian_y_[i], jacobian[1][i]);
+  }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+       ThreeParameterJacobianWithSecondParameterBlockConstant) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect_[0].data());
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect_[2].data());
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_jacobian_x_[i], jacobian[0][i]);
+  }
+
+  for (int i = 0; i < 21; ++i) {
+    EXPECT_EQ(expected_jacobian_z_[i], jacobian[2][i]);
+  }
+}
+
+// Takes 6 parameter blocks all of size 1:
+//     x0, y0, y1, z0, z1, z2
+// Same 7 residuals as MyThreeParameterCostFunctor.
+// Naming convention for tests is (V)ariable and (C)onstant.
+class MySixParameterCostFunctor {
+ public:
+  template <typename T>
+  bool operator()(T const* const* parameters, T* residuals) const {
+    const T* x0 = parameters[0];
+    const T* y0 = parameters[1];
+    const T* y1 = parameters[2];
+    const T* z0 = parameters[3];
+    const T* z1 = parameters[4];
+    const T* z2 = parameters[5];
+
+    T sum_x = x0[0];
+    T sum_y = y0[0] + 2.0 * y1[0];
+    T sum_z = z0[0] + 3.0 * z1[0] + 6.0 * z2[0];
+
+    residuals[0] = sum_x;
+    residuals[1] = sum_y;
+    residuals[2] = sum_z;
+    residuals[3] = sum_x * sum_y;
+    residuals[4] = sum_y * sum_z;
+    residuals[5] = sum_x * sum_z;
+    residuals[6] = sum_x * sum_y * sum_z;
+    return true;
+  }
+};
+
+class SixParameterCostFunctorTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    // Prepare the parameters.
+    x0_ = 0.0;
+    y0_ = 1.0;
+    y1_ = 3.0;
+    z0_ = 2.0;
+    z1_ = 4.0;
+    z2_ = 6.0;
+
+    parameter_blocks_.resize(6);
+    parameter_blocks_[0] = &x0_;
+    parameter_blocks_[1] = &y0_;
+    parameter_blocks_[2] = &y1_;
+    parameter_blocks_[3] = &z0_;
+    parameter_blocks_[4] = &z1_;
+    parameter_blocks_[5] = &z2_;
+
+    // Prepare the cost function.
+    typedef DynamicAutoDiffCostFunction<MySixParameterCostFunctor, 3>
+      DynamicMySixParameterCostFunction;
+    DynamicMySixParameterCostFunction * cost_function =
+      new DynamicMySixParameterCostFunction(
+        new MySixParameterCostFunctor());
+    for (int i = 0; i < 6; ++i) {
+      cost_function->AddParameterBlock(1);
+    }
+    cost_function->SetNumResiduals(7);
+
+    cost_function_.reset(cost_function);
+
+    // Setup jacobian data.
+    jacobian_vect_.resize(6);
+    for (int i = 0; i < 6; ++i) {
+      jacobian_vect_[i].resize(7, -100000);
+    }
+
+    // Prepare the expected residuals.
+    const double sum_x = x0_;
+    const double sum_y = y0_ + 2.0 * y1_;
+    const double sum_z = z0_ + 3.0 * z1_ + 6.0 * z2_;
+
+    expected_residuals_.resize(7);
+    expected_residuals_[0] = sum_x;
+    expected_residuals_[1] = sum_y;
+    expected_residuals_[2] = sum_z;
+    expected_residuals_[3] = sum_x * sum_y;
+    expected_residuals_[4] = sum_y * sum_z;
+    expected_residuals_[5] = sum_x * sum_z;
+    expected_residuals_[6] = sum_x * sum_y * sum_z;
+
+    // Prepare the expected jacobian entries.
+    expected_jacobians_.resize(6);
+    expected_jacobians_[0].resize(7);
+    expected_jacobians_[0][0] = 1.0;
+    expected_jacobians_[0][1] = 0.0;
+    expected_jacobians_[0][2] = 0.0;
+    expected_jacobians_[0][3] = sum_y;
+    expected_jacobians_[0][4] = 0.0;
+    expected_jacobians_[0][5] = sum_z;
+    expected_jacobians_[0][6] = sum_y * sum_z;
+
+    expected_jacobians_[1].resize(7);
+    expected_jacobians_[1][0] = 0.0;
+    expected_jacobians_[1][1] = 1.0;
+    expected_jacobians_[1][2] = 0.0;
+    expected_jacobians_[1][3] = sum_x;
+    expected_jacobians_[1][4] = sum_z;
+    expected_jacobians_[1][5] = 0.0;
+    expected_jacobians_[1][6] = sum_x * sum_z;
+
+    expected_jacobians_[2].resize(7);
+    expected_jacobians_[2][0] = 0.0;
+    expected_jacobians_[2][1] = 2.0;
+    expected_jacobians_[2][2] = 0.0;
+    expected_jacobians_[2][3] = 2.0 * sum_x;
+    expected_jacobians_[2][4] = 2.0 * sum_z;
+    expected_jacobians_[2][5] = 0.0;
+    expected_jacobians_[2][6] = 2.0 * sum_x * sum_z;
+
+    expected_jacobians_[3].resize(7);
+    expected_jacobians_[3][0] = 0.0;
+    expected_jacobians_[3][1] = 0.0;
+    expected_jacobians_[3][2] = 1.0;
+    expected_jacobians_[3][3] = 0.0;
+    expected_jacobians_[3][4] = sum_y;
+    expected_jacobians_[3][5] = sum_x;
+    expected_jacobians_[3][6] = sum_x * sum_y;
+
+    expected_jacobians_[4].resize(7);
+    expected_jacobians_[4][0] = 0.0;
+    expected_jacobians_[4][1] = 0.0;
+    expected_jacobians_[4][2] = 3.0;
+    expected_jacobians_[4][3] = 0.0;
+    expected_jacobians_[4][4] = 3.0 * sum_y;
+    expected_jacobians_[4][5] = 3.0 * sum_x;
+    expected_jacobians_[4][6] = 3.0 * sum_x * sum_y;
+
+    expected_jacobians_[5].resize(7);
+    expected_jacobians_[5][0] = 0.0;
+    expected_jacobians_[5][1] = 0.0;
+    expected_jacobians_[5][2] = 6.0;
+    expected_jacobians_[5][3] = 0.0;
+    expected_jacobians_[5][4] = 6.0 * sum_y;
+    expected_jacobians_[5][5] = 6.0 * sum_x;
+    expected_jacobians_[5][6] = 6.0 * sum_x * sum_y;
+  }
+
+ protected:
+  double x0_;
+  double y0_;
+  double y1_;
+  double z0_;
+  double z1_;
+  double z2_;
+
+  vector<double*> parameter_blocks_;
+
+  scoped_ptr<CostFunction> cost_function_;
+
+  vector<vector<double> > jacobian_vect_;
+
+  vector<double> expected_residuals_;
+  vector<vector<double> > expected_jacobians_;
+};
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterResiduals) {
+  vector<double> residuals(7, -100000);
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       NULL));
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+}
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobian) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect_[0].data());
+  jacobian.push_back(jacobian_vect_[1].data());
+  jacobian.push_back(jacobian_vect_[2].data());
+  jacobian.push_back(jacobian_vect_[3].data());
+  jacobian.push_back(jacobian_vect_[4].data());
+  jacobian.push_back(jacobian_vect_[5].data());
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 6; ++i) {
+    for (int j = 0; j < 7; ++j) {
+      EXPECT_EQ(expected_jacobians_[i][j], jacobian[i][j]);
+    }
+  }
+}
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobianVVCVVC) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect_[0].data());
+  jacobian.push_back(jacobian_vect_[1].data());
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect_[3].data());
+  jacobian.push_back(jacobian_vect_[4].data());
+  jacobian.push_back(NULL);
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 6; ++i) {
+    // Skip the constant variables.
+    if (i == 2 || i == 5) {
+      continue;
+    }
+
+    for (int j = 0; j < 7; ++j) {
+      EXPECT_EQ(expected_jacobians_[i][j], jacobian[i][j]);
+    }
+  }
+}
+
+TEST_F(SixParameterCostFunctorTest, TestSixParameterJacobianVCCVCV) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect_[0].data());
+  jacobian.push_back(NULL);
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect_[3].data());
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect_[5].data());
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 6; ++i) {
+    // Skip the constant variables.
+    if (i == 1 || i == 2 || i == 4) {
+      continue;
+    }
+
+    for (int j = 0; j < 7; ++j) {
+      EXPECT_EQ(expected_jacobians_[i][j], jacobian[i][j]);
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_compressed_row_finalizer.h b/internal/ceres/dynamic_compressed_row_finalizer.h
new file mode 100644
index 0000000..a25a308
--- /dev/null
+++ b/internal/ceres/dynamic_compressed_row_finalizer.h
@@ -0,0 +1,51 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+
+#ifndef CERES_INTERNAL_DYNAMIC_COMPRESED_ROW_FINALIZER_H_
+#define CERES_INTERNAL_DYNAMIC_COMPRESED_ROW_FINALIZER_H_
+
+#include "ceres/casts.h"
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+struct DynamicCompressedRowJacobianFinalizer {
+  void operator()(SparseMatrix* base_jacobian, int num_parameters) {
+    DynamicCompressedRowSparseMatrix* jacobian =
+      down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);
+    jacobian->Finalize(num_parameters);
+  }
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DYNAMIC_COMPRESED_ROW_FINALISER_H_
diff --git a/internal/ceres/dynamic_compressed_row_jacobian_writer.cc b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
new file mode 100644
index 0000000..4f89145
--- /dev/null
+++ b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
@@ -0,0 +1,102 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+
+#include "ceres/dynamic_compressed_row_jacobian_writer.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_jacobian_writer.h"
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+
+namespace ceres {
+namespace internal {
+
+using std::pair;
+using std::vector;
+
+ScratchEvaluatePreparer*
+DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) {
+  return ScratchEvaluatePreparer::Create(*program_, num_threads);
+}
+
+SparseMatrix* DynamicCompressedRowJacobianWriter::CreateJacobian() const {
+  DynamicCompressedRowSparseMatrix* jacobian =
+      new DynamicCompressedRowSparseMatrix(program_->NumResiduals(),
+                                           program_->NumEffectiveParameters(),
+                                           0 /* max_num_nonzeros */);
+  return jacobian;
+}
+
+void DynamicCompressedRowJacobianWriter::Write(int residual_id,
+                                               int residual_offset,
+                                               double** jacobians,
+                                               SparseMatrix* base_jacobian) {
+  DynamicCompressedRowSparseMatrix* jacobian =
+      down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);
+
+  // Get the `residual_block` of interest.
+  const ResidualBlock* residual_block =
+      program_->residual_blocks()[residual_id];
+  const int num_residuals = residual_block->NumResiduals();
+
+  vector<pair<int, int> > evaluated_jacobian_blocks;
+  CompressedRowJacobianWriter::GetOrderedParameterBlocks(
+      program_, residual_id, &evaluated_jacobian_blocks);
+
+  // `residual_offset` is the residual row in the global jacobian.
+  // Empty the jacobian rows.
+  jacobian->ClearRows(residual_offset, num_residuals);
+
+  // Iterate over each parameter block.
+  for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
+    const ParameterBlock* parameter_block =
+        program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
+    const int parameter_block_jacobian_index =
+        evaluated_jacobian_blocks[i].second;
+    const int parameter_block_size = parameter_block->LocalSize();
+
+    // For each parameter block only insert its non-zero entries.
+    for (int r = 0; r < num_residuals; ++r) {
+      for (int c = 0; c < parameter_block_size; ++c) {
+        const double& v = jacobians[parameter_block_jacobian_index]
+                                   [r * parameter_block_size + c];
+        // Only insert non-zero entries.
+        if (v != 0.0) {
+          jacobian->InsertEntry(
+              residual_offset + r, parameter_block->delta_offset() + c, v);
+        }
+      }
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_compressed_row_jacobian_writer.h b/internal/ceres/dynamic_compressed_row_jacobian_writer.h
new file mode 100644
index 0000000..6e5ac38
--- /dev/null
+++ b/internal/ceres/dynamic_compressed_row_jacobian_writer.h
@@ -0,0 +1,83 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+//
+// A jacobian writer that directly writes to dynamic compressed row sparse
+// matrices.
+
+#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+
+#include "ceres/evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class SparseMatrix;
+
+class DynamicCompressedRowJacobianWriter {
+ public:
+  DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */,
+                                     Program* program)
+    : program_(program) {
+  }
+
+  // JacobianWriter interface.
+
+  // The compressed row matrix has different layout than that assumed by
+  // the cost functions. The scratch space is therefore used to store
+  // the jacobians (including zeros) temporarily before only the non-zero
+  // entries are copied over to the larger jacobian in `Write`.
+  ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+
+  // Return a `DynamicCompressedRowSparseMatrix` which is filled by
+  // `Write`. Note that `Finalize` must be called to make the
+  // `CompressedRowSparseMatrix` interface valid.
+  SparseMatrix* CreateJacobian() const;
+
+  // Write only the non-zero jacobian entries for a residual block
+  // (specified by `residual_id`) into `base_jacobian`, starting at the row
+  // specifed by `residual_offset`.
+  //
+  // This method is thread-safe over residual blocks (each `residual_id`).
+  void Write(int residual_id,
+             int residual_offset,
+             double **jacobians,
+             SparseMatrix* base_jacobian);
+
+ private:
+  Program* program_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
diff --git a/internal/ceres/dynamic_compressed_row_sparse_matrix.cc b/internal/ceres/dynamic_compressed_row_sparse_matrix.cc
new file mode 100644
index 0000000..f020768
--- /dev/null
+++ b/internal/ceres/dynamic_compressed_row_sparse_matrix.cc
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+
+#include <cstring>
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+DynamicCompressedRowSparseMatrix::DynamicCompressedRowSparseMatrix(
+  int num_rows,
+  int num_cols,
+  int initial_max_num_nonzeros)
+    : CompressedRowSparseMatrix(num_rows,
+                                num_cols,
+                                initial_max_num_nonzeros) {
+    dynamic_cols_.resize(num_rows);
+    dynamic_values_.resize(num_rows);
+  }
+
+void DynamicCompressedRowSparseMatrix::InsertEntry(int row,
+                                                   int col,
+                                                   const double& value) {
+  CHECK_GE(row, 0);
+  CHECK_LT(row, num_rows());
+  CHECK_GE(col, 0);
+  CHECK_LT(col, num_cols());
+  dynamic_cols_[row].push_back(col);
+  dynamic_values_[row].push_back(value);
+}
+
+void DynamicCompressedRowSparseMatrix::ClearRows(int row_start,
+                                                 int num_rows) {
+  for (int r = 0; r < num_rows; ++r) {
+    const int i = row_start + r;
+    CHECK_GE(i, 0);
+    CHECK_LT(i, this->num_rows());
+    dynamic_cols_[i].resize(0);
+    dynamic_values_[i].resize(0);
+  }
+}
+
+void DynamicCompressedRowSparseMatrix::Finalize(int num_additional_elements) {
+  // `num_additional_elements` is provided as an argument so that additional
+  // storage can be reserved when it is known by the finalizer.
+  CHECK_GE(num_additional_elements, 0);
+
+  // Count the number of non-zeros and resize `cols_` and `values_`.
+  int num_jacobian_nonzeros = 0;
+  for (int i = 0; i < dynamic_cols_.size(); ++i) {
+    num_jacobian_nonzeros += dynamic_cols_[i].size();
+  }
+
+  SetMaxNumNonZeros(num_jacobian_nonzeros + num_additional_elements);
+
+  // Flatten `dynamic_cols_` into `cols_` and `dynamic_values_`
+  // into `values_`.
+  int index_into_values_and_cols = 0;
+  for (int i = 0; i < num_rows(); ++i) {
+    mutable_rows()[i] = index_into_values_and_cols;
+    const int num_nonzero_columns = dynamic_cols_[i].size();
+    if (num_nonzero_columns > 0) {
+      memcpy(mutable_cols() + index_into_values_and_cols,
+             &dynamic_cols_[i][0],
+             dynamic_cols_[i].size() * sizeof(dynamic_cols_[0][0]));
+      memcpy(mutable_values() + index_into_values_and_cols,
+             &dynamic_values_[i][0],
+             dynamic_values_[i].size() * sizeof(dynamic_values_[0][0]));
+      index_into_values_and_cols += dynamic_cols_[i].size();
+    }
+  }
+  mutable_rows()[num_rows()] = index_into_values_and_cols;
+
+  CHECK_EQ(index_into_values_and_cols, num_jacobian_nonzeros)
+    << "Ceres bug: final index into values_ and cols_ should be equal to "
+    << "the number of jacobian nonzeros. Please contact the developers!";
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_compressed_row_sparse_matrix.h b/internal/ceres/dynamic_compressed_row_sparse_matrix.h
new file mode 100644
index 0000000..cab860b
--- /dev/null
+++ b/internal/ceres/dynamic_compressed_row_sparse_matrix.h
@@ -0,0 +1,101 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+//
+// A compressed row sparse matrix that provides an extended interface to
+// allow dynamic insertion of entries. This is provided for the use case
+// where the sparsity structure and number of non-zero entries is dynamic.
+// This flexibility is achieved by using an (internal) scratch space that
+// allows independent insertion of entries into each row (thread-safe).
+// Once insertion is complete, the `Finalize` method must be called to ensure
+// that the underlying `CompressedRowSparseMatrix` is consistent.
+//
+// This should only be used if you really do need a dynamic sparsity pattern.
+
+#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
+
+#include <vector>
+
+#include "ceres/compressed_row_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+class DynamicCompressedRowSparseMatrix : public CompressedRowSparseMatrix {
+ public:
+  // Set the number of rows and columns for the underlyig
+  // `CompressedRowSparseMatrix` and set the initial number of maximum non-zero
+  // entries. Note that following the insertion of entries, when `Finalize`
+  // is called the number of non-zeros is determined and all internal
+  // structures are adjusted as required. If you know the upper limit on the
+  // number of non-zeros, then passing this value here can prevent future
+  // memory reallocations which may improve performance. Otherwise, if no
+  // upper limit is available a value of 0 is sufficient.
+  //
+  // Typical usage of this class is to define a new instance with a given
+  // number of rows, columns and maximum number of non-zero elements
+  // (if available). Next, entries are inserted at row and column positions
+  // using `InsertEntry`. Finally, once all elements have been inserted,
+  // `Finalize` must be called to make the underlying
+  // `CompressedRowSparseMatrix` consistent.
+  DynamicCompressedRowSparseMatrix(int num_rows,
+                                   int num_cols,
+                                   int initial_max_num_nonzeros);
+
+  // Insert an entry at a given row and column position. This method is
+  // thread-safe across rows i.e. different threads can insert values
+  // simultaneously into different rows. It should be emphasised that this
+  // method always inserts a new entry and does not check for existing
+  // entries at the specified row and column position. Duplicate entries
+  // for a given row and column position will result in undefined
+  // behavior.
+  void InsertEntry(int row, int col, const double& value);
+
+  // Clear all entries for rows, starting from row index `row_start`
+  // and proceeding for `num_rows`.
+  void ClearRows(int row_start, int num_rows);
+
+  // Make the underlying internal `CompressedRowSparseMatrix` data structures
+  // consistent. Additional space for non-zero entries in the
+  // `CompressedRowSparseMatrix` can be reserved by specifying
+  // `num_additional_elements`. This is useful when it is known that rows will
+  // be appended to the `CompressedRowSparseMatrix` (e.g. appending a diagonal
+  // matrix to the jacobian) as it prevents need for future reallocation.
+  void Finalize(int num_additional_elements);
+
+ private:
+  std::vector<std::vector<int> > dynamic_cols_;
+  std::vector<std::vector<double> > dynamic_values_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_SPARSE_MATRIX_H_
diff --git a/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc b/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc
new file mode 100644
index 0000000..4030142
--- /dev/null
+++ b/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc
@@ -0,0 +1,219 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+
+#include "ceres/dynamic_compressed_row_sparse_matrix.h"
+
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::copy;
+using std::vector;
+
+class DynamicCompressedRowSparseMatrixTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    num_rows = 7;
+    num_cols = 4;
+
+    // The number of additional elements reserved when `Finalize` is called
+    // should have no effect on the number of rows, columns or nonzeros.
+    // Set this to some nonzero value to be sure.
+    num_additional_elements = 13;
+
+    expected_num_nonzeros = num_rows * num_cols - std::min(num_rows, num_cols);
+
+    InitialiseDenseReference();
+    InitialiseSparseMatrixReferences();
+
+    dcrsm.reset(new DynamicCompressedRowSparseMatrix(num_rows,
+                                                     num_cols,
+                                                     0));
+  }
+
+  void Finalize() {
+    dcrsm->Finalize(num_additional_elements);
+  }
+
+  void InitialiseDenseReference() {
+    dense.resize(num_rows, num_cols);
+    dense.setZero();
+    int num_nonzeros = 0;
+    for (int i = 0; i < (num_rows * num_cols); ++i) {
+      const int r = i / num_cols, c = i % num_cols;
+      if (r != c) {
+        dense(r, c) = i + 1;
+        ++num_nonzeros;
+      }
+    }
+    ASSERT_EQ(num_nonzeros, expected_num_nonzeros);
+  }
+
+  void InitialiseSparseMatrixReferences() {
+    vector<int> rows, cols;
+    vector<double> values;
+    for (int i = 0; i < (num_rows * num_cols); ++i) {
+      const int r = i / num_cols, c = i % num_cols;
+      if (r != c) {
+        rows.push_back(r);
+        cols.push_back(c);
+        values.push_back(i + 1);
+      }
+    }
+    ASSERT_EQ(values.size(), expected_num_nonzeros);
+
+    tsm.reset(new TripletSparseMatrix(num_rows,
+                                      num_cols,
+                                      expected_num_nonzeros));
+    copy(rows.begin(), rows.end(), tsm->mutable_rows());
+    copy(cols.begin(), cols.end(), tsm->mutable_cols());
+    copy(values.begin(), values.end(), tsm->mutable_values());
+    tsm->set_num_nonzeros(values.size());
+
+    Matrix dense_from_tsm;
+    tsm->ToDenseMatrix(&dense_from_tsm);
+    ASSERT_TRUE((dense.array() == dense_from_tsm.array()).all());
+
+    crsm.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+    Matrix dense_from_crsm;
+    crsm->ToDenseMatrix(&dense_from_crsm);
+    ASSERT_TRUE((dense.array() == dense_from_crsm.array()).all());
+  }
+
+  void InsertNonZeroEntriesFromDenseReference() {
+    for (int r = 0; r < num_rows; ++r) {
+      for (int c = 0; c < num_cols; ++c) {
+        const double& v = dense(r, c);
+        if (v != 0.0) {
+          dcrsm->InsertEntry(r, c, v);
+        }
+      }
+    }
+  }
+
+  void ExpectEmpty() {
+    EXPECT_EQ(dcrsm->num_rows(), num_rows);
+    EXPECT_EQ(dcrsm->num_cols(), num_cols);
+    EXPECT_EQ(dcrsm->num_nonzeros(), 0);
+
+    Matrix dense_from_dcrsm;
+    dcrsm->ToDenseMatrix(&dense_from_dcrsm);
+    EXPECT_EQ(dense_from_dcrsm.rows(), num_rows);
+    EXPECT_EQ(dense_from_dcrsm.cols(), num_cols);
+    EXPECT_TRUE((dense_from_dcrsm.array() == 0.0).all());
+  }
+
+  void ExpectEqualToDenseReference() {
+    Matrix dense_from_dcrsm;
+    dcrsm->ToDenseMatrix(&dense_from_dcrsm);
+    EXPECT_TRUE((dense.array() == dense_from_dcrsm.array()).all());
+  }
+
+  void ExpectEqualToCompressedRowSparseMatrixReference() {
+    typedef Eigen::Map<const Eigen::VectorXi> ConstIntVectorRef;
+
+    ConstIntVectorRef crsm_rows(crsm->rows(), crsm->num_rows() + 1);
+    ConstIntVectorRef dcrsm_rows(dcrsm->rows(), dcrsm->num_rows() + 1);
+    EXPECT_TRUE((crsm_rows.array() == dcrsm_rows.array()).all());
+
+    ConstIntVectorRef crsm_cols(crsm->cols(), crsm->num_nonzeros());
+    ConstIntVectorRef dcrsm_cols(dcrsm->cols(), dcrsm->num_nonzeros());
+    EXPECT_TRUE((crsm_cols.array() == dcrsm_cols.array()).all());
+
+    ConstVectorRef crsm_values(crsm->values(), crsm->num_nonzeros());
+    ConstVectorRef dcrsm_values(dcrsm->values(), dcrsm->num_nonzeros());
+    EXPECT_TRUE((crsm_values.array() == dcrsm_values.array()).all());
+  }
+
+  int num_rows;
+  int num_cols;
+
+  int num_additional_elements;
+
+  int expected_num_nonzeros;
+
+  Matrix dense;
+  scoped_ptr<TripletSparseMatrix> tsm;
+  scoped_ptr<CompressedRowSparseMatrix> crsm;
+
+  scoped_ptr<DynamicCompressedRowSparseMatrix> dcrsm;
+};
+
+TEST_F(DynamicCompressedRowSparseMatrixTest, Initialization) {
+  ExpectEmpty();
+
+  Finalize();
+  ExpectEmpty();
+}
+
+TEST_F(DynamicCompressedRowSparseMatrixTest, InsertEntryAndFinalize) {
+  InsertNonZeroEntriesFromDenseReference();
+  ExpectEmpty();
+
+  Finalize();
+  ExpectEqualToDenseReference();
+  ExpectEqualToCompressedRowSparseMatrixReference();
+}
+
+TEST_F(DynamicCompressedRowSparseMatrixTest, ClearRows) {
+  InsertNonZeroEntriesFromDenseReference();
+  Finalize();
+  ExpectEqualToDenseReference();
+  ExpectEqualToCompressedRowSparseMatrixReference();
+
+  dcrsm->ClearRows(0, 0);
+  Finalize();
+  ExpectEqualToDenseReference();
+  ExpectEqualToCompressedRowSparseMatrixReference();
+
+  dcrsm->ClearRows(0, num_rows);
+  ExpectEqualToCompressedRowSparseMatrixReference();
+
+  Finalize();
+  ExpectEmpty();
+
+  InsertNonZeroEntriesFromDenseReference();
+  dcrsm->ClearRows(1, 2);
+  Finalize();
+  dense.block(1, 0, 2, num_cols).setZero();
+  ExpectEqualToDenseReference();
+
+  InitialiseDenseReference();
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_numeric_diff_cost_function_test.cc b/internal/ceres/dynamic_numeric_diff_cost_function_test.cc
new file mode 100644
index 0000000..760fdeb
--- /dev/null
+++ b/internal/ceres/dynamic_numeric_diff_cost_function_test.cc
@@ -0,0 +1,521 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         mierle@gmail.com (Keir Mierle)
+
+#include <cstddef>
+
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+const double kTolerance = 1e-6;
+
+// Takes 2 parameter blocks:
+//     parameters[0] is size 10.
+//     parameters[1] is size 5.
+// Emits 21 residuals:
+//     A: i - parameters[0][i], for i in [0,10)  -- this is 10 residuals
+//     B: parameters[0][i] - i, for i in [0,10)  -- this is another 10.
+//     C: sum(parameters[0][i]^2 - 8*parameters[0][i]) + sum(parameters[1][i])
+class MyCostFunctor {
+ public:
+  bool operator()(double const* const* parameters, double* residuals) const {
+    const double* params0 = parameters[0];
+    int r = 0;
+    for (int i = 0; i < 10; ++i) {
+      residuals[r++] = i - params0[i];
+      residuals[r++] = params0[i] - i;
+    }
+
+    double c_residual = 0.0;
+    for (int i = 0; i < 10; ++i) {
+      c_residual += pow(params0[i], 2) - 8.0 * params0[i];
+    }
+
+    const double* params1 = parameters[1];
+    for (int i = 0; i < 5; ++i) {
+      c_residual += params1[i];
+    }
+    residuals[r++] = c_residual;
+    return true;
+  }
+};
+
+TEST(DynamicNumericdiffCostFunctionTest, TestResiduals) {
+  vector<double> param_block_0(10, 0.0);
+  vector<double> param_block_1(5, 0.0);
+  DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Test residual computation.
+  vector<double> residuals(21, -100000);
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+  EXPECT_TRUE(cost_function.Evaluate(&parameter_blocks[0],
+                                     residuals.data(),
+                                     NULL));
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(0, residuals.at(20));
+}
+
+
+TEST(DynamicNumericdiffCostFunctionTest, TestJacobian) {
+  // Test the residual counting.
+  vector<double> param_block_0(10, 0.0);
+  for (int i = 0; i < 10; ++i) {
+    param_block_0[i] = 2 * i;
+  }
+  vector<double> param_block_1(5, 0.0);
+  DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Prepare the residuals.
+  vector<double> residuals(21, -100000);
+
+  // Prepare the parameters.
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+
+  // Prepare the jacobian.
+  vector<vector<double> > jacobian_vect(2);
+  jacobian_vect[0].resize(21 * 10, -100000);
+  jacobian_vect[1].resize(21 * 5, -100000);
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect[0].data());
+  jacobian.push_back(jacobian_vect[1].data());
+
+  // Test jacobian computation.
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+                                     residuals.data(),
+                                     jacobian.data()));
+
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(420, residuals.at(20));
+  for (int p = 0; p < 10; ++p) {
+    // Check "A" Jacobian.
+    EXPECT_NEAR(-1.0, jacobian_vect[0][2*p * 10 + p], kTolerance);
+    // Check "B" Jacobian.
+    EXPECT_NEAR(+1.0, jacobian_vect[0][(2*p+1) * 10 + p], kTolerance);
+    jacobian_vect[0][2*p * 10 + p] = 0.0;
+    jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+  }
+
+  // Check "C" Jacobian for first parameter block.
+  for (int p = 0; p < 10; ++p) {
+    EXPECT_NEAR(4 * p - 8, jacobian_vect[0][20 * 10 + p], kTolerance);
+    jacobian_vect[0][20 * 10 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+    EXPECT_NEAR(0.0, jacobian_vect[0][i], kTolerance);
+  }
+
+  // Check "C" Jacobian for second parameter block.
+  for (int p = 0; p < 5; ++p) {
+    EXPECT_NEAR(1.0, jacobian_vect[1][20 * 5 + p], kTolerance);
+    jacobian_vect[1][20 * 5 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+    EXPECT_NEAR(0.0, jacobian_vect[1][i], kTolerance);
+  }
+}
+
+TEST(DynamicNumericdiffCostFunctionTest, JacobianWithFirstParameterBlockConstant) {  // NOLINT
+  // Test the residual counting.
+  vector<double> param_block_0(10, 0.0);
+  for (int i = 0; i < 10; ++i) {
+    param_block_0[i] = 2 * i;
+  }
+  vector<double> param_block_1(5, 0.0);
+  DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Prepare the residuals.
+  vector<double> residuals(21, -100000);
+
+  // Prepare the parameters.
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+
+  // Prepare the jacobian.
+  vector<vector<double> > jacobian_vect(2);
+  jacobian_vect[0].resize(21 * 10, -100000);
+  jacobian_vect[1].resize(21 * 5, -100000);
+  vector<double*> jacobian;
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect[1].data());
+
+  // Test jacobian computation.
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+                                     residuals.data(),
+                                     jacobian.data()));
+
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(420, residuals.at(20));
+
+  // Check "C" Jacobian for second parameter block.
+  for (int p = 0; p < 5; ++p) {
+    EXPECT_NEAR(1.0, jacobian_vect[1][20 * 5 + p], kTolerance);
+    jacobian_vect[1][20 * 5 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[1].size(); ++i) {
+    EXPECT_EQ(0.0, jacobian_vect[1][i]);
+  }
+}
+
+TEST(DynamicNumericdiffCostFunctionTest, JacobianWithSecondParameterBlockConstant) {  // NOLINT
+  // Test the residual counting.
+  vector<double> param_block_0(10, 0.0);
+  for (int i = 0; i < 10; ++i) {
+    param_block_0[i] = 2 * i;
+  }
+  vector<double> param_block_1(5, 0.0);
+  DynamicNumericDiffCostFunction<MyCostFunctor> cost_function(
+      new MyCostFunctor());
+  cost_function.AddParameterBlock(param_block_0.size());
+  cost_function.AddParameterBlock(param_block_1.size());
+  cost_function.SetNumResiduals(21);
+
+  // Prepare the residuals.
+  vector<double> residuals(21, -100000);
+
+  // Prepare the parameters.
+  vector<double*> parameter_blocks(2);
+  parameter_blocks[0] = &param_block_0[0];
+  parameter_blocks[1] = &param_block_1[0];
+
+  // Prepare the jacobian.
+  vector<vector<double> > jacobian_vect(2);
+  jacobian_vect[0].resize(21 * 10, -100000);
+  jacobian_vect[1].resize(21 * 5, -100000);
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect[0].data());
+  jacobian.push_back(NULL);
+
+  // Test jacobian computation.
+  EXPECT_TRUE(cost_function.Evaluate(parameter_blocks.data(),
+                                     residuals.data(),
+                                     jacobian.data()));
+
+  for (int r = 0; r < 10; ++r) {
+    EXPECT_EQ(-1.0 * r, residuals.at(r * 2));
+    EXPECT_EQ(+1.0 * r, residuals.at(r * 2 + 1));
+  }
+  EXPECT_EQ(420, residuals.at(20));
+  for (int p = 0; p < 10; ++p) {
+    // Check "A" Jacobian.
+    EXPECT_NEAR(-1.0, jacobian_vect[0][2*p * 10 + p], kTolerance);
+    // Check "B" Jacobian.
+    EXPECT_NEAR(+1.0, jacobian_vect[0][(2*p+1) * 10 + p], kTolerance);
+    jacobian_vect[0][2*p * 10 + p] = 0.0;
+    jacobian_vect[0][(2*p+1) * 10 + p] = 0.0;
+  }
+
+  // Check "C" Jacobian for first parameter block.
+  for (int p = 0; p < 10; ++p) {
+    EXPECT_NEAR(4 * p - 8, jacobian_vect[0][20 * 10 + p], kTolerance);
+    jacobian_vect[0][20 * 10 + p] = 0.0;
+  }
+  for (int i = 0; i < jacobian_vect[0].size(); ++i) {
+    EXPECT_EQ(0.0, jacobian_vect[0][i]);
+  }
+}
+
+// Takes 3 parameter blocks:
+//     parameters[0] (x) is size 1.
+//     parameters[1] (y) is size 2.
+//     parameters[2] (z) is size 3.
+// Emits 7 residuals:
+//     A: x[0] (= sum_x)
+//     B: y[0] + 2.0 * y[1] (= sum_y)
+//     C: z[0] + 3.0 * z[1] + 6.0 * z[2] (= sum_z)
+//     D: sum_x * sum_y
+//     E: sum_y * sum_z
+//     F: sum_x * sum_z
+//     G: sum_x * sum_y * sum_z
+class MyThreeParameterCostFunctor {
+ public:
+  template <typename T>
+  bool operator()(T const* const* parameters, T* residuals) const {
+    const T* x = parameters[0];
+    const T* y = parameters[1];
+    const T* z = parameters[2];
+
+    T sum_x = x[0];
+    T sum_y = y[0] + 2.0 * y[1];
+    T sum_z = z[0] + 3.0 * z[1] + 6.0 * z[2];
+
+    residuals[0] = sum_x;
+    residuals[1] = sum_y;
+    residuals[2] = sum_z;
+    residuals[3] = sum_x * sum_y;
+    residuals[4] = sum_y * sum_z;
+    residuals[5] = sum_x * sum_z;
+    residuals[6] = sum_x * sum_y * sum_z;
+    return true;
+  }
+};
+
+class ThreeParameterCostFunctorTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    // Prepare the parameters.
+    x_.resize(1);
+    x_[0] = 0.0;
+
+    y_.resize(2);
+    y_[0] = 1.0;
+    y_[1] = 3.0;
+
+    z_.resize(3);
+    z_[0] = 2.0;
+    z_[1] = 4.0;
+    z_[2] = 6.0;
+
+    parameter_blocks_.resize(3);
+    parameter_blocks_[0] = &x_[0];
+    parameter_blocks_[1] = &y_[0];
+    parameter_blocks_[2] = &z_[0];
+
+    // Prepare the cost function.
+    typedef DynamicNumericDiffCostFunction<MyThreeParameterCostFunctor>
+      DynamicMyThreeParameterCostFunction;
+    DynamicMyThreeParameterCostFunction * cost_function =
+      new DynamicMyThreeParameterCostFunction(
+        new MyThreeParameterCostFunctor());
+    cost_function->AddParameterBlock(1);
+    cost_function->AddParameterBlock(2);
+    cost_function->AddParameterBlock(3);
+    cost_function->SetNumResiduals(7);
+
+    cost_function_.reset(cost_function);
+
+    // Setup jacobian data.
+    jacobian_vect_.resize(3);
+    jacobian_vect_[0].resize(7 * x_.size(), -100000);
+    jacobian_vect_[1].resize(7 * y_.size(), -100000);
+    jacobian_vect_[2].resize(7 * z_.size(), -100000);
+
+    // Prepare the expected residuals.
+    const double sum_x = x_[0];
+    const double sum_y = y_[0] + 2.0 * y_[1];
+    const double sum_z = z_[0] + 3.0 * z_[1] + 6.0 * z_[2];
+
+    expected_residuals_.resize(7);
+    expected_residuals_[0] = sum_x;
+    expected_residuals_[1] = sum_y;
+    expected_residuals_[2] = sum_z;
+    expected_residuals_[3] = sum_x * sum_y;
+    expected_residuals_[4] = sum_y * sum_z;
+    expected_residuals_[5] = sum_x * sum_z;
+    expected_residuals_[6] = sum_x * sum_y * sum_z;
+
+    // Prepare the expected jacobian entries.
+    expected_jacobian_x_.resize(7);
+    expected_jacobian_x_[0] = 1.0;
+    expected_jacobian_x_[1] = 0.0;
+    expected_jacobian_x_[2] = 0.0;
+    expected_jacobian_x_[3] = sum_y;
+    expected_jacobian_x_[4] = 0.0;
+    expected_jacobian_x_[5] = sum_z;
+    expected_jacobian_x_[6] = sum_y * sum_z;
+
+    expected_jacobian_y_.resize(14);
+    expected_jacobian_y_[0] = 0.0;
+    expected_jacobian_y_[1] = 0.0;
+    expected_jacobian_y_[2] = 1.0;
+    expected_jacobian_y_[3] = 2.0;
+    expected_jacobian_y_[4] = 0.0;
+    expected_jacobian_y_[5] = 0.0;
+    expected_jacobian_y_[6] = sum_x;
+    expected_jacobian_y_[7] = 2.0 * sum_x;
+    expected_jacobian_y_[8] = sum_z;
+    expected_jacobian_y_[9] = 2.0 * sum_z;
+    expected_jacobian_y_[10] = 0.0;
+    expected_jacobian_y_[11] = 0.0;
+    expected_jacobian_y_[12] = sum_x * sum_z;
+    expected_jacobian_y_[13] = 2.0 * sum_x * sum_z;
+
+    expected_jacobian_z_.resize(21);
+    expected_jacobian_z_[0] = 0.0;
+    expected_jacobian_z_[1] = 0.0;
+    expected_jacobian_z_[2] = 0.0;
+    expected_jacobian_z_[3] = 0.0;
+    expected_jacobian_z_[4] = 0.0;
+    expected_jacobian_z_[5] = 0.0;
+    expected_jacobian_z_[6] = 1.0;
+    expected_jacobian_z_[7] = 3.0;
+    expected_jacobian_z_[8] = 6.0;
+    expected_jacobian_z_[9] = 0.0;
+    expected_jacobian_z_[10] = 0.0;
+    expected_jacobian_z_[11] = 0.0;
+    expected_jacobian_z_[12] = sum_y;
+    expected_jacobian_z_[13] = 3.0 * sum_y;
+    expected_jacobian_z_[14] = 6.0 * sum_y;
+    expected_jacobian_z_[15] = sum_x;
+    expected_jacobian_z_[16] = 3.0 * sum_x;
+    expected_jacobian_z_[17] = 6.0 * sum_x;
+    expected_jacobian_z_[18] = sum_x * sum_y;
+    expected_jacobian_z_[19] = 3.0 * sum_x * sum_y;
+    expected_jacobian_z_[20] = 6.0 * sum_x * sum_y;
+  }
+
+ protected:
+  vector<double> x_;
+  vector<double> y_;
+  vector<double> z_;
+
+  vector<double*> parameter_blocks_;
+
+  scoped_ptr<CostFunction> cost_function_;
+
+  vector<vector<double> > jacobian_vect_;
+
+  vector<double> expected_residuals_;
+
+  vector<double> expected_jacobian_x_;
+  vector<double> expected_jacobian_y_;
+  vector<double> expected_jacobian_z_;
+};
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterResiduals) {
+  vector<double> residuals(7, -100000);
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       NULL));
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+}
+
+TEST_F(ThreeParameterCostFunctorTest, TestThreeParameterJacobian) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect_[0].data());
+  jacobian.push_back(jacobian_vect_[1].data());
+  jacobian.push_back(jacobian_vect_[2].data());
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_NEAR(expected_jacobian_x_[i], jacobian[0][i], kTolerance);
+  }
+
+  for (int i = 0; i < 14; ++i) {
+    EXPECT_NEAR(expected_jacobian_y_[i], jacobian[1][i], kTolerance);
+  }
+
+  for (int i = 0; i < 21; ++i) {
+    EXPECT_NEAR(expected_jacobian_z_[i], jacobian[2][i], kTolerance);
+  }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+       ThreeParameterJacobianWithFirstAndLastParameterBlockConstant) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect_[1].data());
+  jacobian.push_back(NULL);
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 14; ++i) {
+    EXPECT_NEAR(expected_jacobian_y_[i], jacobian[1][i], kTolerance);
+  }
+}
+
+TEST_F(ThreeParameterCostFunctorTest,
+       ThreeParameterJacobianWithSecondParameterBlockConstant) {
+  vector<double> residuals(7, -100000);
+
+  vector<double*> jacobian;
+  jacobian.push_back(jacobian_vect_[0].data());
+  jacobian.push_back(NULL);
+  jacobian.push_back(jacobian_vect_[2].data());
+
+  EXPECT_TRUE(cost_function_->Evaluate(parameter_blocks_.data(),
+                                       residuals.data(),
+                                       jacobian.data()));
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_EQ(expected_residuals_[i], residuals[i]);
+  }
+
+  for (int i = 0; i < 7; ++i) {
+    EXPECT_NEAR(expected_jacobian_x_[i], jacobian[0][i], kTolerance);
+  }
+
+  for (int i = 0; i < 21; ++i) {
+    EXPECT_NEAR(expected_jacobian_z_[i], jacobian[2][i], kTolerance);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc b/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
new file mode 100644
index 0000000..6d39616
--- /dev/null
+++ b/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
@@ -0,0 +1,285 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/dynamic_sparse_normal_cholesky_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <ctime>
+#include <sstream>
+
+#include "Eigen/SparseCore"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cxsparse.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/suitesparse.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+#include "Eigen/SparseCholesky"
+#endif
+
+namespace ceres {
+namespace internal {
+
+DynamicSparseNormalCholeskySolver::DynamicSparseNormalCholeskySolver(
+    const LinearSolver::Options& options)
+    : options_(options) {}
+
+LinearSolver::Summary DynamicSparseNormalCholeskySolver::SolveImpl(
+    CompressedRowSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  const int num_cols = A->num_cols();
+  VectorRef(x, num_cols).setZero();
+  A->LeftMultiply(b, x);
+
+  if (per_solve_options.D != NULL) {
+    // Temporarily append a diagonal block to the A matrix, but undo
+    // it before returning the matrix to the user.
+    scoped_ptr<CompressedRowSparseMatrix> regularizer;
+    if (!A->col_blocks().empty()) {
+      regularizer.reset(CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
+          per_solve_options.D, A->col_blocks()));
+    } else {
+      regularizer.reset(
+          new CompressedRowSparseMatrix(per_solve_options.D, num_cols));
+    }
+    A->AppendRows(*regularizer);
+  }
+
+  LinearSolver::Summary summary;
+  switch (options_.sparse_linear_algebra_library_type) {
+    case SUITE_SPARSE:
+      summary = SolveImplUsingSuiteSparse(A, x);
+      break;
+    case CX_SPARSE:
+      summary = SolveImplUsingCXSparse(A, x);
+      break;
+    case EIGEN_SPARSE:
+      summary = SolveImplUsingEigen(A, x);
+      break;
+    default:
+      LOG(FATAL) << "Unknown sparse linear algebra library : "
+                 << options_.sparse_linear_algebra_library_type;
+  }
+
+  if (per_solve_options.D != NULL) {
+    A->DeleteRows(num_cols);
+  }
+
+  return summary;
+}
+
+LinearSolver::Summary DynamicSparseNormalCholeskySolver::SolveImplUsingEigen(
+    CompressedRowSparseMatrix* A, double* rhs_and_solution) {
+#ifndef CERES_USE_EIGEN_SPARSE
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 0;
+  summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+  summary.message =
+      "SPARSE_NORMAL_CHOLESKY cannot be used with EIGEN_SPARSE "
+      "because Ceres was not built with support for "
+      "Eigen's SimplicialLDLT decomposition. "
+      "This requires enabling building with -DEIGENSPARSE=ON.";
+  return summary;
+
+#else
+
+  EventLogger event_logger("DynamicSparseNormalCholeskySolver::Eigen::Solve");
+
+  Eigen::MappedSparseMatrix<double, Eigen::RowMajor> a(A->num_rows(),
+                                                       A->num_cols(),
+                                                       A->num_nonzeros(),
+                                                       A->mutable_rows(),
+                                                       A->mutable_cols(),
+                                                       A->mutable_values());
+
+  Eigen::SparseMatrix<double> lhs = a.transpose() * a;
+  Eigen::SimplicialLDLT<Eigen::SparseMatrix<double> > solver;
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 1;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  summary.message = "Success.";
+
+  solver.analyzePattern(lhs);
+  if (VLOG_IS_ON(2)) {
+    std::stringstream ss;
+    solver.dumpMemory(ss);
+    VLOG(2) << "Symbolic Analysis\n" << ss.str();
+  }
+
+  event_logger.AddEvent("Analyze");
+  if (solver.info() != Eigen::Success) {
+    summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+    summary.message = "Eigen failure. Unable to find symbolic factorization.";
+    return summary;
+  }
+
+  solver.factorize(lhs);
+  event_logger.AddEvent("Factorize");
+  if (solver.info() != Eigen::Success) {
+    summary.termination_type = LINEAR_SOLVER_FAILURE;
+    summary.message = "Eigen failure. Unable to find numeric factorization.";
+    return summary;
+  }
+
+  const Vector rhs = VectorRef(rhs_and_solution, lhs.cols());
+  VectorRef(rhs_and_solution, lhs.cols()) = solver.solve(rhs);
+  event_logger.AddEvent("Solve");
+  if (solver.info() != Eigen::Success) {
+    summary.termination_type = LINEAR_SOLVER_FAILURE;
+    summary.message = "Eigen failure. Unable to do triangular solve.";
+    return summary;
+  }
+
+  return summary;
+#endif  // CERES_USE_EIGEN_SPARSE
+}
+
+LinearSolver::Summary DynamicSparseNormalCholeskySolver::SolveImplUsingCXSparse(
+    CompressedRowSparseMatrix* A, double* rhs_and_solution) {
+#ifdef CERES_NO_CXSPARSE
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 0;
+  summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+  summary.message =
+      "SPARSE_NORMAL_CHOLESKY cannot be used with CX_SPARSE "
+      "because Ceres was not built with support for CXSparse. "
+      "This requires enabling building with -DCXSPARSE=ON.";
+
+  return summary;
+
+#else
+  EventLogger event_logger(
+      "DynamicSparseNormalCholeskySolver::CXSparse::Solve");
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 1;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  summary.message = "Success.";
+
+  CXSparse cxsparse;
+
+  // Wrap the augmented Jacobian in a compressed sparse column matrix.
+  cs_di a_transpose = cxsparse.CreateSparseMatrixTransposeView(A);
+
+  // Compute the normal equations. J'J delta = J'f and solve them
+  // using a sparse Cholesky factorization. Notice that when compared
+  // to SuiteSparse we have to explicitly compute the transpose of Jt,
+  // and then the normal equations before they can be
+  // factorized. CHOLMOD/SuiteSparse on the other hand can just work
+  // off of Jt to compute the Cholesky factorization of the normal
+  // equations.
+  cs_di* a = cxsparse.TransposeMatrix(&a_transpose);
+  cs_di* lhs = cxsparse.MatrixMatrixMultiply(&a_transpose, a);
+  cxsparse.Free(a);
+  event_logger.AddEvent("NormalEquations");
+
+  if (!cxsparse.SolveCholesky(lhs, rhs_and_solution)) {
+    summary.termination_type = LINEAR_SOLVER_FAILURE;
+    summary.message = "CXSparse::SolveCholesky failed";
+  }
+  event_logger.AddEvent("Solve");
+
+  cxsparse.Free(lhs);
+  event_logger.AddEvent("TearDown");
+  return summary;
+#endif
+}
+
+LinearSolver::Summary
+DynamicSparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
+    CompressedRowSparseMatrix* A, double* rhs_and_solution) {
+#ifdef CERES_NO_SUITESPARSE
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 0;
+  summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+  summary.message =
+      "SPARSE_NORMAL_CHOLESKY cannot be used with SUITE_SPARSE "
+      "because Ceres was not built with support for SuiteSparse. "
+      "This requires enabling building with -DSUITESPARSE=ON.";
+  return summary;
+
+#else
+
+  EventLogger event_logger(
+      "DynamicSparseNormalCholeskySolver::SuiteSparse::Solve");
+  LinearSolver::Summary summary;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  summary.num_iterations = 1;
+  summary.message = "Success.";
+
+  SuiteSparse ss;
+  const int num_cols = A->num_cols();
+  cholmod_sparse lhs = ss.CreateSparseMatrixTransposeView(A);
+  event_logger.AddEvent("Setup");
+  cholmod_factor* factor = ss.AnalyzeCholesky(&lhs, &summary.message);
+  event_logger.AddEvent("Analysis");
+
+  if (factor == NULL) {
+    summary.termination_type = LINEAR_SOLVER_FATAL_ERROR;
+    return summary;
+  }
+
+  summary.termination_type = ss.Cholesky(&lhs, factor, &summary.message);
+  if (summary.termination_type == LINEAR_SOLVER_SUCCESS) {
+    cholmod_dense* rhs =
+        ss.CreateDenseVector(rhs_and_solution, num_cols, num_cols);
+    cholmod_dense* solution = ss.Solve(factor, rhs, &summary.message);
+    event_logger.AddEvent("Solve");
+    ss.Free(rhs);
+    if (solution != NULL) {
+      memcpy(
+          rhs_and_solution, solution->x, num_cols * sizeof(*rhs_and_solution));
+      ss.Free(solution);
+    } else {
+      summary.termination_type = LINEAR_SOLVER_FAILURE;
+    }
+  }
+
+  ss.Free(factor);
+  event_logger.AddEvent("Teardown");
+  return summary;
+
+#endif
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_sparse_normal_cholesky_solver.h b/internal/ceres/dynamic_sparse_normal_cholesky_solver.h
new file mode 100644
index 0000000..9861f6b
--- /dev/null
+++ b/internal/ceres/dynamic_sparse_normal_cholesky_solver.h
@@ -0,0 +1,85 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A solver for sparse linear least squares problem based on solving
+// the normal equations via a sparse cholesky factorization.
+
+#ifndef CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#include "ceres/internal/macros.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+
+// A variant of SparseNormalCholeskySolver in the case where matrix
+// sparsity is not constant across calls to Solve. This means that
+// there is no benefit to symbolically factorizing the matrix and
+// caching this factorization.
+class DynamicSparseNormalCholeskySolver
+    : public CompressedRowSparseMatrixSolver {
+ public:
+  explicit DynamicSparseNormalCholeskySolver(
+      const LinearSolver::Options& options);
+  virtual ~DynamicSparseNormalCholeskySolver() {}
+
+ private:
+  virtual LinearSolver::Summary SolveImpl(
+      CompressedRowSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& options,
+      double* x);
+
+  LinearSolver::Summary SolveImplUsingSuiteSparse(
+      CompressedRowSparseMatrix* A,
+      double* rhs_and_solution);
+
+  LinearSolver::Summary SolveImplUsingCXSparse(
+      CompressedRowSparseMatrix* A,
+      double* rhs_and_solution);
+
+  LinearSolver::Summary SolveImplUsingEigen(
+      CompressedRowSparseMatrix* A,
+      double* rhs_and_solution);
+
+  const LinearSolver::Options options_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(DynamicSparseNormalCholeskySolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_DYNAMIC_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
diff --git a/internal/ceres/dynamic_sparse_normal_cholesky_solver_test.cc b/internal/ceres/dynamic_sparse_normal_cholesky_solver_test.cc
new file mode 100644
index 0000000..3fdf6a1
--- /dev/null
+++ b/internal/ceres/dynamic_sparse_normal_cholesky_solver_test.cc
@@ -0,0 +1,128 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/Cholesky"
+
+namespace ceres {
+namespace internal {
+
+// TODO(sameeragarwal): These tests needs to be re-written to be more
+// thorough, they do not really test the dynamic nature of the
+// sparsity.
+class DynamicSparseNormalCholeskySolverTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(1));
+    A_.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(
+        *down_cast<TripletSparseMatrix*>(problem->A.get())));
+    b_.reset(problem->b.release());
+    D_.reset(problem->D.release());
+  }
+
+  void TestSolver(const LinearSolver::Options& options, double* D) {
+    Matrix dense_A;
+    A_->ToDenseMatrix(&dense_A);
+    Matrix lhs = dense_A.transpose() * dense_A;
+    if (D != NULL) {
+      lhs += (ConstVectorRef(D, A_->num_cols()).array() *
+              ConstVectorRef(D, A_->num_cols()).array())
+                 .matrix()
+                 .asDiagonal();
+    }
+
+    Vector rhs(A_->num_cols());
+    rhs.setZero();
+    A_->LeftMultiply(b_.get(), rhs.data());
+    Vector expected_solution = lhs.llt().solve(rhs);
+
+    scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+    LinearSolver::PerSolveOptions per_solve_options;
+    per_solve_options.D = D;
+    Vector actual_solution(A_->num_cols());
+    LinearSolver::Summary summary;
+    summary = solver->Solve(
+        A_.get(), b_.get(), per_solve_options, actual_solution.data());
+
+    EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+    for (int i = 0; i < A_->num_cols(); ++i) {
+      EXPECT_NEAR(expected_solution(i), actual_solution(i), 1e-8)
+          << "\nExpected: " << expected_solution.transpose()
+          << "\nActual: " << actual_solution.transpose();
+    }
+  }
+
+  void TestSolver(
+      const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
+    LinearSolver::Options options;
+    options.type = SPARSE_NORMAL_CHOLESKY;
+    options.dynamic_sparsity = true;
+    options.sparse_linear_algebra_library_type =
+        sparse_linear_algebra_library_type;
+    TestSolver(options, NULL);
+    TestSolver(options, D_.get());
+  }
+
+  scoped_ptr<CompressedRowSparseMatrix> A_;
+  scoped_array<double> b_;
+  scoped_array<double> D_;
+};
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(DynamicSparseNormalCholeskySolverTest, SuiteSparse) {
+  TestSolver(SUITE_SPARSE);
+}
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(DynamicSparseNormalCholeskySolverTest, CXSparse) {
+  TestSolver(CX_SPARSE);
+}
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(DynamicSparseNormalCholeskySolverTest, Eigen) {
+  TestSolver(EIGEN_SPARSE);
+}
+#endif  // CERES_USE_EIGEN_SPARSE
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/dynamic_sparsity_test.cc b/internal/ceres/dynamic_sparsity_test.cc
new file mode 100644
index 0000000..5fe60f4
--- /dev/null
+++ b/internal/ceres/dynamic_sparsity_test.cc
@@ -0,0 +1,449 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: richie.stebbing@gmail.com (Richard Stebbing)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// Based on examples/ellipse_approximation.cc
+
+#include <cmath>
+#include <vector>
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Data generated with the following Python code.
+//   import numpy as np
+//   np.random.seed(1337)
+//   t = np.linspace(0.0, 2.0 * np.pi, 212, endpoint=False)
+//   t += 2.0 * np.pi * 0.01 * np.random.randn(t.size)
+//   theta = np.deg2rad(15)
+//   a, b = np.cos(theta), np.sin(theta)
+//   R = np.array([[a, -b],
+//                 [b, a]])
+//   Y = np.dot(np.c_[4.0 * np.cos(t), np.sin(t)], R.T)
+
+const int kYRows = 212;
+const int kYCols = 2;
+const double kYData[kYRows * kYCols] = {
+  +3.871364e+00, +9.916027e-01,
+  +3.864003e+00, +1.034148e+00,
+  +3.850651e+00, +1.072202e+00,
+  +3.868350e+00, +1.014408e+00,
+  +3.796381e+00, +1.153021e+00,
+  +3.857138e+00, +1.056102e+00,
+  +3.787532e+00, +1.162215e+00,
+  +3.704477e+00, +1.227272e+00,
+  +3.564711e+00, +1.294959e+00,
+  +3.754363e+00, +1.191948e+00,
+  +3.482098e+00, +1.322725e+00,
+  +3.602777e+00, +1.279658e+00,
+  +3.585433e+00, +1.286858e+00,
+  +3.347505e+00, +1.356415e+00,
+  +3.220855e+00, +1.378914e+00,
+  +3.558808e+00, +1.297174e+00,
+  +3.403618e+00, +1.343809e+00,
+  +3.179828e+00, +1.384721e+00,
+  +3.054789e+00, +1.398759e+00,
+  +3.294153e+00, +1.366808e+00,
+  +3.247312e+00, +1.374813e+00,
+  +2.988547e+00, +1.404247e+00,
+  +3.114508e+00, +1.392698e+00,
+  +2.899226e+00, +1.409802e+00,
+  +2.533256e+00, +1.414778e+00,
+  +2.654773e+00, +1.415909e+00,
+  +2.565100e+00, +1.415313e+00,
+  +2.976456e+00, +1.405118e+00,
+  +2.484200e+00, +1.413640e+00,
+  +2.324751e+00, +1.407476e+00,
+  +1.930468e+00, +1.378221e+00,
+  +2.329017e+00, +1.407688e+00,
+  +1.760640e+00, +1.360319e+00,
+  +2.147375e+00, +1.396603e+00,
+  +1.741989e+00, +1.358178e+00,
+  +1.743859e+00, +1.358394e+00,
+  +1.557372e+00, +1.335208e+00,
+  +1.280551e+00, +1.295087e+00,
+  +1.429880e+00, +1.317546e+00,
+  +1.213485e+00, +1.284400e+00,
+  +9.168172e-01, +1.232870e+00,
+  +1.311141e+00, +1.299839e+00,
+  +1.231969e+00, +1.287382e+00,
+  +7.453773e-01, +1.200049e+00,
+  +6.151587e-01, +1.173683e+00,
+  +5.935666e-01, +1.169193e+00,
+  +2.538707e-01, +1.094227e+00,
+  +6.806136e-01, +1.187089e+00,
+  +2.805447e-01, +1.100405e+00,
+  +6.184807e-01, +1.174371e+00,
+  +1.170550e-01, +1.061762e+00,
+  +2.890507e-01, +1.102365e+00,
+  +3.834234e-01, +1.123772e+00,
+  +3.980161e-04, +1.033061e+00,
+  -3.651680e-01, +9.370367e-01,
+  -8.386351e-01, +7.987201e-01,
+  -8.105704e-01, +8.073702e-01,
+  -8.735139e-01, +7.878886e-01,
+  -9.913836e-01, +7.506100e-01,
+  -8.784011e-01, +7.863636e-01,
+  -1.181440e+00, +6.882566e-01,
+  -1.229556e+00, +6.720191e-01,
+  -1.035839e+00, +7.362765e-01,
+  -8.031520e-01, +8.096470e-01,
+  -1.539136e+00, +5.629549e-01,
+  -1.755423e+00, +4.817306e-01,
+  -1.337589e+00, +6.348763e-01,
+  -1.836966e+00, +4.499485e-01,
+  -1.913367e+00, +4.195617e-01,
+  -2.126467e+00, +3.314900e-01,
+  -1.927625e+00, +4.138238e-01,
+  -2.339862e+00, +2.379074e-01,
+  -1.881736e+00, +4.322152e-01,
+  -2.116753e+00, +3.356163e-01,
+  -2.255733e+00, +2.754930e-01,
+  -2.555834e+00, +1.368473e-01,
+  -2.770277e+00, +2.895711e-02,
+  -2.563376e+00, +1.331890e-01,
+  -2.826715e+00, -9.000818e-04,
+  -2.978191e+00, -8.457804e-02,
+  -3.115855e+00, -1.658786e-01,
+  -2.982049e+00, -8.678322e-02,
+  -3.307892e+00, -2.902083e-01,
+  -3.038346e+00, -1.194222e-01,
+  -3.190057e+00, -2.122060e-01,
+  -3.279086e+00, -2.705777e-01,
+  -3.322028e+00, -2.999889e-01,
+  -3.122576e+00, -1.699965e-01,
+  -3.551973e+00, -4.768674e-01,
+  -3.581866e+00, -5.032175e-01,
+  -3.497799e+00, -4.315203e-01,
+  -3.565384e+00, -4.885602e-01,
+  -3.699493e+00, -6.199815e-01,
+  -3.585166e+00, -5.061925e-01,
+  -3.758914e+00, -6.918275e-01,
+  -3.741104e+00, -6.689131e-01,
+  -3.688331e+00, -6.077239e-01,
+  -3.810425e+00, -7.689015e-01,
+  -3.791829e+00, -7.386911e-01,
+  -3.789951e+00, -7.358189e-01,
+  -3.823100e+00, -7.918398e-01,
+  -3.857021e+00, -8.727074e-01,
+  -3.858250e+00, -8.767645e-01,
+  -3.872100e+00, -9.563174e-01,
+  -3.864397e+00, -1.032630e+00,
+  -3.846230e+00, -1.081669e+00,
+  -3.834799e+00, -1.102536e+00,
+  -3.866684e+00, -1.022901e+00,
+  -3.808643e+00, -1.139084e+00,
+  -3.868840e+00, -1.011569e+00,
+  -3.791071e+00, -1.158615e+00,
+  -3.797999e+00, -1.151267e+00,
+  -3.696278e+00, -1.232314e+00,
+  -3.779007e+00, -1.170504e+00,
+  -3.622855e+00, -1.270793e+00,
+  -3.647249e+00, -1.259166e+00,
+  -3.655412e+00, -1.255042e+00,
+  -3.573218e+00, -1.291696e+00,
+  -3.638019e+00, -1.263684e+00,
+  -3.498409e+00, -1.317750e+00,
+  -3.304143e+00, -1.364970e+00,
+  -3.183001e+00, -1.384295e+00,
+  -3.202456e+00, -1.381599e+00,
+  -3.244063e+00, -1.375332e+00,
+  -3.233308e+00, -1.377019e+00,
+  -3.060112e+00, -1.398264e+00,
+  -3.078187e+00, -1.396517e+00,
+  -2.689594e+00, -1.415761e+00,
+  -2.947662e+00, -1.407039e+00,
+  -2.854490e+00, -1.411860e+00,
+  -2.660499e+00, -1.415900e+00,
+  -2.875955e+00, -1.410930e+00,
+  -2.675385e+00, -1.415848e+00,
+  -2.813155e+00, -1.413363e+00,
+  -2.417673e+00, -1.411512e+00,
+  -2.725461e+00, -1.415373e+00,
+  -2.148334e+00, -1.396672e+00,
+  -2.108972e+00, -1.393738e+00,
+  -2.029905e+00, -1.387302e+00,
+  -2.046214e+00, -1.388687e+00,
+  -2.057402e+00, -1.389621e+00,
+  -1.650250e+00, -1.347160e+00,
+  -1.806764e+00, -1.365469e+00,
+  -1.206973e+00, -1.283343e+00,
+  -8.029259e-01, -1.211308e+00,
+  -1.229551e+00, -1.286993e+00,
+  -1.101507e+00, -1.265754e+00,
+  -9.110645e-01, -1.231804e+00,
+  -1.110046e+00, -1.267211e+00,
+  -8.465274e-01, -1.219677e+00,
+  -7.594163e-01, -1.202818e+00,
+  -8.023823e-01, -1.211203e+00,
+  -3.732519e-01, -1.121494e+00,
+  -1.918373e-01, -1.079668e+00,
+  -4.671988e-01, -1.142253e+00,
+  -4.033645e-01, -1.128215e+00,
+  -1.920740e-01, -1.079724e+00,
+  -3.022157e-01, -1.105389e+00,
+  -1.652831e-01, -1.073354e+00,
+  +4.671625e-01, -9.085886e-01,
+  +5.940178e-01, -8.721832e-01,
+  +3.147557e-01, -9.508290e-01,
+  +6.383631e-01, -8.591867e-01,
+  +9.888923e-01, -7.514088e-01,
+  +7.076339e-01, -8.386023e-01,
+  +1.326682e+00, -6.386698e-01,
+  +1.149834e+00, -6.988221e-01,
+  +1.257742e+00, -6.624207e-01,
+  +1.492352e+00, -5.799632e-01,
+  +1.595574e+00, -5.421766e-01,
+  +1.240173e+00, -6.684113e-01,
+  +1.706612e+00, -5.004442e-01,
+  +1.873984e+00, -4.353002e-01,
+  +1.985633e+00, -3.902561e-01,
+  +1.722880e+00, -4.942329e-01,
+  +2.095182e+00, -3.447402e-01,
+  +2.018118e+00, -3.768991e-01,
+  +2.422702e+00, -1.999563e-01,
+  +2.370611e+00, -2.239326e-01,
+  +2.152154e+00, -3.205250e-01,
+  +2.525121e+00, -1.516499e-01,
+  +2.422116e+00, -2.002280e-01,
+  +2.842806e+00, +9.536372e-03,
+  +3.030128e+00, +1.146027e-01,
+  +2.888424e+00, +3.433444e-02,
+  +2.991609e+00, +9.226409e-02,
+  +2.924807e+00, +5.445844e-02,
+  +3.007772e+00, +1.015875e-01,
+  +2.781973e+00, -2.282382e-02,
+  +3.164737e+00, +1.961781e-01,
+  +3.237671e+00, +2.430139e-01,
+  +3.046123e+00, +1.240014e-01,
+  +3.414834e+00, +3.669060e-01,
+  +3.436591e+00, +3.833600e-01,
+  +3.626207e+00, +5.444311e-01,
+  +3.223325e+00, +2.336361e-01,
+  +3.511963e+00, +4.431060e-01,
+  +3.698380e+00, +6.187442e-01,
+  +3.670244e+00, +5.884943e-01,
+  +3.558833e+00, +4.828230e-01,
+  +3.661807e+00, +5.797689e-01,
+  +3.767261e+00, +7.030893e-01,
+  +3.801065e+00, +7.532650e-01,
+  +3.828523e+00, +8.024454e-01,
+  +3.840719e+00, +8.287032e-01,
+  +3.848748e+00, +8.485921e-01,
+  +3.865801e+00, +9.066551e-01,
+  +3.870983e+00, +9.404873e-01,
+  +3.870263e+00, +1.001884e+00,
+  +3.864462e+00, +1.032374e+00,
+  +3.870542e+00, +9.996121e-01,
+  +3.865424e+00, +1.028474e+00
+};
+
+ConstMatrixRef kY(kYData, kYRows, kYCols);
+
+class PointToLineSegmentContourCostFunction : public CostFunction {
+ public:
+  PointToLineSegmentContourCostFunction(const int num_segments,
+                                        const Eigen::Vector2d& y)
+      : num_segments_(num_segments), y_(y) {
+    // The first parameter is the preimage position.
+    mutable_parameter_block_sizes()->push_back(1);
+    // The next parameters are the control points for the line segment contour.
+    for (int i = 0; i < num_segments_; ++i) {
+      mutable_parameter_block_sizes()->push_back(2);
+    }
+    set_num_residuals(2);
+  }
+
+  virtual bool Evaluate(const double* const* x,
+                        double* residuals,
+                        double** jacobians) const {
+    // Convert the preimage position `t` into a segment index `i0` and the
+    // line segment interpolation parameter `u`. `i1` is the index of the next
+    // control point.
+    const double t = ModuloNumSegments(*x[0]);
+    CHECK_GE(t, 0.0);
+    CHECK_LT(t, num_segments_);
+    const int i0 = floor(t), i1 = (i0 + 1) % num_segments_;
+    const double u = t - i0;
+
+    // Linearly interpolate between control points `i0` and `i1`.
+    residuals[0] = y_[0] - ((1.0 - u) * x[1 + i0][0] + u * x[1 + i1][0]);
+    residuals[1] = y_[1] - ((1.0 - u) * x[1 + i0][1] + u * x[1 + i1][1]);
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    if (jacobians[0] != NULL) {
+      jacobians[0][0] = x[1 + i0][0] - x[1 + i1][0];
+      jacobians[0][1] = x[1 + i0][1] - x[1 + i1][1];
+    }
+    for (int i = 0; i < num_segments_; ++i) {
+      if (jacobians[i + 1] != NULL) {
+        MatrixRef(jacobians[i + 1], 2, 2).setZero();
+        if (i == i0) {
+          jacobians[i + 1][0] = -(1.0 - u);
+          jacobians[i + 1][3] = -(1.0 - u);
+        } else if (i == i1) {
+          jacobians[i + 1][0] = -u;
+          jacobians[i + 1][3] = -u;
+        }
+      }
+    }
+    return true;
+  }
+
+  static CostFunction* Create(const int num_segments, const Eigen::Vector2d& y) {
+    return new PointToLineSegmentContourCostFunction(num_segments, y);
+  }
+
+ private:
+  inline double ModuloNumSegments(const double t) const {
+    return t - num_segments_ * floor(t / num_segments_);
+  }
+
+  const int num_segments_;
+  const Eigen::Vector2d y_;
+};
+
+class EuclideanDistanceFunctor {
+ public:
+  explicit EuclideanDistanceFunctor(const double sqrt_weight)
+      : sqrt_weight_(sqrt_weight) {}
+
+  template <typename T>
+  bool operator()(const T* x0, const T* x1, T* residuals) const {
+    residuals[0] = sqrt_weight_ * (x0[0] - x1[0]);
+    residuals[1] = sqrt_weight_ * (x0[1] - x1[1]);
+    return true;
+  }
+
+  static CostFunction* Create(const double sqrt_weight) {
+    return new AutoDiffCostFunction<EuclideanDistanceFunctor, 2, 2, 2>(
+        new EuclideanDistanceFunctor(sqrt_weight));
+  }
+
+ private:
+  const double sqrt_weight_;
+};
+
+TEST(DynamicSparsity, StaticAndDynamicSparsityProduceSameSolution) {
+  // Skip test if there is no sparse linear algebra library.
+  if (!IsSparseLinearAlgebraLibraryTypeAvailable(SUITE_SPARSE) &&
+      !IsSparseLinearAlgebraLibraryTypeAvailable(CX_SPARSE) &&
+      !IsSparseLinearAlgebraLibraryTypeAvailable(EIGEN_SPARSE)) {
+    return;
+  }
+
+  // Problem configuration.
+  const int num_segments = 151;
+  const double regularization_weight = 1e-2;
+
+  // `X` is the matrix of control points which make up the contour of line
+  // segments. The number of control points is equal to the number of line
+  // segments because the contour is closed.
+  //
+  // Initialize `X` to points on the unit circle.
+  Vector w(num_segments + 1);
+  w.setLinSpaced(num_segments + 1, 0.0, 2.0 * M_PI);
+  w.conservativeResize(num_segments);
+  Matrix X(num_segments, 2);
+  X.col(0) = w.array().cos();
+  X.col(1) = w.array().sin();
+
+  // Each data point has an associated preimage position on the line segment
+  // contour. For each data point we initialize the preimage positions to
+  // the index of the closest control point.
+  const int num_observations = kY.rows();
+  Vector t(num_observations);
+  for (int i = 0; i < num_observations; ++i) {
+    (X.rowwise() - kY.row(i)).rowwise().squaredNorm().minCoeff(&t[i]);
+  }
+
+  Problem problem;
+
+  // For each data point add a residual which measures its distance to its
+  // corresponding position on the line segment contour.
+  std::vector<double*> parameter_blocks(1 + num_segments);
+  parameter_blocks[0] = NULL;
+  for (int i = 0; i < num_segments; ++i) {
+    parameter_blocks[i + 1] = X.data() + 2 * i;
+  }
+  for (int i = 0; i < num_observations; ++i) {
+    parameter_blocks[0] = &t[i];
+    problem.AddResidualBlock(
+        PointToLineSegmentContourCostFunction::Create(num_segments, kY.row(i)),
+        NULL,
+        parameter_blocks);
+  }
+
+  // Add regularization to minimize the length of the line segment contour.
+  for (int i = 0; i < num_segments; ++i) {
+    problem.AddResidualBlock(
+        EuclideanDistanceFunctor::Create(sqrt(regularization_weight)),
+        NULL,
+        X.data() + 2 * i,
+        X.data() + 2 * ((i + 1) % num_segments));
+  }
+
+  Solver::Options options;
+  options.max_num_iterations = 100;
+  options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+
+  // First, solve `X` and `t` jointly with dynamic_sparsity = true.
+  Matrix X0 = X;
+  Vector t0 = t;
+  options.dynamic_sparsity = false;
+  Solver::Summary static_summary;
+  Solve(options, &problem, &static_summary);
+  EXPECT_EQ(static_summary.termination_type, CONVERGENCE)
+      << static_summary.FullReport();
+
+  X = X0;
+  t = t0;
+  options.dynamic_sparsity = true;
+  Solver::Summary dynamic_summary;
+  Solve(options, &problem, &dynamic_summary);
+  EXPECT_EQ(dynamic_summary.termination_type, CONVERGENCE)
+      << dynamic_summary.FullReport();
+
+  EXPECT_NEAR(static_summary.final_cost,
+              dynamic_summary.final_cost,
+              std::numeric_limits<double>::epsilon())
+      << "Static: \n"
+      << static_summary.FullReport() << "\nDynamic: \n"
+      << dynamic_summary.FullReport();
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/eigensparse.cc b/internal/ceres/eigensparse.cc
new file mode 100644
index 0000000..aa6b6a9
--- /dev/null
+++ b/internal/ceres/eigensparse.cc
@@ -0,0 +1,143 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/eigensparse.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+
+#include <sstream>
+#include "Eigen/SparseCholesky"
+#include "Eigen/SparseCore"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+template <typename Solver>
+class EigenSparseCholeskyTemplate : public EigenSparseCholesky {
+ public:
+  EigenSparseCholeskyTemplate() : analyzed_(false) {}
+  virtual ~EigenSparseCholeskyTemplate() {}
+  virtual CompressedRowSparseMatrix::StorageType StorageType() const {
+    return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
+  }
+
+  virtual LinearSolverTerminationType Factorize(
+      const Eigen::SparseMatrix<double>& lhs, std::string* message) {
+    if (!analyzed_) {
+      solver_.analyzePattern(lhs);
+
+      if (VLOG_IS_ON(2)) {
+        std::stringstream ss;
+        solver_.dumpMemory(ss);
+        VLOG(2) << "Symbolic Analysis\n" << ss.str();
+      }
+
+      if (solver_.info() != Eigen::Success) {
+        *message = "Eigen failure. Unable to find symbolic factorization.";
+        return LINEAR_SOLVER_FATAL_ERROR;
+      }
+
+      analyzed_ = true;
+    }
+
+    solver_.factorize(lhs);
+    if (solver_.info() != Eigen::Success) {
+      *message = "Eigen failure. Unable to find numeric factorization.";
+      return LINEAR_SOLVER_FAILURE;
+    }
+    return LINEAR_SOLVER_SUCCESS;
+  }
+
+  virtual LinearSolverTerminationType Solve(const double* rhs,
+                                            double* solution,
+                                            std::string* message) {
+    CHECK(analyzed_) << "Solve called without a call to Factorize first.";
+
+    VectorRef(solution, solver_.cols()) =
+        solver_.solve(ConstVectorRef(rhs, solver_.cols()));
+    if (solver_.info() != Eigen::Success) {
+      *message = "Eigen failure. Unable to do triangular solve.";
+      return LINEAR_SOLVER_FAILURE;
+    }
+    return LINEAR_SOLVER_SUCCESS;
+  }
+
+  virtual LinearSolverTerminationType Factorize(CompressedRowSparseMatrix* lhs,
+                                                std::string* message) {
+    CHECK_EQ(lhs->storage_type(), StorageType());
+    Eigen::MappedSparseMatrix<double, Eigen::ColMajor> eigen_lhs(
+        lhs->num_rows(),
+        lhs->num_rows(),
+        lhs->num_nonzeros(),
+        lhs->mutable_rows(),
+        lhs->mutable_cols(),
+        lhs->mutable_values());
+    return Factorize(eigen_lhs, message);
+  }
+
+ private:
+  bool analyzed_;
+  Solver solver_;
+};
+
+EigenSparseCholesky* EigenSparseCholesky::Create(
+    const OrderingType ordering_type) {
+  // The preprocessor gymnastics here are dealing with the fact that
+  // before version 3.2.2, Eigen did not support a third template
+  // parameter to specify the ordering and it always defaults to AMD.
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2)
+  typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
+                                Eigen::Upper,
+                                Eigen::AMDOrdering<int> >
+      WithAMDOrdering;
+  typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
+                                Eigen::Upper,
+                                Eigen::NaturalOrdering<int> >
+      WithNaturalOrdering;
+  if (ordering_type == AMD) {
+    return new EigenSparseCholeskyTemplate<WithAMDOrdering>();
+  } else {
+    return new EigenSparseCholeskyTemplate<WithNaturalOrdering>();
+  }
+#else
+  typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>, Eigen::Upper>
+      WithAMDOrdering;
+  return new EigenSparseCholeskyTemplate<WithAMDOrdering>();
+#endif
+}
+
+EigenSparseCholesky::~EigenSparseCholesky() {}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_USE_EIGEN_SPARSE
diff --git a/internal/ceres/eigensparse.h b/internal/ceres/eigensparse.h
new file mode 100644
index 0000000..402bb5c
--- /dev/null
+++ b/internal/ceres/eigensparse.h
@@ -0,0 +1,69 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A simple C++ interface to the Eigen's Sparse Cholesky routines.
+
+#ifndef CERES_INTERNAL_EIGENSPARSE_H_
+#define CERES_INTERNAL_EIGENSPARSE_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+
+#include <string>
+#include "Eigen/SparseCore"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+
+namespace ceres {
+namespace internal {
+
+class EigenSparseCholesky : public SparseCholesky {
+ public:
+  // Factory
+  static EigenSparseCholesky* Create(const OrderingType ordering_type);
+
+  // SparseCholesky interface.
+  virtual ~EigenSparseCholesky();
+  virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0;
+  virtual LinearSolverTerminationType Factorize(
+      const Eigen::SparseMatrix<double>& lhs, std::string* message) = 0;
+  virtual LinearSolverTerminationType Solve(const double* rhs,
+                                            double* solution,
+                                            std::string* message) = 0;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_USE_EIGEN_SPARSE
+
+#endif  // CERES_INTERNAL_EIGENSPARSE_H_
diff --git a/internal/ceres/evaluator.cc b/internal/ceres/evaluator.cc
new file mode 100644
index 0000000..6193ae8
--- /dev/null
+++ b/internal/ceres/evaluator.cc
@@ -0,0 +1,86 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include <vector>
+#include "ceres/block_evaluate_preparer.h"
+#include "ceres/block_jacobian_writer.h"
+#include "ceres/compressed_row_jacobian_writer.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/dense_jacobian_writer.h"
+#include "ceres/dynamic_compressed_row_finalizer.h"
+#include "ceres/dynamic_compressed_row_jacobian_writer.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/program_evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Evaluator::~Evaluator() {}
+
+Evaluator* Evaluator::Create(const Evaluator::Options& options,
+                             Program* program,
+                             std::string* error) {
+  switch (options.linear_solver_type) {
+    case DENSE_QR:
+    case DENSE_NORMAL_CHOLESKY:
+      return new ProgramEvaluator<ScratchEvaluatePreparer,
+                                  DenseJacobianWriter>(options,
+                                                       program);
+    case DENSE_SCHUR:
+    case SPARSE_SCHUR:
+    case ITERATIVE_SCHUR:
+    case CGNR:
+      return new ProgramEvaluator<BlockEvaluatePreparer,
+                                  BlockJacobianWriter>(options,
+                                                       program);
+    case SPARSE_NORMAL_CHOLESKY:
+      if (options.dynamic_sparsity) {
+        return new ProgramEvaluator<ScratchEvaluatePreparer,
+                                    DynamicCompressedRowJacobianWriter,
+                                    DynamicCompressedRowJacobianFinalizer>(
+                                        options, program);
+      } else {
+        return new ProgramEvaluator<BlockEvaluatePreparer,
+                                    BlockJacobianWriter>(options,
+                                                         program);
+      }
+
+    default:
+      *error = "Invalid Linear Solver Type. Unable to create evaluator.";
+      return NULL;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/evaluator.h b/internal/ceres/evaluator.h
new file mode 100644
index 0000000..fea3079
--- /dev/null
+++ b/internal/ceres/evaluator.h
@@ -0,0 +1,205 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_EVALUATOR_H_
+#define CERES_INTERNAL_EVALUATOR_H_
+
+#include <map>
+#include <string>
+#include <vector>
+
+#include "ceres/execution_summary.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+struct CRSMatrix;
+
+namespace internal {
+
+class Program;
+class SparseMatrix;
+
+// The Evaluator interface offers a way to interact with a least squares cost
+// function that is useful for an optimizer that wants to minimize the least
+// squares objective. This insulates the optimizer from issues like Jacobian
+// storage, parameterization, etc.
+class Evaluator {
+ public:
+  virtual ~Evaluator();
+
+  struct Options {
+    Options()
+        : num_threads(1),
+          num_eliminate_blocks(-1),
+          linear_solver_type(DENSE_QR),
+          dynamic_sparsity(false) {}
+
+    int num_threads;
+    int num_eliminate_blocks;
+    LinearSolverType linear_solver_type;
+    bool dynamic_sparsity;
+  };
+
+  static Evaluator* Create(const Options& options,
+                           Program* program,
+                           std::string* error);
+
+  // This is used for computing the cost, residual and Jacobian for
+  // returning to the user. For actually solving the optimization
+  // problem, the optimization algorithm uses the ProgramEvaluator
+  // objects directly.
+  //
+  // The residual, gradients and jacobian pointers can be NULL, in
+  // which case they will not be evaluated. cost cannot be NULL.
+  //
+  // The parallelism of the evaluator is controlled by num_threads; it
+  // should be at least 1.
+  //
+  // Note: That this function does not take a parameter vector as
+  // input. The parameter blocks are evaluated on the values contained
+  // in the arrays pointed to by their user_state pointers.
+  //
+  // Also worth noting is that this function mutates program by
+  // calling Program::SetParameterOffsetsAndIndex() on it so that an
+  // evaluator object can be constructed.
+  static bool Evaluate(Program* program,
+                       int num_threads,
+                       double* cost,
+                       std::vector<double>* residuals,
+                       std::vector<double>* gradient,
+                       CRSMatrix* jacobian);
+
+  // Build and return a sparse matrix for storing and working with the Jacobian
+  // of the objective function. The jacobian has dimensions
+  // NumEffectiveParameters() by NumParameters(), and is typically extremely
+  // sparse. Since the sparsity pattern of the Jacobian remains constant over
+  // the lifetime of the optimization problem, this method is used to
+  // instantiate a SparseMatrix object with the appropriate sparsity structure
+  // (which can be an expensive operation) and then reused by the optimization
+  // algorithm and the various linear solvers.
+  //
+  // It is expected that the classes implementing this interface will be aware
+  // of their client's requirements for the kind of sparse matrix storage and
+  // layout that is needed for an efficient implementation. For example
+  // CompressedRowOptimizationProblem creates a compressed row representation of
+  // the jacobian for use with CHOLMOD, where as BlockOptimizationProblem
+  // creates a BlockSparseMatrix representation of the jacobian for use in the
+  // Schur complement based methods.
+  virtual SparseMatrix* CreateJacobian() const = 0;
+
+
+  // Options struct to control Evaluator::Evaluate;
+  struct EvaluateOptions {
+    EvaluateOptions()
+        : apply_loss_function(true) {
+    }
+
+    // If false, the loss function correction is not applied to the
+    // residual blocks.
+    bool apply_loss_function;
+  };
+
+  // Evaluate the cost function for the given state. Returns the cost,
+  // residuals, and jacobian in the corresponding arguments. Both residuals and
+  // jacobian are optional; to avoid computing them, pass NULL.
+  //
+  // If non-NULL, the Jacobian must have a suitable sparsity pattern; only the
+  // values array of the jacobian is modified.
+  //
+  // state is an array of size NumParameters(), cost is a pointer to a single
+  // double, and residuals is an array of doubles of size NumResiduals().
+  virtual bool Evaluate(const EvaluateOptions& evaluate_options,
+                        const double* state,
+                        double* cost,
+                        double* residuals,
+                        double* gradient,
+                        SparseMatrix* jacobian) = 0;
+
+  // Variant of Evaluator::Evaluate where the user wishes to use the
+  // default EvaluateOptions struct. This is mostly here as a
+  // convenience method.
+  bool Evaluate(const double* state,
+                double* cost,
+                double* residuals,
+                double* gradient,
+                SparseMatrix* jacobian) {
+    return Evaluate(EvaluateOptions(),
+                    state,
+                    cost,
+                    residuals,
+                    gradient,
+                    jacobian);
+  }
+
+  // Make a change delta (of size NumEffectiveParameters()) to state (of size
+  // NumParameters()) and store the result in state_plus_delta.
+  //
+  // In the case that there are no parameterizations used, this is equivalent to
+  //
+  //   state_plus_delta[i] = state[i] + delta[i] ;
+  //
+  // however, the mapping is more complicated in the case of parameterizations
+  // like quaternions. This is the same as the "Plus()" operation in
+  // local_parameterization.h, but operating over the entire state vector for a
+  // problem.
+  virtual bool Plus(const double* state,
+                    const double* delta,
+                    double* state_plus_delta) const = 0;
+
+  // The number of parameters in the optimization problem.
+  virtual int NumParameters() const = 0;
+
+  // This is the effective number of parameters that the optimizer may adjust.
+  // This applies when there are parameterizations on some of the parameters.
+  virtual int NumEffectiveParameters()  const = 0;
+
+  // The number of residuals in the optimization problem.
+  virtual int NumResiduals() const = 0;
+
+  // The following two methods return copies instead of references so
+  // that the base class implementation does not have to worry about
+  // life time issues. Further, these calls are not expected to be
+  // frequent or performance sensitive.
+  virtual std::map<std::string, int> CallStatistics() const {
+    return std::map<std::string, int>();
+  }
+
+  virtual std::map<std::string, double> TimeStatistics() const {
+    return std::map<std::string, double>();
+  }
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_EVALUATOR_H_
diff --git a/internal/ceres/evaluator_test.cc b/internal/ceres/evaluator_test.cc
new file mode 100644
index 0000000..48dc78a
--- /dev/null
+++ b/internal/ceres/evaluator_test.cc
@@ -0,0 +1,668 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Tests shared across evaluators. The tests try all combinations of linear
+// solver and num_eliminate_blocks (for schur-based solvers).
+
+#include "ceres/evaluator.h"
+
+#include "ceres/casts.h"
+#include "ceres/cost_function.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/evaluator_test_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+// TODO(keir): Consider pushing this into a common test utils file.
+template<int kFactor, int kNumResiduals,
+         int N0 = 0, int N1 = 0, int N2 = 0, bool kSucceeds = true>
+class ParameterIgnoringCostFunction
+    : public SizedCostFunction<kNumResiduals, N0, N1, N2> {
+  typedef SizedCostFunction<kNumResiduals, N0, N1, N2> Base;
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < Base::num_residuals(); ++i) {
+      residuals[i] = i + 1;
+    }
+    if (jacobians) {
+      for (int k = 0; k < Base::parameter_block_sizes().size(); ++k) {
+        // The jacobians here are full sized, but they are transformed in the
+        // evaluator into the "local" jacobian. In the tests, the "subset
+        // constant" parameterization is used, which should pick out columns
+        // from these jacobians. Put values in the jacobian that make this
+        // obvious; in particular, make the jacobians like this:
+        //
+        //   1 2 3 4 ...
+        //   1 2 3 4 ...   .*  kFactor
+        //   1 2 3 4 ...
+        //
+        // where the multiplication by kFactor makes it easier to distinguish
+        // between Jacobians of different residuals for the same parameter.
+        if (jacobians[k] != NULL) {
+          MatrixRef jacobian(jacobians[k],
+                             Base::num_residuals(),
+                             Base::parameter_block_sizes()[k]);
+          for (int j = 0; j < Base::parameter_block_sizes()[k]; ++j) {
+            jacobian.col(j).setConstant(kFactor * (j + 1));
+          }
+        }
+      }
+    }
+    return kSucceeds;
+  }
+};
+
+struct EvaluatorTestOptions {
+  EvaluatorTestOptions(LinearSolverType linear_solver_type,
+                       int num_eliminate_blocks,
+                       bool dynamic_sparsity = false)
+    : linear_solver_type(linear_solver_type),
+      num_eliminate_blocks(num_eliminate_blocks),
+      dynamic_sparsity(dynamic_sparsity) {}
+
+  LinearSolverType linear_solver_type;
+  int num_eliminate_blocks;
+  bool dynamic_sparsity;
+};
+
+struct EvaluatorTest
+    : public ::testing::TestWithParam<EvaluatorTestOptions> {
+  Evaluator* CreateEvaluator(Program* program) {
+    // This program is straight from the ProblemImpl, and so has no index/offset
+    // yet; compute it here as required by the evalutor implementations.
+    program->SetParameterOffsetsAndIndex();
+
+    if (VLOG_IS_ON(1)) {
+      string report;
+      StringAppendF(&report, "Creating evaluator with type: %d",
+                    GetParam().linear_solver_type);
+      if (GetParam().linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+        StringAppendF(&report, ", dynamic_sparsity: %d",
+                      GetParam().dynamic_sparsity);
+      }
+      StringAppendF(&report, " and num_eliminate_blocks: %d",
+                    GetParam().num_eliminate_blocks);
+      VLOG(1) << report;
+    }
+    Evaluator::Options options;
+    options.linear_solver_type = GetParam().linear_solver_type;
+    options.num_eliminate_blocks = GetParam().num_eliminate_blocks;
+    options.dynamic_sparsity = GetParam().dynamic_sparsity;
+    string error;
+    return Evaluator::Create(options, program, &error);
+  }
+
+  void EvaluateAndCompare(ProblemImpl *problem,
+                          int expected_num_rows,
+                          int expected_num_cols,
+                          double expected_cost,
+                          const double* expected_residuals,
+                          const double* expected_gradient,
+                          const double* expected_jacobian) {
+    scoped_ptr<Evaluator> evaluator(
+        CreateEvaluator(problem->mutable_program()));
+    int num_residuals = expected_num_rows;
+    int num_parameters = expected_num_cols;
+
+    double cost = -1;
+
+    Vector residuals(num_residuals);
+    residuals.setConstant(-2000);
+
+    Vector gradient(num_parameters);
+    gradient.setConstant(-3000);
+
+    scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+
+    ASSERT_EQ(expected_num_rows, evaluator->NumResiduals());
+    ASSERT_EQ(expected_num_cols, evaluator->NumEffectiveParameters());
+    ASSERT_EQ(expected_num_rows, jacobian->num_rows());
+    ASSERT_EQ(expected_num_cols, jacobian->num_cols());
+
+    vector<double> state(evaluator->NumParameters());
+
+    ASSERT_TRUE(evaluator->Evaluate(
+          &state[0],
+          &cost,
+          expected_residuals != NULL ? &residuals[0]  : NULL,
+          expected_gradient  != NULL ? &gradient[0]   : NULL,
+          expected_jacobian  != NULL ? jacobian.get() : NULL));
+
+    Matrix actual_jacobian;
+    if (expected_jacobian != NULL) {
+      jacobian->ToDenseMatrix(&actual_jacobian);
+    }
+
+    CompareEvaluations(expected_num_rows,
+                       expected_num_cols,
+                       expected_cost,
+                       expected_residuals,
+                       expected_gradient,
+                       expected_jacobian,
+                       cost,
+                       &residuals[0],
+                       &gradient[0],
+                       actual_jacobian.data());
+  }
+
+  // Try all combinations of parameters for the evaluator.
+  void CheckAllEvaluationCombinations(const ExpectedEvaluation &expected) {
+    for (int i = 0; i < 8; ++i) {
+      EvaluateAndCompare(&problem,
+                         expected.num_rows,
+                         expected.num_cols,
+                         expected.cost,
+                         (i & 1) ? expected.residuals : NULL,
+                         (i & 2) ? expected.gradient  : NULL,
+                         (i & 4) ? expected.jacobian  : NULL);
+    }
+  }
+
+  // The values are ignored completely by the cost function.
+  double x[2];
+  double y[3];
+  double z[4];
+
+  ProblemImpl problem;
+};
+
+void SetSparseMatrixConstant(SparseMatrix* sparse_matrix, double value) {
+  VectorRef(sparse_matrix->mutable_values(),
+            sparse_matrix->num_nonzeros()).setConstant(value);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblem) {
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 2, 3, 4>,
+                           NULL,
+                           x, y, z);
+
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    3, 9,
+    // Cost
+    7.0,
+    // Residuals
+    { 1.0, 2.0, 3.0 },
+    // Gradient
+    { 6.0, 12.0,              // x
+      6.0, 12.0, 18.0,        // y
+      6.0, 12.0, 18.0, 24.0,  // z
+    },
+    // Jacobian
+    //   x          y             z
+    { 1, 2,   1, 2, 3,   1, 2, 3, 4,
+      1, 2,   1, 2, 3,   1, 2, 3, 4,
+      1, 2,   1, 2, 3,   1, 2, 3, 4
+    }
+  };
+  CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblemWithPermutedParameters) {
+  // Add the parameters in explicit order to force the ordering in the program.
+  problem.AddParameterBlock(x,  2);
+  problem.AddParameterBlock(y,  3);
+  problem.AddParameterBlock(z,  4);
+
+  // Then use a cost function which is similar to the others, but swap around
+  // the ordering of the parameters to the cost function. This shouldn't affect
+  // the jacobian evaluation, but requires explicit handling in the evaluators.
+  // At one point the compressed row evaluator had a bug that went undetected
+  // for a long time, since by chance most users added parameters to the problem
+  // in the same order that they occurred as parameters to a cost function.
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 4, 3, 2>,
+                           NULL,
+                           z, y, x);
+
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    3, 9,
+    // Cost
+    7.0,
+    // Residuals
+    { 1.0, 2.0, 3.0 },
+    // Gradient
+    { 6.0, 12.0,              // x
+      6.0, 12.0, 18.0,        // y
+      6.0, 12.0, 18.0, 24.0,  // z
+    },
+    // Jacobian
+    //   x          y             z
+    { 1, 2,   1, 2, 3,   1, 2, 3, 4,
+      1, 2,   1, 2, 3,   1, 2, 3, 4,
+      1, 2,   1, 2, 3,   1, 2, 3, 4
+    }
+  };
+  CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblemWithNuisanceParameters) {
+  // These parameters are not used.
+  double a[2];
+  double b[1];
+  double c[1];
+  double d[3];
+
+  // Add the parameters in a mixed order so the Jacobian is "checkered" with the
+  // values from the other parameters.
+  problem.AddParameterBlock(a, 2);
+  problem.AddParameterBlock(x, 2);
+  problem.AddParameterBlock(b, 1);
+  problem.AddParameterBlock(y, 3);
+  problem.AddParameterBlock(c, 1);
+  problem.AddParameterBlock(z, 4);
+  problem.AddParameterBlock(d, 3);
+
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 2, 3, 4>,
+                           NULL,
+                           x, y, z);
+
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    3, 16,
+    // Cost
+    7.0,
+    // Residuals
+    { 1.0, 2.0, 3.0 },
+    // Gradient
+    { 0.0, 0.0,               // a
+      6.0, 12.0,              // x
+      0.0,                    // b
+      6.0, 12.0, 18.0,        // y
+      0.0,                    // c
+      6.0, 12.0, 18.0, 24.0,  // z
+      0.0, 0.0, 0.0,          // d
+    },
+    // Jacobian
+    //   a        x     b           y     c              z           d
+    { 0, 0,    1, 2,    0,    1, 2, 3,    0,    1, 2, 3, 4,    0, 0, 0,
+      0, 0,    1, 2,    0,    1, 2, 3,    0,    1, 2, 3, 4,    0, 0, 0,
+      0, 0,    1, 2,    0,    1, 2, 3,    0,    1, 2, 3, 4,    0, 0, 0
+    }
+  };
+  CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualProblem) {
+  // Add the parameters in explicit order to force the ordering in the program.
+  problem.AddParameterBlock(x,  2);
+  problem.AddParameterBlock(y,  3);
+  problem.AddParameterBlock(z,  4);
+
+  // f(x, y) in R^2
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+                           NULL,
+                           x, y);
+
+  // g(x, z) in R^3
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+                           NULL,
+                           x, z);
+
+  // h(y, z) in R^4
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+                           NULL,
+                           y, z);
+
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    9, 9,
+    // Cost
+    // f       g           h
+    (  1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+    // Residuals
+    { 1.0, 2.0,           // f
+      1.0, 2.0, 3.0,      // g
+      1.0, 2.0, 3.0, 4.0  // h
+    },
+    // Gradient
+    { 15.0, 30.0,               // x
+      33.0, 66.0, 99.0,         // y
+      42.0, 84.0, 126.0, 168.0  // z
+    },
+    // Jacobian
+    //                x        y           z
+    {   /* f(x, y) */ 1, 2,    1, 2, 3,    0, 0, 0, 0,
+                      1, 2,    1, 2, 3,    0, 0, 0, 0,
+
+        /* g(x, z) */ 2, 4,    0, 0, 0,    2, 4, 6, 8,
+                      2, 4,    0, 0, 0,    2, 4, 6, 8,
+                      2, 4,    0, 0, 0,    2, 4, 6, 8,
+
+        /* h(y, z) */ 0, 0,    3, 6, 9,    3, 6, 9, 12,
+                      0, 0,    3, 6, 9,    3, 6, 9, 12,
+                      0, 0,    3, 6, 9,    3, 6, 9, 12,
+                      0, 0,    3, 6, 9,    3, 6, 9, 12
+    }
+  };
+  CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualsWithLocalParameterizations) {
+  // Add the parameters in explicit order to force the ordering in the program.
+  problem.AddParameterBlock(x,  2);
+
+  // Fix y's first dimension.
+  vector<int> y_fixed;
+  y_fixed.push_back(0);
+  problem.AddParameterBlock(y, 3, new SubsetParameterization(3, y_fixed));
+
+  // Fix z's second dimension.
+  vector<int> z_fixed;
+  z_fixed.push_back(1);
+  problem.AddParameterBlock(z, 4, new SubsetParameterization(4, z_fixed));
+
+  // f(x, y) in R^2
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+                           NULL,
+                           x, y);
+
+  // g(x, z) in R^3
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+                           NULL,
+                           x, z);
+
+  // h(y, z) in R^4
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+                           NULL,
+                           y, z);
+
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    9, 7,
+    // Cost
+    // f       g           h
+    (  1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+    // Residuals
+    { 1.0, 2.0,           // f
+      1.0, 2.0, 3.0,      // g
+      1.0, 2.0, 3.0, 4.0  // h
+    },
+    // Gradient
+    { 15.0, 30.0,         // x
+      66.0, 99.0,         // y
+      42.0, 126.0, 168.0  // z
+    },
+    // Jacobian
+    //                x        y           z
+    {   /* f(x, y) */ 1, 2,    2, 3,    0, 0, 0,
+                      1, 2,    2, 3,    0, 0, 0,
+
+        /* g(x, z) */ 2, 4,    0, 0,    2, 6, 8,
+                      2, 4,    0, 0,    2, 6, 8,
+                      2, 4,    0, 0,    2, 6, 8,
+
+        /* h(y, z) */ 0, 0,    6, 9,    3, 9, 12,
+                      0, 0,    6, 9,    3, 9, 12,
+                      0, 0,    6, 9,    3, 9, 12,
+                      0, 0,    6, 9,    3, 9, 12
+    }
+  };
+  CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualProblemWithSomeConstantParameters) {
+  // The values are ignored completely by the cost function.
+  double x[2];
+  double y[3];
+  double z[4];
+
+  // Add the parameters in explicit order to force the ordering in the program.
+  problem.AddParameterBlock(x,  2);
+  problem.AddParameterBlock(y,  3);
+  problem.AddParameterBlock(z,  4);
+
+  // f(x, y) in R^2
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+                           NULL,
+                           x, y);
+
+  // g(x, z) in R^3
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+                           NULL,
+                           x, z);
+
+  // h(y, z) in R^4
+  problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+                           NULL,
+                           y, z);
+
+  // For this test, "z" is constant.
+  problem.SetParameterBlockConstant(z);
+
+  // Create the reduced program which is missing the fixed "z" variable.
+  // Normally, the preprocessing of the program that happens in solver_impl
+  // takes care of this, but we don't want to invoke the solver here.
+  Program reduced_program;
+  vector<ParameterBlock*>* parameter_blocks =
+      problem.mutable_program()->mutable_parameter_blocks();
+
+  // "z" is the last parameter; save it for later and pop it off temporarily.
+  // Note that "z" will still get read during evaluation, so it cannot be
+  // deleted at this point.
+  ParameterBlock* parameter_block_z = parameter_blocks->back();
+  parameter_blocks->pop_back();
+
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    9, 5,
+    // Cost
+    // f       g           h
+    (  1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+    // Residuals
+    { 1.0, 2.0,           // f
+      1.0, 2.0, 3.0,      // g
+      1.0, 2.0, 3.0, 4.0  // h
+    },
+    // Gradient
+    { 15.0, 30.0,        // x
+      33.0, 66.0, 99.0,  // y
+    },
+    // Jacobian
+    //                x        y
+    {   /* f(x, y) */ 1, 2,    1, 2, 3,
+                      1, 2,    1, 2, 3,
+
+        /* g(x, z) */ 2, 4,    0, 0, 0,
+                      2, 4,    0, 0, 0,
+                      2, 4,    0, 0, 0,
+
+        /* h(y, z) */ 0, 0,    3, 6, 9,
+                      0, 0,    3, 6, 9,
+                      0, 0,    3, 6, 9,
+                      0, 0,    3, 6, 9
+    }
+  };
+  CheckAllEvaluationCombinations(expected);
+
+  // Restore parameter block z, so it will get freed in a consistent way.
+  parameter_blocks->push_back(parameter_block_z);
+}
+
+TEST_P(EvaluatorTest, EvaluatorAbortsForResidualsThatFailToEvaluate) {
+  // Switch the return value to failure.
+  problem.AddResidualBlock(
+      new ParameterIgnoringCostFunction<20, 3, 2, 3, 4, false>, NULL, x, y, z);
+
+  // The values are ignored.
+  double state[9];
+
+  scoped_ptr<Evaluator> evaluator(CreateEvaluator(problem.mutable_program()));
+  scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+  double cost;
+  EXPECT_FALSE(evaluator->Evaluate(state, &cost, NULL, NULL, NULL));
+}
+
+// In the pairs, the first argument is the linear solver type, and the second
+// argument is num_eliminate_blocks. Changing the num_eliminate_blocks only
+// makes sense for the schur-based solvers.
+//
+// Try all values of num_eliminate_blocks that make sense given that in the
+// tests a maximum of 4 parameter blocks are present.
+INSTANTIATE_TEST_CASE_P(
+    LinearSolvers,
+    EvaluatorTest,
+    ::testing::Values(
+      EvaluatorTestOptions(DENSE_QR, 0),
+      EvaluatorTestOptions(DENSE_SCHUR, 0),
+      EvaluatorTestOptions(DENSE_SCHUR, 1),
+      EvaluatorTestOptions(DENSE_SCHUR, 2),
+      EvaluatorTestOptions(DENSE_SCHUR, 3),
+      EvaluatorTestOptions(DENSE_SCHUR, 4),
+      EvaluatorTestOptions(SPARSE_SCHUR, 0),
+      EvaluatorTestOptions(SPARSE_SCHUR, 1),
+      EvaluatorTestOptions(SPARSE_SCHUR, 2),
+      EvaluatorTestOptions(SPARSE_SCHUR, 3),
+      EvaluatorTestOptions(SPARSE_SCHUR, 4),
+      EvaluatorTestOptions(ITERATIVE_SCHUR, 0),
+      EvaluatorTestOptions(ITERATIVE_SCHUR, 1),
+      EvaluatorTestOptions(ITERATIVE_SCHUR, 2),
+      EvaluatorTestOptions(ITERATIVE_SCHUR, 3),
+      EvaluatorTestOptions(ITERATIVE_SCHUR, 4),
+      EvaluatorTestOptions(SPARSE_NORMAL_CHOLESKY, 0, false),
+      EvaluatorTestOptions(SPARSE_NORMAL_CHOLESKY, 0, true)));
+
+// Simple cost function used to check if the evaluator is sensitive to
+// state changes.
+class ParameterSensitiveCostFunction : public SizedCostFunction<2, 2> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    double x1 = parameters[0][0];
+    double x2 = parameters[0][1];
+    residuals[0] = x1 * x1;
+    residuals[1] = x2 * x2;
+
+    if (jacobians != NULL) {
+      double* jacobian = jacobians[0];
+      if (jacobian != NULL) {
+        jacobian[0] = 2.0 * x1;
+        jacobian[1] = 0.0;
+        jacobian[2] = 0.0;
+        jacobian[3] = 2.0 * x2;
+      }
+    }
+    return true;
+  }
+};
+
+TEST(Evaluator, EvaluatorRespectsParameterChanges) {
+  ProblemImpl problem;
+
+  double x[2];
+  x[0] = 1.0;
+  x[1] = 1.0;
+
+  problem.AddResidualBlock(new ParameterSensitiveCostFunction(), NULL, x);
+  Program* program = problem.mutable_program();
+  program->SetParameterOffsetsAndIndex();
+
+  Evaluator::Options options;
+  options.linear_solver_type = DENSE_QR;
+  options.num_eliminate_blocks = 0;
+  string error;
+  scoped_ptr<Evaluator> evaluator(Evaluator::Create(options, program, &error));
+  scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+
+  ASSERT_EQ(2, jacobian->num_rows());
+  ASSERT_EQ(2, jacobian->num_cols());
+
+  double state[2];
+  state[0] = 2.0;
+  state[1] = 3.0;
+
+  // The original state of a residual block comes from the user's
+  // state. So the original state is 1.0, 1.0, and the only way we get
+  // the 2.0, 3.0 results in the following tests is if it respects the
+  // values in the state vector.
+
+  // Cost only; no residuals and no jacobian.
+  {
+    double cost = -1;
+    ASSERT_TRUE(evaluator->Evaluate(state, &cost, NULL, NULL, NULL));
+    EXPECT_EQ(48.5, cost);
+  }
+
+  // Cost and residuals, no jacobian.
+  {
+    double cost = -1;
+    double residuals[2] = { -2, -2 };
+    ASSERT_TRUE(evaluator->Evaluate(state, &cost, residuals, NULL, NULL));
+    EXPECT_EQ(48.5, cost);
+    EXPECT_EQ(4, residuals[0]);
+    EXPECT_EQ(9, residuals[1]);
+  }
+
+  // Cost, residuals, and jacobian.
+  {
+    double cost = -1;
+    double residuals[2] = { -2, -2};
+    SetSparseMatrixConstant(jacobian.get(), -1);
+    ASSERT_TRUE(evaluator->Evaluate(state,
+                                    &cost,
+                                    residuals,
+                                    NULL,
+                                    jacobian.get()));
+    EXPECT_EQ(48.5, cost);
+    EXPECT_EQ(4, residuals[0]);
+    EXPECT_EQ(9, residuals[1]);
+    Matrix actual_jacobian;
+    jacobian->ToDenseMatrix(&actual_jacobian);
+
+    Matrix expected_jacobian(2, 2);
+    expected_jacobian
+        << 2 * state[0], 0,
+           0, 2 * state[1];
+
+    EXPECT_TRUE((actual_jacobian.array() == expected_jacobian.array()).all())
+        << "Actual:\n" << actual_jacobian
+        << "\nExpected:\n" << expected_jacobian;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/evaluator_test_utils.cc b/internal/ceres/evaluator_test_utils.cc
new file mode 100644
index 0000000..36dc21c
--- /dev/null
+++ b/internal/ceres/evaluator_test_utils.cc
@@ -0,0 +1,89 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/evaluator_test_utils.h"
+#include "ceres/internal/eigen.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void CompareEvaluations(int expected_num_rows,
+                        int expected_num_cols,
+                        double expected_cost,
+                        const double* expected_residuals,
+                        const double* expected_gradient,
+                        const double* expected_jacobian,
+                        const double actual_cost,
+                        const double* actual_residuals,
+                        const double* actual_gradient,
+                        const double* actual_jacobian) {
+  EXPECT_EQ(expected_cost, actual_cost);
+
+  if (expected_residuals != NULL) {
+    ConstVectorRef expected_residuals_vector(expected_residuals,
+                                             expected_num_rows);
+    ConstVectorRef actual_residuals_vector(actual_residuals,
+                                           expected_num_rows);
+    EXPECT_TRUE((actual_residuals_vector.array() ==
+                 expected_residuals_vector.array()).all())
+        << "Actual:\n" << actual_residuals_vector
+        << "\nExpected:\n" << expected_residuals_vector;
+  }
+
+  if (expected_gradient != NULL) {
+    ConstVectorRef expected_gradient_vector(expected_gradient,
+                                            expected_num_cols);
+    ConstVectorRef actual_gradient_vector(actual_gradient,
+                                            expected_num_cols);
+
+    EXPECT_TRUE((actual_gradient_vector.array() ==
+                 expected_gradient_vector.array()).all())
+        << "Actual:\n" << actual_gradient_vector.transpose()
+        << "\nExpected:\n" << expected_gradient_vector.transpose();
+  }
+
+  if (expected_jacobian != NULL) {
+    ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
+                                            expected_num_rows,
+                                            expected_num_cols);
+    ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
+                                          expected_num_rows,
+                                          expected_num_cols);
+    EXPECT_TRUE((actual_jacobian_matrix.array() ==
+                 expected_jacobian_matrix.array()).all())
+        << "Actual:\n" << actual_jacobian_matrix
+        << "\nExpected:\n" << expected_jacobian_matrix;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/evaluator_test_utils.h b/internal/ceres/evaluator_test_utils.h
new file mode 100644
index 0000000..7401f04
--- /dev/null
+++ b/internal/ceres/evaluator_test_utils.h
@@ -0,0 +1,60 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// Test utils used for evaluation testing.
+
+namespace ceres {
+namespace internal {
+
+// Fixed sized struct for storing an evaluation.
+struct ExpectedEvaluation {
+  int num_rows;
+  int num_cols;
+  double cost;
+  const double residuals[50];
+  const double gradient[50];
+  const double jacobian[200];
+};
+
+// Compare two evaluations.
+void CompareEvaluations(int expected_num_rows,
+                        int expected_num_cols,
+                        double expected_cost,
+                        const double* expected_residuals,
+                        const double* expected_gradient,
+                        const double* expected_jacobian,
+                        const double actual_cost,
+                        const double* actual_residuals,
+                        const double* actual_gradient,
+                        const double* actual_jacobian);
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/execution_summary.h b/internal/ceres/execution_summary.h
new file mode 100644
index 0000000..aa9929d
--- /dev/null
+++ b/internal/ceres/execution_summary.h
@@ -0,0 +1,90 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_EXECUTION_SUMMARY_H_
+#define CERES_INTERNAL_EXECUTION_SUMMARY_H_
+
+#include <map>
+#include <string>
+
+#include "ceres/internal/port.h"
+#include "ceres/wall_time.h"
+#include "ceres/mutex.h"
+
+namespace ceres {
+namespace internal {
+
+// Struct used by various objects to report statistics and other
+// information about their execution. e.g., ExecutionSummary::times
+// can be used for reporting times associated with various activities.
+class ExecutionSummary {
+ public:
+  void IncrementTimeBy(const std::string& name, const double value) {
+    CeresMutexLock l(&times_mutex_);
+    times_[name] += value;
+  }
+
+  void IncrementCall(const std::string& name) {
+    CeresMutexLock l(&calls_mutex_);
+    calls_[name] += 1;
+  }
+
+  const std::map<std::string, double>& times() const { return times_; }
+  const std::map<std::string, int>& calls() const { return calls_; }
+
+ private:
+  Mutex times_mutex_;
+  std::map<std::string, double> times_;
+
+  Mutex calls_mutex_;
+  std::map<std::string, int> calls_;
+};
+
+class ScopedExecutionTimer {
+ public:
+  ScopedExecutionTimer(const std::string& name, ExecutionSummary* summary)
+      : start_time_(WallTimeInSeconds()),
+        name_(name),
+        summary_(summary) {}
+
+  ~ScopedExecutionTimer() {
+    summary_->IncrementTimeBy(name_, WallTimeInSeconds() - start_time_);
+  }
+
+ private:
+  const double start_time_;
+  const std::string name_;
+  ExecutionSummary* summary_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_EXECUTION_SUMMARY_H_
diff --git a/internal/ceres/file.cc b/internal/ceres/file.cc
new file mode 100644
index 0000000..c95a44d
--- /dev/null
+++ b/internal/ceres/file.cc
@@ -0,0 +1,95 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Really simple file IO.
+
+#include "ceres/file.h"
+
+#include <cstdio>
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+void WriteStringToFileOrDie(const string &data, const string &filename) {
+  FILE* file_descriptor = fopen(filename.c_str(), "wb");
+  if (!file_descriptor) {
+    LOG(FATAL) << "Couldn't write to file: " << filename;
+  }
+  fwrite(data.c_str(), 1, data.size(), file_descriptor);
+  fclose(file_descriptor);
+}
+
+void ReadFileToStringOrDie(const string &filename, string *data) {
+  FILE* file_descriptor = fopen(filename.c_str(), "r");
+
+  if (!file_descriptor) {
+    LOG(FATAL) << "Couldn't read file: " << filename;
+  }
+
+  // Resize the input buffer appropriately.
+  fseek(file_descriptor, 0L, SEEK_END);
+  int num_bytes = ftell(file_descriptor);
+  data->resize(num_bytes);
+
+  // Read the data.
+  fseek(file_descriptor, 0L, SEEK_SET);
+  int num_read = fread(&((*data)[0]),
+                       sizeof((*data)[0]),
+                       num_bytes,
+                       file_descriptor);
+  if (num_read != num_bytes) {
+    LOG(FATAL) << "Couldn't read all of " << filename
+               << "expected bytes: " << num_bytes * sizeof((*data)[0])
+               << "actual bytes: " << num_read;
+  }
+  fclose(file_descriptor);
+}
+
+string JoinPath(const string& dirname, const string& basename) {
+#ifdef _WIN32
+    static const char separator = '\\';
+#else
+    static const char separator = '/';
+#endif  // _WIN32
+
+  if ((!basename.empty() && basename[0] == separator) || dirname.empty()) {
+    return basename;
+  } else if (dirname[dirname.size() - 1] == separator) {
+    return dirname + basename;
+  } else {
+    return dirname + string(&separator, 1) + basename;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/file.h b/internal/ceres/file.h
new file mode 100644
index 0000000..219b459
--- /dev/null
+++ b/internal/ceres/file.h
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Simple file IO support. This is a portability shim.
+
+#ifndef CERES_INTERNAL_FILE_H_
+#define CERES_INTERNAL_FILE_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+void WriteStringToFileOrDie(const std::string &data,
+                            const std::string &filename);
+void ReadFileToStringOrDie(const std::string &filename, std::string *data);
+
+// Join two path components, adding a slash if necessary.  If basename is an
+// absolute path then JoinPath ignores dirname and simply returns basename.
+std::string JoinPath(const std::string& dirname, const std::string& basename);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_FILE_H_
diff --git a/internal/ceres/function_sample.cc b/internal/ceres/function_sample.cc
new file mode 100644
index 0000000..2fd3dbd
--- /dev/null
+++ b/internal/ceres/function_sample.cc
@@ -0,0 +1,73 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/function_sample.h"
+#include "ceres/stringprintf.h"
+
+namespace ceres {
+namespace internal {
+
+FunctionSample::FunctionSample()
+    : x(0.0),
+      vector_x_is_valid(false),
+      value(0.0),
+      value_is_valid(false),
+      vector_gradient_is_valid(false),
+      gradient(0.0),
+      gradient_is_valid(false) {}
+
+FunctionSample::FunctionSample(const double x, const double value)
+    : x(x),
+      vector_x_is_valid(false),
+      value(value),
+      value_is_valid(true),
+      vector_gradient_is_valid(false),
+      gradient(0.0),
+      gradient_is_valid(false) {}
+
+FunctionSample::FunctionSample(const double x,
+                               const double value,
+                               const double gradient)
+    : x(x),
+      vector_x_is_valid(false),
+      value(value),
+      value_is_valid(true),
+      vector_gradient_is_valid(false),
+      gradient(gradient),
+      gradient_is_valid(true) {}
+
+std::string FunctionSample::ToDebugString() const {
+  return StringPrintf("[x: %.8e, value: %.8e, gradient: %.8e, "
+                      "value_is_valid: %d, gradient_is_valid: %d]",
+                      x, value, gradient, value_is_valid, gradient_is_valid);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/function_sample.h b/internal/ceres/function_sample.h
new file mode 100644
index 0000000..df79aef
--- /dev/null
+++ b/internal/ceres/function_sample.h
@@ -0,0 +1,94 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_FUNCTION_SAMPLE_H_
+#define CERES_INTERNAL_FUNCTION_SAMPLE_H_
+
+#include <string>
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+// FunctionSample is used by the line search routines to store and
+// communicate the value and (optionally) the gradient of the function
+// being minimized.
+//
+// Since line search as the name implies happens along a certain
+// line/direction. FunctionSample contains the information in two
+// ways. Information in the ambient space and information along the
+// direction of search.
+struct FunctionSample {
+  FunctionSample();
+  FunctionSample(double x, double value);
+  FunctionSample(double x, double value, double gradient);
+
+  std::string ToDebugString() const;
+
+  // x is the location of the sample along the search direction.
+  double x;
+
+  // Let p be a point and d be the search direction then
+  //
+  // vector_x = p + x * d;
+  Vector vector_x;
+  // True if vector_x has been assigned a valid value.
+  bool vector_x_is_valid;
+
+  // value = f(vector_x)
+  double value;
+  // True of the evaluation was successful and value is a finite
+  // number.
+  bool value_is_valid;
+
+  // vector_gradient = Df(vector_position);
+  //
+  // D is the derivative operator.
+  Vector vector_gradient;
+  // True if the vector gradient was evaluated and the evaluation was
+  // successful (the value is a finite number).
+  bool vector_gradient_is_valid;
+
+  // gradient = d.transpose() * vector_gradient
+  //
+  // where d is the search direction.
+  double gradient;
+  // True if the evaluation of the gradient was sucessful and the
+  // value is a finite number.
+  bool gradient_is_valid;
+};
+
+
+
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_FUNCTION_SAMPLE_H_
diff --git a/internal/ceres/generate_template_specializations.py b/internal/ceres/generate_template_specializations.py
new file mode 100644
index 0000000..a30c3f0
--- /dev/null
+++ b/internal/ceres/generate_template_specializations.py
@@ -0,0 +1,244 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: sameeragarwal@google.com (Sameer Agarwal)
+#
+# Script for explicitly generating template specialization of the
+# SchurEliminator class. It is a rather large class
+# and the number of explicit instantiations is also large. Explicitly
+# generating these instantiations in separate .cc files breaks the
+# compilation into separate compilation unit rather than one large cc
+# file which takes 2+GB of RAM to compile.
+#
+# This script creates three sets of files.
+#
+# 1. schur_eliminator_x_x_x.cc and partitioned_matrix_view_x_x_x.cc
+# where, the x indicates the template parameters and
+#
+# 2. schur_eliminator.cc & partitioned_matrix_view.cc
+#
+# that contains a factory function for instantiating these classes
+# based on runtime parameters.
+#
+# 3. schur_templates.cc
+#
+# that contains a function which can be queried to determine what
+# template specializations are available.
+#
+# The following list of tuples, specializations indicates the set of
+# specializations that is generated.
+SPECIALIZATIONS = [(2, 2, 2),
+                   (2, 2, 3),
+                   (2, 2, 4),
+                   (2, 2, "Eigen::Dynamic"),
+                   (2, 3, 3),
+                   (2, 3, 4),
+                   (2, 3, 6),
+                   (2, 3, 9),
+                   (2, 3, "Eigen::Dynamic"),
+                   (2, 4, 3),
+                   (2, 4, 4),
+                   (2, 4, 8),
+                   (2, 4, 9),
+                   (2, 4, "Eigen::Dynamic"),
+                   (2, "Eigen::Dynamic", "Eigen::Dynamic"),
+                   (4, 4, 2),
+                   (4, 4, 3),
+                   (4, 4, 4),
+                   (4, 4, "Eigen::Dynamic")]
+
+import schur_eliminator_template
+import partitioned_matrix_view_template
+import os
+import glob
+
+def SuffixForSize(size):
+  if size == "Eigen::Dynamic":
+    return "d"
+  return str(size)
+
+def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):
+  return "_".join([prefix] + map(SuffixForSize, (row_block_size,
+                                                 e_block_size,
+                                                 f_block_size)))
+
+def GenerateFactoryConditional(row_block_size, e_block_size, f_block_size):
+  conditionals = []
+  if (row_block_size != "Eigen::Dynamic"):
+    conditionals.append("(options.row_block_size == %s)" % row_block_size)
+  if (e_block_size != "Eigen::Dynamic"):
+    conditionals.append("(options.e_block_size == %s)" % e_block_size)
+  if (f_block_size != "Eigen::Dynamic"):
+    conditionals.append("(options.f_block_size == %s)" % f_block_size)
+  if (len(conditionals) == 0):
+    return "%s"
+
+  if (len(conditionals) == 1):
+    return " if " + conditionals[0] + "{\n  %s\n }\n"
+
+  return " if (" + " &&\n     ".join(conditionals) + ") {\n  %s\n }\n"
+
+def Specialize(name, data):
+  """
+  Generate specialization code and the conditionals to instantiate it.
+  """
+
+  # Specialization files
+  for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
+      output = SpecializationFilename("generated/" + name,
+                                      row_block_size,
+                                      e_block_size,
+                                      f_block_size) + ".cc"
+
+      with open(output, "w") as f:
+        f.write(data["HEADER"])
+        f.write(data["SPECIALIZATION_FILE"] %
+                  (row_block_size, e_block_size, f_block_size))
+
+  # Generate the _d_d_d specialization.
+  output = SpecializationFilename("generated/" + name,
+                                   "Eigen::Dynamic",
+                                   "Eigen::Dynamic",
+                                   "Eigen::Dynamic") + ".cc"
+  with open(output, "w") as f:
+    f.write(data["HEADER"])
+    f.write(data["DYNAMIC_FILE"] %
+              ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic"))
+
+  # Factory
+  with open(name + ".cc", "w") as f:
+    f.write(data["HEADER"])
+    f.write(data["FACTORY_FILE_HEADER"])
+    for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
+        factory_conditional = GenerateFactoryConditional(
+            row_block_size, e_block_size, f_block_size)
+        factory = data["FACTORY"] % (row_block_size, e_block_size, f_block_size)
+        f.write(factory_conditional % factory);
+    f.write(data["FACTORY_FOOTER"])
+
+QUERY_HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// What template specializations are available.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+"""
+
+QUERY_FILE_HEADER = """
+#include "ceres/internal/eigen.h"
+#include "ceres/schur_templates.h"
+
+namespace ceres {
+namespace internal {
+
+void GetBestSchurTemplateSpecialization(int* row_block_size,
+                                        int* e_block_size,
+                                        int* f_block_size) {
+  LinearSolver::Options options;
+  options.row_block_size = *row_block_size;
+  options.e_block_size = *e_block_size;
+  options.f_block_size = *f_block_size;
+  *row_block_size = Eigen::Dynamic;
+  *e_block_size = Eigen::Dynamic;
+  *f_block_size = Eigen::Dynamic;
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+QUERY_FOOTER = """
+#endif
+  return;
+}
+
+}  // namespace internal
+}  // namespace ceres
+"""
+
+QUERY_ACTION = """ *row_block_size = %s;
+   *e_block_size = %s;
+   *f_block_size = %s;
+  return;"""
+
+def GenerateQueryFile():
+  """
+  Generate file that allows querying for available template specializations.
+  """
+
+  with open("schur_templates.cc", "w") as f:
+    f.write(QUERY_HEADER)
+    f.write(QUERY_FILE_HEADER)
+    for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
+      factory_conditional = GenerateFactoryConditional(
+        row_block_size, e_block_size, f_block_size)
+      action = QUERY_ACTION % (row_block_size, e_block_size, f_block_size)
+      f.write(factory_conditional % action)
+    f.write(QUERY_FOOTER)
+
+
+if __name__ == "__main__":
+  for f in glob.glob("generated/*"):
+    os.remove(f)
+
+  Specialize("schur_eliminator",
+               schur_eliminator_template.__dict__)
+  Specialize("partitioned_matrix_view",
+               partitioned_matrix_view_template.__dict__)
+  GenerateQueryFile()
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_2_2.cc b/internal/ceres/generated/partitioned_matrix_view_2_2_2.cc
new file mode 100644
index 0000000..86ad17b
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_2_2.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, 2>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_2_3.cc b/internal/ceres/generated/partitioned_matrix_view_2_2_3.cc
new file mode 100644
index 0000000..33018d5
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_2_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_2_4.cc b/internal/ceres/generated/partitioned_matrix_view_2_2_4.cc
new file mode 100644
index 0000000..a429a54
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_2_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_2_d.cc b/internal/ceres/generated/partitioned_matrix_view_2_2_d.cc
new file mode 100644
index 0000000..f6f03ea
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_2_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 2, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_3_3.cc b/internal/ceres/generated/partitioned_matrix_view_2_3_3.cc
new file mode 100644
index 0000000..0b73e1a
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_3_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_3_4.cc b/internal/ceres/generated/partitioned_matrix_view_2_3_4.cc
new file mode 100644
index 0000000..bc4a861
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_3_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc b/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc
new file mode 100644
index 0000000..fe8f7dd
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 6>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_3_9.cc b/internal/ceres/generated/partitioned_matrix_view_2_3_9.cc
new file mode 100644
index 0000000..ac493fc
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_3_9.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 9>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_3_d.cc b/internal/ceres/generated/partitioned_matrix_view_2_3_d.cc
new file mode 100644
index 0000000..e29efaf
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_3_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_4_3.cc b/internal/ceres/generated/partitioned_matrix_view_2_4_3.cc
new file mode 100644
index 0000000..e61e0a3
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_4_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_4_4.cc b/internal/ceres/generated/partitioned_matrix_view_2_4_4.cc
new file mode 100644
index 0000000..2e1170d
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_4_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_4_8.cc b/internal/ceres/generated/partitioned_matrix_view_2_4_8.cc
new file mode 100644
index 0000000..83015f1
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_4_8.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 8>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_4_9.cc b/internal/ceres/generated/partitioned_matrix_view_2_4_9.cc
new file mode 100644
index 0000000..25671f9
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_4_9.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, 9>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_4_d.cc b/internal/ceres/generated/partitioned_matrix_view_2_4_d.cc
new file mode 100644
index 0000000..d259802
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_4_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 4, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_d_d.cc b/internal/ceres/generated/partitioned_matrix_view_2_d_d.cc
new file mode 100644
index 0000000..c956759
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_d_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_4_4_2.cc b/internal/ceres/generated/partitioned_matrix_view_4_4_2.cc
new file mode 100644
index 0000000..f08049c
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_4_4_2.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, 2>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_4_4_3.cc b/internal/ceres/generated/partitioned_matrix_view_4_4_3.cc
new file mode 100644
index 0000000..9342612
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_4_4_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_4_4_4.cc b/internal/ceres/generated/partitioned_matrix_view_4_4_4.cc
new file mode 100644
index 0000000..8b273fa
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_4_4_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_4_4_d.cc b/internal/ceres/generated/partitioned_matrix_view_4_4_d.cc
new file mode 100644
index 0000000..e8b45e4
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_4_4_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<4, 4, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/partitioned_matrix_view_d_d_d.cc b/internal/ceres/generated/partitioned_matrix_view_d_d_d.cc
new file mode 100644
index 0000000..3545b86
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_d_d_d.cc
@@ -0,0 +1,52 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/generated/schur_eliminator_2_2_2.cc b/internal/ceres/generated/schur_eliminator_2_2_2.cc
new file mode 100644
index 0000000..79fcf43
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_2.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 2>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_2_3.cc b/internal/ceres/generated/schur_eliminator_2_2_3.cc
new file mode 100644
index 0000000..edd7fb6
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_2_4.cc b/internal/ceres/generated/schur_eliminator_2_2_4.cc
new file mode 100644
index 0000000..692267d
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_2_d.cc b/internal/ceres/generated/schur_eliminator_2_2_d.cc
new file mode 100644
index 0000000..33d9c6d
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_3_3.cc b/internal/ceres/generated/schur_eliminator_2_3_3.cc
new file mode 100644
index 0000000..4a5e2fe
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_3_4.cc b/internal/ceres/generated/schur_eliminator_2_3_4.cc
new file mode 100644
index 0000000..7ee63d0
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_3_6.cc b/internal/ceres/generated/schur_eliminator_2_3_6.cc
new file mode 100644
index 0000000..108760e
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_6.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 6>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_3_9.cc b/internal/ceres/generated/schur_eliminator_2_3_9.cc
new file mode 100644
index 0000000..4fea2fa
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_9.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 9>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_3_d.cc b/internal/ceres/generated/schur_eliminator_2_3_d.cc
new file mode 100644
index 0000000..0d13c99
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_4_3.cc b/internal/ceres/generated/schur_eliminator_2_4_3.cc
new file mode 100644
index 0000000..3827c65
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_4_4.cc b/internal/ceres/generated/schur_eliminator_2_4_4.cc
new file mode 100644
index 0000000..47bdfab
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_4_8.cc b/internal/ceres/generated/schur_eliminator_2_4_8.cc
new file mode 100644
index 0000000..862c76a
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_8.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 8>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_4_9.cc b/internal/ceres/generated/schur_eliminator_2_4_9.cc
new file mode 100644
index 0000000..5b5b7cc
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_9.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 9>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_4_d.cc b/internal/ceres/generated/schur_eliminator_2_4_d.cc
new file mode 100644
index 0000000..ce2d450
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_d_d.cc b/internal/ceres/generated/schur_eliminator_2_d_d.cc
new file mode 100644
index 0000000..9b02bd9
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_d_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_4_4_2.cc b/internal/ceres/generated/schur_eliminator_4_4_2.cc
new file mode 100644
index 0000000..10f709d
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_2.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 2>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_4_4_3.cc b/internal/ceres/generated/schur_eliminator_4_4_3.cc
new file mode 100644
index 0000000..bcbcc74
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_4_4_4.cc b/internal/ceres/generated/schur_eliminator_4_4_4.cc
new file mode 100644
index 0000000..44ecc87
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_4.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 4>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_4_4_d.cc b/internal/ceres/generated/schur_eliminator_4_4_d.cc
new file mode 100644
index 0000000..69c8563
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_d.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_d_d_d.cc b/internal/ceres/generated/schur_eliminator_d_d_d.cc
new file mode 100644
index 0000000..348708b
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_d_d_d.cc
@@ -0,0 +1,52 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/gmock/gmock.h b/internal/ceres/gmock/gmock.h
new file mode 100644
index 0000000..cd54177
--- /dev/null
+++ b/internal/ceres/gmock/gmock.h
@@ -0,0 +1,14978 @@
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This is the main header file a user should include.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_H_
+
+// This file implements the following syntax:
+//
+//   ON_CALL(mock_object.Method(...))
+//     .With(...) ?
+//     .WillByDefault(...);
+//
+// where With() is optional and WillByDefault() must appear exactly
+// once.
+//
+//   EXPECT_CALL(mock_object.Method(...))
+//     .With(...) ?
+//     .Times(...) ?
+//     .InSequence(...) *
+//     .WillOnce(...) *
+//     .WillRepeatedly(...) ?
+//     .RetiresOnSaturation() ? ;
+//
+// where all clauses are optional and WillOnce() can be repeated.
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used actions.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+
+#ifndef _WIN32_WCE
+# include <errno.h>
+#endif
+
+#include <algorithm>
+#include <string>
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file defines some utilities useful for implementing Google
+// Mock.  They are subject to change without notice, so please DO NOT
+// USE THEM IN USER CODE.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+
+#include <stdio.h>
+#include <ostream>  // NOLINT
+#include <string>
+
+// This file was GENERATED by command:
+//     pump.py gmock-generated-internal-utils.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file contains template meta-programming utility classes needed
+// for implementing Google Mock.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vadimb@google.com (Vadim Berman)
+//
+// Low-level types and utilities for porting Google Mock to various
+// platforms.  All macros ending with _ and symbols defined in an
+// internal namespace are subject to change without notice.  Code
+// outside Google Mock MUST NOT USE THEM DIRECTLY.  Macros that don't
+// end with _ are part of Google Mock's public API and can be used by
+// code outside Google Mock.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+
+#include <assert.h>
+#include <stdlib.h>
+#include <iostream>
+
+// Most of the utilities needed for porting Google Mock are also
+// required for Google Test and are defined in gtest-port.h.
+//
+// Note to maintainers: to reduce code duplication, prefer adding
+// portability utilities to Google Test's gtest-port.h instead of
+// here, as Google Mock depends on Google Test.  Only add a utility
+// here if it's truly specific to Google Mock.
+#include "gtest/gtest.h"
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Injection point for custom user configurations.
+// The following macros can be defined:
+//
+//   Flag related macros:
+//     GMOCK_DECLARE_bool_(name)
+//     GMOCK_DECLARE_int32_(name)
+//     GMOCK_DECLARE_string_(name)
+//     GMOCK_DEFINE_bool_(name, default_val, doc)
+//     GMOCK_DEFINE_int32_(name, default_val, doc)
+//     GMOCK_DEFINE_string_(name, default_val, doc)
+//
+// ** Custom implementation starts here **
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_PORT_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_PORT_H_
+
+#endif  // GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_PORT_H_
+
+// To avoid conditional compilation everywhere, we make it
+// gmock-port.h's responsibility to #include the header implementing
+// tr1/tuple.  gmock-port.h does this via gtest-port.h, which is
+// guaranteed to pull in the tuple header.
+
+// For MS Visual C++, check the compiler version. At least VS 2003 is
+// required to compile Google Mock.
+#if defined(_MSC_VER) && _MSC_VER < 1310
+# error "At least Visual C++ 2003 (7.1) is required to compile Google Mock."
+#endif
+
+// Macro for referencing flags.  This is public as we want the user to
+// use this syntax to reference Google Mock flags.
+#define GMOCK_FLAG(name) FLAGS_gmock_##name
+
+#if !defined(GMOCK_DECLARE_bool_)
+
+// Macros for declaring flags.
+#define GMOCK_DECLARE_bool_(name) extern GTEST_API_ bool GMOCK_FLAG(name)
+#define GMOCK_DECLARE_int32_(name) \
+    extern GTEST_API_ ::testing::internal::Int32 GMOCK_FLAG(name)
+#define GMOCK_DECLARE_string_(name) \
+    extern GTEST_API_ ::std::string GMOCK_FLAG(name)
+
+// Macros for defining flags.
+#define GMOCK_DEFINE_bool_(name, default_val, doc) \
+    GTEST_API_ bool GMOCK_FLAG(name) = (default_val)
+#define GMOCK_DEFINE_int32_(name, default_val, doc) \
+    GTEST_API_ ::testing::internal::Int32 GMOCK_FLAG(name) = (default_val)
+#define GMOCK_DEFINE_string_(name, default_val, doc) \
+    GTEST_API_ ::std::string GMOCK_FLAG(name) = (default_val)
+
+#endif  // !defined(GMOCK_DECLARE_bool_)
+
+#endif  // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+
+namespace testing {
+
+template <typename T>
+class Matcher;
+
+namespace internal {
+
+// An IgnoredValue object can be implicitly constructed from ANY value.
+// This is used in implementing the IgnoreResult(a) action.
+class IgnoredValue {
+ public:
+  // This constructor template allows any value to be implicitly
+  // converted to IgnoredValue.  The object has no data member and
+  // doesn't try to remember anything about the argument.  We
+  // deliberately omit the 'explicit' keyword in order to allow the
+  // conversion to be implicit.
+  template <typename T>
+  IgnoredValue(const T& /* ignored */) {}  // NOLINT(runtime/explicit)
+};
+
+// MatcherTuple<T>::type is a tuple type where each field is a Matcher
+// for the corresponding field in tuple type T.
+template <typename Tuple>
+struct MatcherTuple;
+
+template <>
+struct MatcherTuple< ::testing::tuple<> > {
+  typedef ::testing::tuple< > type;
+};
+
+template <typename A1>
+struct MatcherTuple< ::testing::tuple<A1> > {
+  typedef ::testing::tuple<Matcher<A1> > type;
+};
+
+template <typename A1, typename A2>
+struct MatcherTuple< ::testing::tuple<A1, A2> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2> > type;
+};
+
+template <typename A1, typename A2, typename A3>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>,
+      Matcher<A4> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+      Matcher<A5> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+    typename A6>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+      Matcher<A5>, Matcher<A6> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+    typename A6, typename A7>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+      Matcher<A5>, Matcher<A6>, Matcher<A7> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+    typename A6, typename A7, typename A8>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+      Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+    typename A6, typename A7, typename A8, typename A9>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+      Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8>, Matcher<A9> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+    typename A6, typename A7, typename A8, typename A9, typename A10>
+struct MatcherTuple< ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+    A10> > {
+  typedef ::testing::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+      Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8>, Matcher<A9>,
+      Matcher<A10> > type;
+};
+
+// Template struct Function<F>, where F must be a function type, contains
+// the following typedefs:
+//
+//   Result:               the function's return type.
+//   ArgumentN:            the type of the N-th argument, where N starts with 1.
+//   ArgumentTuple:        the tuple type consisting of all parameters of F.
+//   ArgumentMatcherTuple: the tuple type consisting of Matchers for all
+//                         parameters of F.
+//   MakeResultVoid:       the function type obtained by substituting void
+//                         for the return type of F.
+//   MakeResultIgnoredValue:
+//                         the function type obtained by substituting Something
+//                         for the return type of F.
+template <typename F>
+struct Function;
+
+template <typename R>
+struct Function<R()> {
+  typedef R Result;
+  typedef ::testing::tuple<> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid();
+  typedef IgnoredValue MakeResultIgnoredValue();
+};
+
+template <typename R, typename A1>
+struct Function<R(A1)>
+    : Function<R()> {
+  typedef A1 Argument1;
+  typedef ::testing::tuple<A1> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1);
+  typedef IgnoredValue MakeResultIgnoredValue(A1);
+};
+
+template <typename R, typename A1, typename A2>
+struct Function<R(A1, A2)>
+    : Function<R(A1)> {
+  typedef A2 Argument2;
+  typedef ::testing::tuple<A1, A2> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2);
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+struct Function<R(A1, A2, A3)>
+    : Function<R(A1, A2)> {
+  typedef A3 Argument3;
+  typedef ::testing::tuple<A1, A2, A3> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+struct Function<R(A1, A2, A3, A4)>
+    : Function<R(A1, A2, A3)> {
+  typedef A4 Argument4;
+  typedef ::testing::tuple<A1, A2, A3, A4> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3, A4);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5>
+struct Function<R(A1, A2, A3, A4, A5)>
+    : Function<R(A1, A2, A3, A4)> {
+  typedef A5 Argument5;
+  typedef ::testing::tuple<A1, A2, A3, A4, A5> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3, A4, A5);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6>
+struct Function<R(A1, A2, A3, A4, A5, A6)>
+    : Function<R(A1, A2, A3, A4, A5)> {
+  typedef A6 Argument6;
+  typedef ::testing::tuple<A1, A2, A3, A4, A5, A6> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7)>
+    : Function<R(A1, A2, A3, A4, A5, A6)> {
+  typedef A7 Argument7;
+  typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8)>
+    : Function<R(A1, A2, A3, A4, A5, A6, A7)> {
+  typedef A8 Argument8;
+  typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8, typename A9>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)>
+    : Function<R(A1, A2, A3, A4, A5, A6, A7, A8)> {
+  typedef A9 Argument9;
+  typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8, A9);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8,
+      A9);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8, typename A9,
+    typename A10>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)>
+    : Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+  typedef A10 Argument10;
+  typedef ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+      A10> ArgumentTuple;
+  typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+  typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+  typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8,
+      A9, A10);
+};
+
+}  // namespace internal
+
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+
+namespace testing {
+namespace internal {
+
+// Converts an identifier name to a space-separated list of lower-case
+// words.  Each maximum substring of the form [A-Za-z][a-z]*|\d+ is
+// treated as one word.  For example, both "FooBar123" and
+// "foo_bar_123" are converted to "foo bar 123".
+GTEST_API_ string ConvertIdentifierNameToWords(const char* id_name);
+
+// PointeeOf<Pointer>::type is the type of a value pointed to by a
+// Pointer, which can be either a smart pointer or a raw pointer.  The
+// following default implementation is for the case where Pointer is a
+// smart pointer.
+template <typename Pointer>
+struct PointeeOf {
+  // Smart pointer classes define type element_type as the type of
+  // their pointees.
+  typedef typename Pointer::element_type type;
+};
+// This specialization is for the raw pointer case.
+template <typename T>
+struct PointeeOf<T*> { typedef T type; };  // NOLINT
+
+// GetRawPointer(p) returns the raw pointer underlying p when p is a
+// smart pointer, or returns p itself when p is already a raw pointer.
+// The following default implementation is for the smart pointer case.
+template <typename Pointer>
+inline const typename Pointer::element_type* GetRawPointer(const Pointer& p) {
+  return p.get();
+}
+// This overloaded version is for the raw pointer case.
+template <typename Element>
+inline Element* GetRawPointer(Element* p) { return p; }
+
+// This comparator allows linked_ptr to be stored in sets.
+template <typename T>
+struct LinkedPtrLessThan {
+  bool operator()(const ::testing::internal::linked_ptr<T>& lhs,
+                  const ::testing::internal::linked_ptr<T>& rhs) const {
+    return lhs.get() < rhs.get();
+  }
+};
+
+// Symbian compilation can be done with wchar_t being either a native
+// type or a typedef.  Using Google Mock with OpenC without wchar_t
+// should require the definition of _STLP_NO_WCHAR_T.
+//
+// MSVC treats wchar_t as a native type usually, but treats it as the
+// same as unsigned short when the compiler option /Zc:wchar_t- is
+// specified.  It defines _NATIVE_WCHAR_T_DEFINED symbol when wchar_t
+// is a native type.
+#if (GTEST_OS_SYMBIAN && defined(_STLP_NO_WCHAR_T)) || \
+    (defined(_MSC_VER) && !defined(_NATIVE_WCHAR_T_DEFINED))
+// wchar_t is a typedef.
+#else
+# define GMOCK_WCHAR_T_IS_NATIVE_ 1
+#endif
+
+// signed wchar_t and unsigned wchar_t are NOT in the C++ standard.
+// Using them is a bad practice and not portable.  So DON'T use them.
+//
+// Still, Google Mock is designed to work even if the user uses signed
+// wchar_t or unsigned wchar_t (obviously, assuming the compiler
+// supports them).
+//
+// To gcc,
+//   wchar_t == signed wchar_t != unsigned wchar_t == unsigned int
+#ifdef __GNUC__
+// signed/unsigned wchar_t are valid types.
+# define GMOCK_HAS_SIGNED_WCHAR_T_ 1
+#endif
+
+// In what follows, we use the term "kind" to indicate whether a type
+// is bool, an integer type (excluding bool), a floating-point type,
+// or none of them.  This categorization is useful for determining
+// when a matcher argument type can be safely converted to another
+// type in the implementation of SafeMatcherCast.
+enum TypeKind {
+  kBool, kInteger, kFloatingPoint, kOther
+};
+
+// KindOf<T>::value is the kind of type T.
+template <typename T> struct KindOf {
+  enum { value = kOther };  // The default kind.
+};
+
+// This macro declares that the kind of 'type' is 'kind'.
+#define GMOCK_DECLARE_KIND_(type, kind) \
+  template <> struct KindOf<type> { enum { value = kind }; }
+
+GMOCK_DECLARE_KIND_(bool, kBool);
+
+// All standard integer types.
+GMOCK_DECLARE_KIND_(char, kInteger);
+GMOCK_DECLARE_KIND_(signed char, kInteger);
+GMOCK_DECLARE_KIND_(unsigned char, kInteger);
+GMOCK_DECLARE_KIND_(short, kInteger);  // NOLINT
+GMOCK_DECLARE_KIND_(unsigned short, kInteger);  // NOLINT
+GMOCK_DECLARE_KIND_(int, kInteger);
+GMOCK_DECLARE_KIND_(unsigned int, kInteger);
+GMOCK_DECLARE_KIND_(long, kInteger);  // NOLINT
+GMOCK_DECLARE_KIND_(unsigned long, kInteger);  // NOLINT
+
+#if GMOCK_WCHAR_T_IS_NATIVE_
+GMOCK_DECLARE_KIND_(wchar_t, kInteger);
+#endif
+
+// Non-standard integer types.
+GMOCK_DECLARE_KIND_(Int64, kInteger);
+GMOCK_DECLARE_KIND_(UInt64, kInteger);
+
+// All standard floating-point types.
+GMOCK_DECLARE_KIND_(float, kFloatingPoint);
+GMOCK_DECLARE_KIND_(double, kFloatingPoint);
+GMOCK_DECLARE_KIND_(long double, kFloatingPoint);
+
+#undef GMOCK_DECLARE_KIND_
+
+// Evaluates to the kind of 'type'.
+#define GMOCK_KIND_OF_(type) \
+  static_cast< ::testing::internal::TypeKind>( \
+      ::testing::internal::KindOf<type>::value)
+
+// Evaluates to true iff integer type T is signed.
+#define GMOCK_IS_SIGNED_(T) (static_cast<T>(-1) < 0)
+
+// LosslessArithmeticConvertibleImpl<kFromKind, From, kToKind, To>::value
+// is true iff arithmetic type From can be losslessly converted to
+// arithmetic type To.
+//
+// It's the user's responsibility to ensure that both From and To are
+// raw (i.e. has no CV modifier, is not a pointer, and is not a
+// reference) built-in arithmetic types, kFromKind is the kind of
+// From, and kToKind is the kind of To; the value is
+// implementation-defined when the above pre-condition is violated.
+template <TypeKind kFromKind, typename From, TypeKind kToKind, typename To>
+struct LosslessArithmeticConvertibleImpl : public false_type {};
+
+// Converting bool to bool is lossless.
+template <>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kBool, bool>
+    : public true_type {};  // NOLINT
+
+// Converting bool to any integer type is lossless.
+template <typename To>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kInteger, To>
+    : public true_type {};  // NOLINT
+
+// Converting bool to any floating-point type is lossless.
+template <typename To>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kFloatingPoint, To>
+    : public true_type {};  // NOLINT
+
+// Converting an integer to bool is lossy.
+template <typename From>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kBool, bool>
+    : public false_type {};  // NOLINT
+
+// Converting an integer to another non-bool integer is lossless iff
+// the target type's range encloses the source type's range.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kInteger, To>
+    : public bool_constant<
+      // When converting from a smaller size to a larger size, we are
+      // fine as long as we are not converting from signed to unsigned.
+      ((sizeof(From) < sizeof(To)) &&
+       (!GMOCK_IS_SIGNED_(From) || GMOCK_IS_SIGNED_(To))) ||
+      // When converting between the same size, the signedness must match.
+      ((sizeof(From) == sizeof(To)) &&
+       (GMOCK_IS_SIGNED_(From) == GMOCK_IS_SIGNED_(To)))> {};  // NOLINT
+
+#undef GMOCK_IS_SIGNED_
+
+// Converting an integer to a floating-point type may be lossy, since
+// the format of a floating-point number is implementation-defined.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kFloatingPoint, To>
+    : public false_type {};  // NOLINT
+
+// Converting a floating-point to bool is lossy.
+template <typename From>
+struct LosslessArithmeticConvertibleImpl<kFloatingPoint, From, kBool, bool>
+    : public false_type {};  // NOLINT
+
+// Converting a floating-point to an integer is lossy.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kFloatingPoint, From, kInteger, To>
+    : public false_type {};  // NOLINT
+
+// Converting a floating-point to another floating-point is lossless
+// iff the target type is at least as big as the source type.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<
+  kFloatingPoint, From, kFloatingPoint, To>
+    : public bool_constant<sizeof(From) <= sizeof(To)> {};  // NOLINT
+
+// LosslessArithmeticConvertible<From, To>::value is true iff arithmetic
+// type From can be losslessly converted to arithmetic type To.
+//
+// It's the user's responsibility to ensure that both From and To are
+// raw (i.e. has no CV modifier, is not a pointer, and is not a
+// reference) built-in arithmetic types; the value is
+// implementation-defined when the above pre-condition is violated.
+template <typename From, typename To>
+struct LosslessArithmeticConvertible
+    : public LosslessArithmeticConvertibleImpl<
+  GMOCK_KIND_OF_(From), From, GMOCK_KIND_OF_(To), To> {};  // NOLINT
+
+// This interface knows how to report a Google Mock failure (either
+// non-fatal or fatal).
+class FailureReporterInterface {
+ public:
+  // The type of a failure (either non-fatal or fatal).
+  enum FailureType {
+    kNonfatal, kFatal
+  };
+
+  virtual ~FailureReporterInterface() {}
+
+  // Reports a failure that occurred at the given source file location.
+  virtual void ReportFailure(FailureType type, const char* file, int line,
+                             const string& message) = 0;
+};
+
+// Returns the failure reporter used by Google Mock.
+GTEST_API_ FailureReporterInterface* GetFailureReporter();
+
+// Asserts that condition is true; aborts the process with the given
+// message if condition is false.  We cannot use LOG(FATAL) or CHECK()
+// as Google Mock might be used to mock the log sink itself.  We
+// inline this function to prevent it from showing up in the stack
+// trace.
+inline void Assert(bool condition, const char* file, int line,
+                   const string& msg) {
+  if (!condition) {
+    GetFailureReporter()->ReportFailure(FailureReporterInterface::kFatal,
+                                        file, line, msg);
+  }
+}
+inline void Assert(bool condition, const char* file, int line) {
+  Assert(condition, file, line, "Assertion failed.");
+}
+
+// Verifies that condition is true; generates a non-fatal failure if
+// condition is false.
+inline void Expect(bool condition, const char* file, int line,
+                   const string& msg) {
+  if (!condition) {
+    GetFailureReporter()->ReportFailure(FailureReporterInterface::kNonfatal,
+                                        file, line, msg);
+  }
+}
+inline void Expect(bool condition, const char* file, int line) {
+  Expect(condition, file, line, "Expectation failed.");
+}
+
+// Severity level of a log.
+enum LogSeverity {
+  kInfo = 0,
+  kWarning = 1
+};
+
+// Valid values for the --gmock_verbose flag.
+
+// All logs (informational and warnings) are printed.
+const char kInfoVerbosity[] = "info";
+// Only warnings are printed.
+const char kWarningVerbosity[] = "warning";
+// No logs are printed.
+const char kErrorVerbosity[] = "error";
+
+// Returns true iff a log with the given severity is visible according
+// to the --gmock_verbose flag.
+GTEST_API_ bool LogIsVisible(LogSeverity severity);
+
+// Prints the given message to stdout iff 'severity' >= the level
+// specified by the --gmock_verbose flag.  If stack_frames_to_skip >=
+// 0, also prints the stack trace excluding the top
+// stack_frames_to_skip frames.  In opt mode, any positive
+// stack_frames_to_skip is treated as 0, since we don't know which
+// function calls will be inlined by the compiler and need to be
+// conservative.
+GTEST_API_ void Log(LogSeverity severity,
+                    const string& message,
+                    int stack_frames_to_skip);
+
+// TODO(wan@google.com): group all type utilities together.
+
+// Type traits.
+
+// is_reference<T>::value is non-zero iff T is a reference type.
+template <typename T> struct is_reference : public false_type {};
+template <typename T> struct is_reference<T&> : public true_type {};
+
+// type_equals<T1, T2>::value is non-zero iff T1 and T2 are the same type.
+template <typename T1, typename T2> struct type_equals : public false_type {};
+template <typename T> struct type_equals<T, T> : public true_type {};
+
+// remove_reference<T>::type removes the reference from type T, if any.
+template <typename T> struct remove_reference { typedef T type; };  // NOLINT
+template <typename T> struct remove_reference<T&> { typedef T type; }; // NOLINT
+
+// DecayArray<T>::type turns an array type U[N] to const U* and preserves
+// other types.  Useful for saving a copy of a function argument.
+template <typename T> struct DecayArray { typedef T type; };  // NOLINT
+template <typename T, size_t N> struct DecayArray<T[N]> {
+  typedef const T* type;
+};
+// Sometimes people use arrays whose size is not available at the use site
+// (e.g. extern const char kNamePrefix[]).  This specialization covers that
+// case.
+template <typename T> struct DecayArray<T[]> {
+  typedef const T* type;
+};
+
+// Disable MSVC warnings for infinite recursion, since in this case the
+// the recursion is unreachable.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4717)
+#endif
+
+// Invalid<T>() is usable as an expression of type T, but will terminate
+// the program with an assertion failure if actually run.  This is useful
+// when a value of type T is needed for compilation, but the statement
+// will not really be executed (or we don't care if the statement
+// crashes).
+template <typename T>
+inline T Invalid() {
+  Assert(false, "", -1, "Internal error: attempt to return invalid value");
+  // This statement is unreachable, and would never terminate even if it
+  // could be reached. It is provided only to placate compiler warnings
+  // about missing return statements.
+  return Invalid<T>();
+}
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+// Given a raw type (i.e. having no top-level reference or const
+// modifier) RawContainer that's either an STL-style container or a
+// native array, class StlContainerView<RawContainer> has the
+// following members:
+//
+//   - type is a type that provides an STL-style container view to
+//     (i.e. implements the STL container concept for) RawContainer;
+//   - const_reference is a type that provides a reference to a const
+//     RawContainer;
+//   - ConstReference(raw_container) returns a const reference to an STL-style
+//     container view to raw_container, which is a RawContainer.
+//   - Copy(raw_container) returns an STL-style container view of a
+//     copy of raw_container, which is a RawContainer.
+//
+// This generic version is used when RawContainer itself is already an
+// STL-style container.
+template <class RawContainer>
+class StlContainerView {
+ public:
+  typedef RawContainer type;
+  typedef const type& const_reference;
+
+  static const_reference ConstReference(const RawContainer& container) {
+    // Ensures that RawContainer is not a const type.
+    testing::StaticAssertTypeEq<RawContainer,
+        GTEST_REMOVE_CONST_(RawContainer)>();
+    return container;
+  }
+  static type Copy(const RawContainer& container) { return container; }
+};
+
+// This specialization is used when RawContainer is a native array type.
+template <typename Element, size_t N>
+class StlContainerView<Element[N]> {
+ public:
+  typedef GTEST_REMOVE_CONST_(Element) RawElement;
+  typedef internal::NativeArray<RawElement> type;
+  // NativeArray<T> can represent a native array either by value or by
+  // reference (selected by a constructor argument), so 'const type'
+  // can be used to reference a const native array.  We cannot
+  // 'typedef const type& const_reference' here, as that would mean
+  // ConstReference() has to return a reference to a local variable.
+  typedef const type const_reference;
+
+  static const_reference ConstReference(const Element (&array)[N]) {
+    // Ensures that Element is not a const type.
+    testing::StaticAssertTypeEq<Element, RawElement>();
+#if GTEST_OS_SYMBIAN
+    // The Nokia Symbian compiler confuses itself in template instantiation
+    // for this call without the cast to Element*:
+    // function call '[testing::internal::NativeArray<char *>].NativeArray(
+    //     {lval} const char *[4], long, testing::internal::RelationToSource)'
+    //     does not match
+    // 'testing::internal::NativeArray<char *>::NativeArray(
+    //     char *const *, unsigned int, testing::internal::RelationToSource)'
+    // (instantiating: 'testing::internal::ContainsMatcherImpl
+    //     <const char * (&)[4]>::Matches(const char * (&)[4]) const')
+    // (instantiating: 'testing::internal::StlContainerView<char *[4]>::
+    //     ConstReference(const char * (&)[4])')
+    // (and though the N parameter type is mismatched in the above explicit
+    // conversion of it doesn't help - only the conversion of the array).
+    return type(const_cast<Element*>(&array[0]), N,
+                RelationToSourceReference());
+#else
+    return type(array, N, RelationToSourceReference());
+#endif  // GTEST_OS_SYMBIAN
+  }
+  static type Copy(const Element (&array)[N]) {
+#if GTEST_OS_SYMBIAN
+    return type(const_cast<Element*>(&array[0]), N, RelationToSourceCopy());
+#else
+    return type(array, N, RelationToSourceCopy());
+#endif  // GTEST_OS_SYMBIAN
+  }
+};
+
+// This specialization is used when RawContainer is a native array
+// represented as a (pointer, size) tuple.
+template <typename ElementPointer, typename Size>
+class StlContainerView< ::testing::tuple<ElementPointer, Size> > {
+ public:
+  typedef GTEST_REMOVE_CONST_(
+      typename internal::PointeeOf<ElementPointer>::type) RawElement;
+  typedef internal::NativeArray<RawElement> type;
+  typedef const type const_reference;
+
+  static const_reference ConstReference(
+      const ::testing::tuple<ElementPointer, Size>& array) {
+    return type(get<0>(array), get<1>(array), RelationToSourceReference());
+  }
+  static type Copy(const ::testing::tuple<ElementPointer, Size>& array) {
+    return type(get<0>(array), get<1>(array), RelationToSourceCopy());
+  }
+};
+
+// The following specialization prevents the user from instantiating
+// StlContainer with a reference type.
+template <typename T> class StlContainerView<T&>;
+
+// A type transform to remove constness from the first part of a pair.
+// Pairs like that are used as the value_type of associative containers,
+// and this transform produces a similar but assignable pair.
+template <typename T>
+struct RemoveConstFromKey {
+  typedef T type;
+};
+
+// Partially specialized to remove constness from std::pair<const K, V>.
+template <typename K, typename V>
+struct RemoveConstFromKey<std::pair<const K, V> > {
+  typedef std::pair<K, V> type;
+};
+
+// Mapping from booleans to types. Similar to boost::bool_<kValue> and
+// std::integral_constant<bool, kValue>.
+template <bool kValue>
+struct BooleanConstant {};
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+
+
+#if GTEST_HAS_STD_TYPE_TRAITS_  // Defined by gtest-port.h via gmock-port.h.
+#include <type_traits>
+#endif
+
+namespace testing {
+
+// To implement an action Foo, define:
+//   1. a class FooAction that implements the ActionInterface interface, and
+//   2. a factory function that creates an Action object from a
+//      const FooAction*.
+//
+// The two-level delegation design follows that of Matcher, providing
+// consistency for extension developers.  It also eases ownership
+// management as Action objects can now be copied like plain values.
+
+namespace internal {
+
+template <typename F1, typename F2>
+class ActionAdaptor;
+
+// BuiltInDefaultValueGetter<T, true>::Get() returns a
+// default-constructed T value.  BuiltInDefaultValueGetter<T,
+// false>::Get() crashes with an error.
+//
+// This primary template is used when kDefaultConstructible is true.
+template <typename T, bool kDefaultConstructible>
+struct BuiltInDefaultValueGetter {
+  static T Get() { return T(); }
+};
+template <typename T>
+struct BuiltInDefaultValueGetter<T, false> {
+  static T Get() {
+    Assert(false, __FILE__, __LINE__,
+           "Default action undefined for the function return type.");
+    return internal::Invalid<T>();
+    // The above statement will never be reached, but is required in
+    // order for this function to compile.
+  }
+};
+
+// BuiltInDefaultValue<T>::Get() returns the "built-in" default value
+// for type T, which is NULL when T is a raw pointer type, 0 when T is
+// a numeric type, false when T is bool, or "" when T is string or
+// std::string.  In addition, in C++11 and above, it turns a
+// default-constructed T value if T is default constructible.  For any
+// other type T, the built-in default T value is undefined, and the
+// function will abort the process.
+template <typename T>
+class BuiltInDefaultValue {
+ public:
+#if GTEST_HAS_STD_TYPE_TRAITS_
+  // This function returns true iff type T has a built-in default value.
+  static bool Exists() {
+    return ::std::is_default_constructible<T>::value;
+  }
+
+  static T Get() {
+    return BuiltInDefaultValueGetter<
+        T, ::std::is_default_constructible<T>::value>::Get();
+  }
+
+#else  // GTEST_HAS_STD_TYPE_TRAITS_
+  // This function returns true iff type T has a built-in default value.
+  static bool Exists() {
+    return false;
+  }
+
+  static T Get() {
+    return BuiltInDefaultValueGetter<T, false>::Get();
+  }
+
+#endif  // GTEST_HAS_STD_TYPE_TRAITS_
+};
+
+// This partial specialization says that we use the same built-in
+// default value for T and const T.
+template <typename T>
+class BuiltInDefaultValue<const T> {
+ public:
+  static bool Exists() { return BuiltInDefaultValue<T>::Exists(); }
+  static T Get() { return BuiltInDefaultValue<T>::Get(); }
+};
+
+// This partial specialization defines the default values for pointer
+// types.
+template <typename T>
+class BuiltInDefaultValue<T*> {
+ public:
+  static bool Exists() { return true; }
+  static T* Get() { return NULL; }
+};
+
+// The following specializations define the default values for
+// specific types we care about.
+#define GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(type, value) \
+  template <> \
+  class BuiltInDefaultValue<type> { \
+   public: \
+    static bool Exists() { return true; } \
+    static type Get() { return value; } \
+  }
+
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(void, );  // NOLINT
+#if GTEST_HAS_GLOBAL_STRING
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(::string, "");
+#endif  // GTEST_HAS_GLOBAL_STRING
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(::std::string, "");
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(bool, false);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned char, '\0');
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed char, '\0');
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(char, '\0');
+
+// There's no need for a default action for signed wchar_t, as that
+// type is the same as wchar_t for gcc, and invalid for MSVC.
+//
+// There's also no need for a default action for unsigned wchar_t, as
+// that type is the same as unsigned int for gcc, and invalid for
+// MSVC.
+#if GMOCK_WCHAR_T_IS_NATIVE_
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(wchar_t, 0U);  // NOLINT
+#endif
+
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned short, 0U);  // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed short, 0);     // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned int, 0U);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed int, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned long, 0UL);  // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed long, 0L);     // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(UInt64, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(Int64, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(float, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(double, 0);
+
+#undef GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_
+
+}  // namespace internal
+
+// When an unexpected function call is encountered, Google Mock will
+// let it return a default value if the user has specified one for its
+// return type, or if the return type has a built-in default value;
+// otherwise Google Mock won't know what value to return and will have
+// to abort the process.
+//
+// The DefaultValue<T> class allows a user to specify the
+// default value for a type T that is both copyable and publicly
+// destructible (i.e. anything that can be used as a function return
+// type).  The usage is:
+//
+//   // Sets the default value for type T to be foo.
+//   DefaultValue<T>::Set(foo);
+template <typename T>
+class DefaultValue {
+ public:
+  // Sets the default value for type T; requires T to be
+  // copy-constructable and have a public destructor.
+  static void Set(T x) {
+    delete producer_;
+    producer_ = new FixedValueProducer(x);
+  }
+
+  // Provides a factory function to be called to generate the default value.
+  // This method can be used even if T is only move-constructible, but it is not
+  // limited to that case.
+  typedef T (*FactoryFunction)();
+  static void SetFactory(FactoryFunction factory) {
+    delete producer_;
+    producer_ = new FactoryValueProducer(factory);
+  }
+
+  // Unsets the default value for type T.
+  static void Clear() {
+    delete producer_;
+    producer_ = NULL;
+  }
+
+  // Returns true iff the user has set the default value for type T.
+  static bool IsSet() { return producer_ != NULL; }
+
+  // Returns true if T has a default return value set by the user or there
+  // exists a built-in default value.
+  static bool Exists() {
+    return IsSet() || internal::BuiltInDefaultValue<T>::Exists();
+  }
+
+  // Returns the default value for type T if the user has set one;
+  // otherwise returns the built-in default value. Requires that Exists()
+  // is true, which ensures that the return value is well-defined.
+  static T Get() {
+    return producer_ == NULL ?
+        internal::BuiltInDefaultValue<T>::Get() : producer_->Produce();
+  }
+
+ private:
+  class ValueProducer {
+   public:
+    virtual ~ValueProducer() {}
+    virtual T Produce() = 0;
+  };
+
+  class FixedValueProducer : public ValueProducer {
+   public:
+    explicit FixedValueProducer(T value) : value_(value) {}
+    virtual T Produce() { return value_; }
+
+   private:
+    const T value_;
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(FixedValueProducer);
+  };
+
+  class FactoryValueProducer : public ValueProducer {
+   public:
+    explicit FactoryValueProducer(FactoryFunction factory)
+        : factory_(factory) {}
+    virtual T Produce() { return factory_(); }
+
+   private:
+    const FactoryFunction factory_;
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(FactoryValueProducer);
+  };
+
+  static ValueProducer* producer_;
+};
+
+// This partial specialization allows a user to set default values for
+// reference types.
+template <typename T>
+class DefaultValue<T&> {
+ public:
+  // Sets the default value for type T&.
+  static void Set(T& x) {  // NOLINT
+    address_ = &x;
+  }
+
+  // Unsets the default value for type T&.
+  static void Clear() {
+    address_ = NULL;
+  }
+
+  // Returns true iff the user has set the default value for type T&.
+  static bool IsSet() { return address_ != NULL; }
+
+  // Returns true if T has a default return value set by the user or there
+  // exists a built-in default value.
+  static bool Exists() {
+    return IsSet() || internal::BuiltInDefaultValue<T&>::Exists();
+  }
+
+  // Returns the default value for type T& if the user has set one;
+  // otherwise returns the built-in default value if there is one;
+  // otherwise aborts the process.
+  static T& Get() {
+    return address_ == NULL ?
+        internal::BuiltInDefaultValue<T&>::Get() : *address_;
+  }
+
+ private:
+  static T* address_;
+};
+
+// This specialization allows DefaultValue<void>::Get() to
+// compile.
+template <>
+class DefaultValue<void> {
+ public:
+  static bool Exists() { return true; }
+  static void Get() {}
+};
+
+// Points to the user-set default value for type T.
+template <typename T>
+typename DefaultValue<T>::ValueProducer* DefaultValue<T>::producer_ = NULL;
+
+// Points to the user-set default value for type T&.
+template <typename T>
+T* DefaultValue<T&>::address_ = NULL;
+
+// Implement this interface to define an action for function type F.
+template <typename F>
+class ActionInterface {
+ public:
+  typedef typename internal::Function<F>::Result Result;
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  ActionInterface() {}
+  virtual ~ActionInterface() {}
+
+  // Performs the action.  This method is not const, as in general an
+  // action can have side effects and be stateful.  For example, a
+  // get-the-next-element-from-the-collection action will need to
+  // remember the current element.
+  virtual Result Perform(const ArgumentTuple& args) = 0;
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ActionInterface);
+};
+
+// An Action<F> is a copyable and IMMUTABLE (except by assignment)
+// object that represents an action to be taken when a mock function
+// of type F is called.  The implementation of Action<T> is just a
+// linked_ptr to const ActionInterface<T>, so copying is fairly cheap.
+// Don't inherit from Action!
+//
+// You can view an object implementing ActionInterface<F> as a
+// concrete action (including its current state), and an Action<F>
+// object as a handle to it.
+template <typename F>
+class Action {
+ public:
+  typedef typename internal::Function<F>::Result Result;
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  // Constructs a null Action.  Needed for storing Action objects in
+  // STL containers.
+  Action() : impl_(NULL) {}
+
+  // Constructs an Action from its implementation.  A NULL impl is
+  // used to represent the "do-default" action.
+  explicit Action(ActionInterface<F>* impl) : impl_(impl) {}
+
+  // Copy constructor.
+  Action(const Action& action) : impl_(action.impl_) {}
+
+  // This constructor allows us to turn an Action<Func> object into an
+  // Action<F>, as long as F's arguments can be implicitly converted
+  // to Func's and Func's return type can be implicitly converted to
+  // F's.
+  template <typename Func>
+  explicit Action(const Action<Func>& action);
+
+  // Returns true iff this is the DoDefault() action.
+  bool IsDoDefault() const { return impl_.get() == NULL; }
+
+  // Performs the action.  Note that this method is const even though
+  // the corresponding method in ActionInterface is not.  The reason
+  // is that a const Action<F> means that it cannot be re-bound to
+  // another concrete action, not that the concrete action it binds to
+  // cannot change state.  (Think of the difference between a const
+  // pointer and a pointer to const.)
+  Result Perform(const ArgumentTuple& args) const {
+    internal::Assert(
+        !IsDoDefault(), __FILE__, __LINE__,
+        "You are using DoDefault() inside a composite action like "
+        "DoAll() or WithArgs().  This is not supported for technical "
+        "reasons.  Please instead spell out the default action, or "
+        "assign the default action to an Action variable and use "
+        "the variable in various places.");
+    return impl_->Perform(args);
+  }
+
+ private:
+  template <typename F1, typename F2>
+  friend class internal::ActionAdaptor;
+
+  internal::linked_ptr<ActionInterface<F> > impl_;
+};
+
+// The PolymorphicAction class template makes it easy to implement a
+// polymorphic action (i.e. an action that can be used in mock
+// functions of than one type, e.g. Return()).
+//
+// To define a polymorphic action, a user first provides a COPYABLE
+// implementation class that has a Perform() method template:
+//
+//   class FooAction {
+//    public:
+//     template <typename Result, typename ArgumentTuple>
+//     Result Perform(const ArgumentTuple& args) const {
+//       // Processes the arguments and returns a result, using
+//       // tr1::get<N>(args) to get the N-th (0-based) argument in the tuple.
+//     }
+//     ...
+//   };
+//
+// Then the user creates the polymorphic action using
+// MakePolymorphicAction(object) where object has type FooAction.  See
+// the definition of Return(void) and SetArgumentPointee<N>(value) for
+// complete examples.
+template <typename Impl>
+class PolymorphicAction {
+ public:
+  explicit PolymorphicAction(const Impl& impl) : impl_(impl) {}
+
+  template <typename F>
+  operator Action<F>() const {
+    return Action<F>(new MonomorphicImpl<F>(impl_));
+  }
+
+ private:
+  template <typename F>
+  class MonomorphicImpl : public ActionInterface<F> {
+   public:
+    typedef typename internal::Function<F>::Result Result;
+    typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+    explicit MonomorphicImpl(const Impl& impl) : impl_(impl) {}
+
+    virtual Result Perform(const ArgumentTuple& args) {
+      return impl_.template Perform<Result>(args);
+    }
+
+   private:
+    Impl impl_;
+
+    GTEST_DISALLOW_ASSIGN_(MonomorphicImpl);
+  };
+
+  Impl impl_;
+
+  GTEST_DISALLOW_ASSIGN_(PolymorphicAction);
+};
+
+// Creates an Action from its implementation and returns it.  The
+// created Action object owns the implementation.
+template <typename F>
+Action<F> MakeAction(ActionInterface<F>* impl) {
+  return Action<F>(impl);
+}
+
+// Creates a polymorphic action from its implementation.  This is
+// easier to use than the PolymorphicAction<Impl> constructor as it
+// doesn't require you to explicitly write the template argument, e.g.
+//
+//   MakePolymorphicAction(foo);
+// vs
+//   PolymorphicAction<TypeOfFoo>(foo);
+template <typename Impl>
+inline PolymorphicAction<Impl> MakePolymorphicAction(const Impl& impl) {
+  return PolymorphicAction<Impl>(impl);
+}
+
+namespace internal {
+
+// Allows an Action<F2> object to pose as an Action<F1>, as long as F2
+// and F1 are compatible.
+template <typename F1, typename F2>
+class ActionAdaptor : public ActionInterface<F1> {
+ public:
+  typedef typename internal::Function<F1>::Result Result;
+  typedef typename internal::Function<F1>::ArgumentTuple ArgumentTuple;
+
+  explicit ActionAdaptor(const Action<F2>& from) : impl_(from.impl_) {}
+
+  virtual Result Perform(const ArgumentTuple& args) {
+    return impl_->Perform(args);
+  }
+
+ private:
+  const internal::linked_ptr<ActionInterface<F2> > impl_;
+
+  GTEST_DISALLOW_ASSIGN_(ActionAdaptor);
+};
+
+// Helper struct to specialize ReturnAction to execute a move instead of a copy
+// on return. Useful for move-only types, but could be used on any type.
+template <typename T>
+struct ByMoveWrapper {
+  explicit ByMoveWrapper(T value) : payload(internal::move(value)) {}
+  T payload;
+};
+
+// Implements the polymorphic Return(x) action, which can be used in
+// any function that returns the type of x, regardless of the argument
+// types.
+//
+// Note: The value passed into Return must be converted into
+// Function<F>::Result when this action is cast to Action<F> rather than
+// when that action is performed. This is important in scenarios like
+//
+// MOCK_METHOD1(Method, T(U));
+// ...
+// {
+//   Foo foo;
+//   X x(&foo);
+//   EXPECT_CALL(mock, Method(_)).WillOnce(Return(x));
+// }
+//
+// In the example above the variable x holds reference to foo which leaves
+// scope and gets destroyed.  If copying X just copies a reference to foo,
+// that copy will be left with a hanging reference.  If conversion to T
+// makes a copy of foo, the above code is safe. To support that scenario, we
+// need to make sure that the type conversion happens inside the EXPECT_CALL
+// statement, and conversion of the result of Return to Action<T(U)> is a
+// good place for that.
+//
+template <typename R>
+class ReturnAction {
+ public:
+  // Constructs a ReturnAction object from the value to be returned.
+  // 'value' is passed by value instead of by const reference in order
+  // to allow Return("string literal") to compile.
+  explicit ReturnAction(R value) : value_(new R(internal::move(value))) {}
+
+  // This template type conversion operator allows Return(x) to be
+  // used in ANY function that returns x's type.
+  template <typename F>
+  operator Action<F>() const {
+    // Assert statement belongs here because this is the best place to verify
+    // conditions on F. It produces the clearest error messages
+    // in most compilers.
+    // Impl really belongs in this scope as a local class but can't
+    // because MSVC produces duplicate symbols in different translation units
+    // in this case. Until MS fixes that bug we put Impl into the class scope
+    // and put the typedef both here (for use in assert statement) and
+    // in the Impl class. But both definitions must be the same.
+    typedef typename Function<F>::Result Result;
+    GTEST_COMPILE_ASSERT_(
+        !is_reference<Result>::value,
+        use_ReturnRef_instead_of_Return_to_return_a_reference);
+    return Action<F>(new Impl<R, F>(value_));
+  }
+
+ private:
+  // Implements the Return(x) action for a particular function type F.
+  template <typename R_, typename F>
+  class Impl : public ActionInterface<F> {
+   public:
+    typedef typename Function<F>::Result Result;
+    typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+    // The implicit cast is necessary when Result has more than one
+    // single-argument constructor (e.g. Result is std::vector<int>) and R
+    // has a type conversion operator template.  In that case, value_(value)
+    // won't compile as the compiler doesn't known which constructor of
+    // Result to call.  ImplicitCast_ forces the compiler to convert R to
+    // Result without considering explicit constructors, thus resolving the
+    // ambiguity. value_ is then initialized using its copy constructor.
+    explicit Impl(const linked_ptr<R>& value)
+        : value_before_cast_(*value),
+          value_(ImplicitCast_<Result>(value_before_cast_)) {}
+
+    virtual Result Perform(const ArgumentTuple&) { return value_; }
+
+   private:
+    GTEST_COMPILE_ASSERT_(!is_reference<Result>::value,
+                          Result_cannot_be_a_reference_type);
+    // We save the value before casting just in case it is being cast to a
+    // wrapper type.
+    R value_before_cast_;
+    Result value_;
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(Impl);
+  };
+
+  // Partially specialize for ByMoveWrapper. This version of ReturnAction will
+  // move its contents instead.
+  template <typename R_, typename F>
+  class Impl<ByMoveWrapper<R_>, F> : public ActionInterface<F> {
+   public:
+    typedef typename Function<F>::Result Result;
+    typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+    explicit Impl(const linked_ptr<R>& wrapper)
+        : performed_(false), wrapper_(wrapper) {}
+
+    virtual Result Perform(const ArgumentTuple&) {
+      GTEST_CHECK_(!performed_)
+          << "A ByMove() action should only be performed once.";
+      performed_ = true;
+      return internal::move(wrapper_->payload);
+    }
+
+   private:
+    bool performed_;
+    const linked_ptr<R> wrapper_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  const linked_ptr<R> value_;
+
+  GTEST_DISALLOW_ASSIGN_(ReturnAction);
+};
+
+// Implements the ReturnNull() action.
+class ReturnNullAction {
+ public:
+  // Allows ReturnNull() to be used in any pointer-returning function. In C++11
+  // this is enforced by returning nullptr, and in non-C++11 by asserting a
+  // pointer type on compile time.
+  template <typename Result, typename ArgumentTuple>
+  static Result Perform(const ArgumentTuple&) {
+#if GTEST_LANG_CXX11
+    return nullptr;
+#else
+    GTEST_COMPILE_ASSERT_(internal::is_pointer<Result>::value,
+                          ReturnNull_can_be_used_to_return_a_pointer_only);
+    return NULL;
+#endif  // GTEST_LANG_CXX11
+  }
+};
+
+// Implements the Return() action.
+class ReturnVoidAction {
+ public:
+  // Allows Return() to be used in any void-returning function.
+  template <typename Result, typename ArgumentTuple>
+  static void Perform(const ArgumentTuple&) {
+    CompileAssertTypesEqual<void, Result>();
+  }
+};
+
+// Implements the polymorphic ReturnRef(x) action, which can be used
+// in any function that returns a reference to the type of x,
+// regardless of the argument types.
+template <typename T>
+class ReturnRefAction {
+ public:
+  // Constructs a ReturnRefAction object from the reference to be returned.
+  explicit ReturnRefAction(T& ref) : ref_(ref) {}  // NOLINT
+
+  // This template type conversion operator allows ReturnRef(x) to be
+  // used in ANY function that returns a reference to x's type.
+  template <typename F>
+  operator Action<F>() const {
+    typedef typename Function<F>::Result Result;
+    // Asserts that the function return type is a reference.  This
+    // catches the user error of using ReturnRef(x) when Return(x)
+    // should be used, and generates some helpful error message.
+    GTEST_COMPILE_ASSERT_(internal::is_reference<Result>::value,
+                          use_Return_instead_of_ReturnRef_to_return_a_value);
+    return Action<F>(new Impl<F>(ref_));
+  }
+
+ private:
+  // Implements the ReturnRef(x) action for a particular function type F.
+  template <typename F>
+  class Impl : public ActionInterface<F> {
+   public:
+    typedef typename Function<F>::Result Result;
+    typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+    explicit Impl(T& ref) : ref_(ref) {}  // NOLINT
+
+    virtual Result Perform(const ArgumentTuple&) {
+      return ref_;
+    }
+
+   private:
+    T& ref_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  T& ref_;
+
+  GTEST_DISALLOW_ASSIGN_(ReturnRefAction);
+};
+
+// Implements the polymorphic ReturnRefOfCopy(x) action, which can be
+// used in any function that returns a reference to the type of x,
+// regardless of the argument types.
+template <typename T>
+class ReturnRefOfCopyAction {
+ public:
+  // Constructs a ReturnRefOfCopyAction object from the reference to
+  // be returned.
+  explicit ReturnRefOfCopyAction(const T& value) : value_(value) {}  // NOLINT
+
+  // This template type conversion operator allows ReturnRefOfCopy(x) to be
+  // used in ANY function that returns a reference to x's type.
+  template <typename F>
+  operator Action<F>() const {
+    typedef typename Function<F>::Result Result;
+    // Asserts that the function return type is a reference.  This
+    // catches the user error of using ReturnRefOfCopy(x) when Return(x)
+    // should be used, and generates some helpful error message.
+    GTEST_COMPILE_ASSERT_(
+        internal::is_reference<Result>::value,
+        use_Return_instead_of_ReturnRefOfCopy_to_return_a_value);
+    return Action<F>(new Impl<F>(value_));
+  }
+
+ private:
+  // Implements the ReturnRefOfCopy(x) action for a particular function type F.
+  template <typename F>
+  class Impl : public ActionInterface<F> {
+   public:
+    typedef typename Function<F>::Result Result;
+    typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+    explicit Impl(const T& value) : value_(value) {}  // NOLINT
+
+    virtual Result Perform(const ArgumentTuple&) {
+      return value_;
+    }
+
+   private:
+    T value_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  const T value_;
+
+  GTEST_DISALLOW_ASSIGN_(ReturnRefOfCopyAction);
+};
+
+// Implements the polymorphic DoDefault() action.
+class DoDefaultAction {
+ public:
+  // This template type conversion operator allows DoDefault() to be
+  // used in any function.
+  template <typename F>
+  operator Action<F>() const { return Action<F>(NULL); }
+};
+
+// Implements the Assign action to set a given pointer referent to a
+// particular value.
+template <typename T1, typename T2>
+class AssignAction {
+ public:
+  AssignAction(T1* ptr, T2 value) : ptr_(ptr), value_(value) {}
+
+  template <typename Result, typename ArgumentTuple>
+  void Perform(const ArgumentTuple& /* args */) const {
+    *ptr_ = value_;
+  }
+
+ private:
+  T1* const ptr_;
+  const T2 value_;
+
+  GTEST_DISALLOW_ASSIGN_(AssignAction);
+};
+
+#if !GTEST_OS_WINDOWS_MOBILE
+
+// Implements the SetErrnoAndReturn action to simulate return from
+// various system calls and libc functions.
+template <typename T>
+class SetErrnoAndReturnAction {
+ public:
+  SetErrnoAndReturnAction(int errno_value, T result)
+      : errno_(errno_value),
+        result_(result) {}
+  template <typename Result, typename ArgumentTuple>
+  Result Perform(const ArgumentTuple& /* args */) const {
+    errno = errno_;
+    return result_;
+  }
+
+ private:
+  const int errno_;
+  const T result_;
+
+  GTEST_DISALLOW_ASSIGN_(SetErrnoAndReturnAction);
+};
+
+#endif  // !GTEST_OS_WINDOWS_MOBILE
+
+// Implements the SetArgumentPointee<N>(x) action for any function
+// whose N-th argument (0-based) is a pointer to x's type.  The
+// template parameter kIsProto is true iff type A is ProtocolMessage,
+// proto2::Message, or a sub-class of those.
+template <size_t N, typename A, bool kIsProto>
+class SetArgumentPointeeAction {
+ public:
+  // Constructs an action that sets the variable pointed to by the
+  // N-th function argument to 'value'.
+  explicit SetArgumentPointeeAction(const A& value) : value_(value) {}
+
+  template <typename Result, typename ArgumentTuple>
+  void Perform(const ArgumentTuple& args) const {
+    CompileAssertTypesEqual<void, Result>();
+    *::testing::get<N>(args) = value_;
+  }
+
+ private:
+  const A value_;
+
+  GTEST_DISALLOW_ASSIGN_(SetArgumentPointeeAction);
+};
+
+template <size_t N, typename Proto>
+class SetArgumentPointeeAction<N, Proto, true> {
+ public:
+  // Constructs an action that sets the variable pointed to by the
+  // N-th function argument to 'proto'.  Both ProtocolMessage and
+  // proto2::Message have the CopyFrom() method, so the same
+  // implementation works for both.
+  explicit SetArgumentPointeeAction(const Proto& proto) : proto_(new Proto) {
+    proto_->CopyFrom(proto);
+  }
+
+  template <typename Result, typename ArgumentTuple>
+  void Perform(const ArgumentTuple& args) const {
+    CompileAssertTypesEqual<void, Result>();
+    ::testing::get<N>(args)->CopyFrom(*proto_);
+  }
+
+ private:
+  const internal::linked_ptr<Proto> proto_;
+
+  GTEST_DISALLOW_ASSIGN_(SetArgumentPointeeAction);
+};
+
+// Implements the InvokeWithoutArgs(f) action.  The template argument
+// FunctionImpl is the implementation type of f, which can be either a
+// function pointer or a functor.  InvokeWithoutArgs(f) can be used as an
+// Action<F> as long as f's type is compatible with F (i.e. f can be
+// assigned to a tr1::function<F>).
+template <typename FunctionImpl>
+class InvokeWithoutArgsAction {
+ public:
+  // The c'tor makes a copy of function_impl (either a function
+  // pointer or a functor).
+  explicit InvokeWithoutArgsAction(FunctionImpl function_impl)
+      : function_impl_(function_impl) {}
+
+  // Allows InvokeWithoutArgs(f) to be used as any action whose type is
+  // compatible with f.
+  template <typename Result, typename ArgumentTuple>
+  Result Perform(const ArgumentTuple&) { return function_impl_(); }
+
+ private:
+  FunctionImpl function_impl_;
+
+  GTEST_DISALLOW_ASSIGN_(InvokeWithoutArgsAction);
+};
+
+// Implements the InvokeWithoutArgs(object_ptr, &Class::Method) action.
+template <class Class, typename MethodPtr>
+class InvokeMethodWithoutArgsAction {
+ public:
+  InvokeMethodWithoutArgsAction(Class* obj_ptr, MethodPtr method_ptr)
+      : obj_ptr_(obj_ptr), method_ptr_(method_ptr) {}
+
+  template <typename Result, typename ArgumentTuple>
+  Result Perform(const ArgumentTuple&) const {
+    return (obj_ptr_->*method_ptr_)();
+  }
+
+ private:
+  Class* const obj_ptr_;
+  const MethodPtr method_ptr_;
+
+  GTEST_DISALLOW_ASSIGN_(InvokeMethodWithoutArgsAction);
+};
+
+// Implements the IgnoreResult(action) action.
+template <typename A>
+class IgnoreResultAction {
+ public:
+  explicit IgnoreResultAction(const A& action) : action_(action) {}
+
+  template <typename F>
+  operator Action<F>() const {
+    // Assert statement belongs here because this is the best place to verify
+    // conditions on F. It produces the clearest error messages
+    // in most compilers.
+    // Impl really belongs in this scope as a local class but can't
+    // because MSVC produces duplicate symbols in different translation units
+    // in this case. Until MS fixes that bug we put Impl into the class scope
+    // and put the typedef both here (for use in assert statement) and
+    // in the Impl class. But both definitions must be the same.
+    typedef typename internal::Function<F>::Result Result;
+
+    // Asserts at compile time that F returns void.
+    CompileAssertTypesEqual<void, Result>();
+
+    return Action<F>(new Impl<F>(action_));
+  }
+
+ private:
+  template <typename F>
+  class Impl : public ActionInterface<F> {
+   public:
+    typedef typename internal::Function<F>::Result Result;
+    typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+    explicit Impl(const A& action) : action_(action) {}
+
+    virtual void Perform(const ArgumentTuple& args) {
+      // Performs the action and ignores its result.
+      action_.Perform(args);
+    }
+
+   private:
+    // Type OriginalFunction is the same as F except that its return
+    // type is IgnoredValue.
+    typedef typename internal::Function<F>::MakeResultIgnoredValue
+        OriginalFunction;
+
+    const Action<OriginalFunction> action_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  const A action_;
+
+  GTEST_DISALLOW_ASSIGN_(IgnoreResultAction);
+};
+
+// A ReferenceWrapper<T> object represents a reference to type T,
+// which can be either const or not.  It can be explicitly converted
+// from, and implicitly converted to, a T&.  Unlike a reference,
+// ReferenceWrapper<T> can be copied and can survive template type
+// inference.  This is used to support by-reference arguments in the
+// InvokeArgument<N>(...) action.  The idea was from "reference
+// wrappers" in tr1, which we don't have in our source tree yet.
+template <typename T>
+class ReferenceWrapper {
+ public:
+  // Constructs a ReferenceWrapper<T> object from a T&.
+  explicit ReferenceWrapper(T& l_value) : pointer_(&l_value) {}  // NOLINT
+
+  // Allows a ReferenceWrapper<T> object to be implicitly converted to
+  // a T&.
+  operator T&() const { return *pointer_; }
+ private:
+  T* pointer_;
+};
+
+// Allows the expression ByRef(x) to be printed as a reference to x.
+template <typename T>
+void PrintTo(const ReferenceWrapper<T>& ref, ::std::ostream* os) {
+  T& value = ref;
+  UniversalPrinter<T&>::Print(value, os);
+}
+
+// Does two actions sequentially.  Used for implementing the DoAll(a1,
+// a2, ...) action.
+template <typename Action1, typename Action2>
+class DoBothAction {
+ public:
+  DoBothAction(Action1 action1, Action2 action2)
+      : action1_(action1), action2_(action2) {}
+
+  // This template type conversion operator allows DoAll(a1, ..., a_n)
+  // to be used in ANY function of compatible type.
+  template <typename F>
+  operator Action<F>() const {
+    return Action<F>(new Impl<F>(action1_, action2_));
+  }
+
+ private:
+  // Implements the DoAll(...) action for a particular function type F.
+  template <typename F>
+  class Impl : public ActionInterface<F> {
+   public:
+    typedef typename Function<F>::Result Result;
+    typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+    typedef typename Function<F>::MakeResultVoid VoidResult;
+
+    Impl(const Action<VoidResult>& action1, const Action<F>& action2)
+        : action1_(action1), action2_(action2) {}
+
+    virtual Result Perform(const ArgumentTuple& args) {
+      action1_.Perform(args);
+      return action2_.Perform(args);
+    }
+
+   private:
+    const Action<VoidResult> action1_;
+    const Action<F> action2_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  Action1 action1_;
+  Action2 action2_;
+
+  GTEST_DISALLOW_ASSIGN_(DoBothAction);
+};
+
+}  // namespace internal
+
+// An Unused object can be implicitly constructed from ANY value.
+// This is handy when defining actions that ignore some or all of the
+// mock function arguments.  For example, given
+//
+//   MOCK_METHOD3(Foo, double(const string& label, double x, double y));
+//   MOCK_METHOD3(Bar, double(int index, double x, double y));
+//
+// instead of
+//
+//   double DistanceToOriginWithLabel(const string& label, double x, double y) {
+//     return sqrt(x*x + y*y);
+//   }
+//   double DistanceToOriginWithIndex(int index, double x, double y) {
+//     return sqrt(x*x + y*y);
+//   }
+//   ...
+//   EXEPCT_CALL(mock, Foo("abc", _, _))
+//       .WillOnce(Invoke(DistanceToOriginWithLabel));
+//   EXEPCT_CALL(mock, Bar(5, _, _))
+//       .WillOnce(Invoke(DistanceToOriginWithIndex));
+//
+// you could write
+//
+//   // We can declare any uninteresting argument as Unused.
+//   double DistanceToOrigin(Unused, double x, double y) {
+//     return sqrt(x*x + y*y);
+//   }
+//   ...
+//   EXEPCT_CALL(mock, Foo("abc", _, _)).WillOnce(Invoke(DistanceToOrigin));
+//   EXEPCT_CALL(mock, Bar(5, _, _)).WillOnce(Invoke(DistanceToOrigin));
+typedef internal::IgnoredValue Unused;
+
+// This constructor allows us to turn an Action<From> object into an
+// Action<To>, as long as To's arguments can be implicitly converted
+// to From's and From's return type cann be implicitly converted to
+// To's.
+template <typename To>
+template <typename From>
+Action<To>::Action(const Action<From>& from)
+    : impl_(new internal::ActionAdaptor<To, From>(from)) {}
+
+// Creates an action that returns 'value'.  'value' is passed by value
+// instead of const reference - otherwise Return("string literal")
+// will trigger a compiler error about using array as initializer.
+template <typename R>
+internal::ReturnAction<R> Return(R value) {
+  return internal::ReturnAction<R>(internal::move(value));
+}
+
+// Creates an action that returns NULL.
+inline PolymorphicAction<internal::ReturnNullAction> ReturnNull() {
+  return MakePolymorphicAction(internal::ReturnNullAction());
+}
+
+// Creates an action that returns from a void function.
+inline PolymorphicAction<internal::ReturnVoidAction> Return() {
+  return MakePolymorphicAction(internal::ReturnVoidAction());
+}
+
+// Creates an action that returns the reference to a variable.
+template <typename R>
+inline internal::ReturnRefAction<R> ReturnRef(R& x) {  // NOLINT
+  return internal::ReturnRefAction<R>(x);
+}
+
+// Creates an action that returns the reference to a copy of the
+// argument.  The copy is created when the action is constructed and
+// lives as long as the action.
+template <typename R>
+inline internal::ReturnRefOfCopyAction<R> ReturnRefOfCopy(const R& x) {
+  return internal::ReturnRefOfCopyAction<R>(x);
+}
+
+// Modifies the parent action (a Return() action) to perform a move of the
+// argument instead of a copy.
+// Return(ByMove()) actions can only be executed once and will assert this
+// invariant.
+template <typename R>
+internal::ByMoveWrapper<R> ByMove(R x) {
+  return internal::ByMoveWrapper<R>(internal::move(x));
+}
+
+// Creates an action that does the default action for the give mock function.
+inline internal::DoDefaultAction DoDefault() {
+  return internal::DoDefaultAction();
+}
+
+// Creates an action that sets the variable pointed by the N-th
+// (0-based) function argument to 'value'.
+template <size_t N, typename T>
+PolymorphicAction<
+  internal::SetArgumentPointeeAction<
+    N, T, internal::IsAProtocolMessage<T>::value> >
+SetArgPointee(const T& x) {
+  return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+      N, T, internal::IsAProtocolMessage<T>::value>(x));
+}
+
+#if !((GTEST_GCC_VER_ && GTEST_GCC_VER_ < 40000) || GTEST_OS_SYMBIAN)
+// This overload allows SetArgPointee() to accept a string literal.
+// GCC prior to the version 4.0 and Symbian C++ compiler cannot distinguish
+// this overload from the templated version and emit a compile error.
+template <size_t N>
+PolymorphicAction<
+  internal::SetArgumentPointeeAction<N, const char*, false> >
+SetArgPointee(const char* p) {
+  return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+      N, const char*, false>(p));
+}
+
+template <size_t N>
+PolymorphicAction<
+  internal::SetArgumentPointeeAction<N, const wchar_t*, false> >
+SetArgPointee(const wchar_t* p) {
+  return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+      N, const wchar_t*, false>(p));
+}
+#endif
+
+// The following version is DEPRECATED.
+template <size_t N, typename T>
+PolymorphicAction<
+  internal::SetArgumentPointeeAction<
+    N, T, internal::IsAProtocolMessage<T>::value> >
+SetArgumentPointee(const T& x) {
+  return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+      N, T, internal::IsAProtocolMessage<T>::value>(x));
+}
+
+// Creates an action that sets a pointer referent to a given value.
+template <typename T1, typename T2>
+PolymorphicAction<internal::AssignAction<T1, T2> > Assign(T1* ptr, T2 val) {
+  return MakePolymorphicAction(internal::AssignAction<T1, T2>(ptr, val));
+}
+
+#if !GTEST_OS_WINDOWS_MOBILE
+
+// Creates an action that sets errno and returns the appropriate error.
+template <typename T>
+PolymorphicAction<internal::SetErrnoAndReturnAction<T> >
+SetErrnoAndReturn(int errval, T result) {
+  return MakePolymorphicAction(
+      internal::SetErrnoAndReturnAction<T>(errval, result));
+}
+
+#endif  // !GTEST_OS_WINDOWS_MOBILE
+
+// Various overloads for InvokeWithoutArgs().
+
+// Creates an action that invokes 'function_impl' with no argument.
+template <typename FunctionImpl>
+PolymorphicAction<internal::InvokeWithoutArgsAction<FunctionImpl> >
+InvokeWithoutArgs(FunctionImpl function_impl) {
+  return MakePolymorphicAction(
+      internal::InvokeWithoutArgsAction<FunctionImpl>(function_impl));
+}
+
+// Creates an action that invokes the given method on the given object
+// with no argument.
+template <class Class, typename MethodPtr>
+PolymorphicAction<internal::InvokeMethodWithoutArgsAction<Class, MethodPtr> >
+InvokeWithoutArgs(Class* obj_ptr, MethodPtr method_ptr) {
+  return MakePolymorphicAction(
+      internal::InvokeMethodWithoutArgsAction<Class, MethodPtr>(
+          obj_ptr, method_ptr));
+}
+
+// Creates an action that performs an_action and throws away its
+// result.  In other words, it changes the return type of an_action to
+// void.  an_action MUST NOT return void, or the code won't compile.
+template <typename A>
+inline internal::IgnoreResultAction<A> IgnoreResult(const A& an_action) {
+  return internal::IgnoreResultAction<A>(an_action);
+}
+
+// Creates a reference wrapper for the given L-value.  If necessary,
+// you can explicitly specify the type of the reference.  For example,
+// suppose 'derived' is an object of type Derived, ByRef(derived)
+// would wrap a Derived&.  If you want to wrap a const Base& instead,
+// where Base is a base class of Derived, just write:
+//
+//   ByRef<const Base>(derived)
+template <typename T>
+inline internal::ReferenceWrapper<T> ByRef(T& l_value) {  // NOLINT
+  return internal::ReferenceWrapper<T>(l_value);
+}
+
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used cardinalities.  More
+// cardinalities can be defined by the user implementing the
+// CardinalityInterface interface if necessary.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+
+#include <limits.h>
+#include <ostream>  // NOLINT
+
+namespace testing {
+
+// To implement a cardinality Foo, define:
+//   1. a class FooCardinality that implements the
+//      CardinalityInterface interface, and
+//   2. a factory function that creates a Cardinality object from a
+//      const FooCardinality*.
+//
+// The two-level delegation design follows that of Matcher, providing
+// consistency for extension developers.  It also eases ownership
+// management as Cardinality objects can now be copied like plain values.
+
+// The implementation of a cardinality.
+class CardinalityInterface {
+ public:
+  virtual ~CardinalityInterface() {}
+
+  // Conservative estimate on the lower/upper bound of the number of
+  // calls allowed.
+  virtual int ConservativeLowerBound() const { return 0; }
+  virtual int ConservativeUpperBound() const { return INT_MAX; }
+
+  // Returns true iff call_count calls will satisfy this cardinality.
+  virtual bool IsSatisfiedByCallCount(int call_count) const = 0;
+
+  // Returns true iff call_count calls will saturate this cardinality.
+  virtual bool IsSaturatedByCallCount(int call_count) const = 0;
+
+  // Describes self to an ostream.
+  virtual void DescribeTo(::std::ostream* os) const = 0;
+};
+
+// A Cardinality is a copyable and IMMUTABLE (except by assignment)
+// object that specifies how many times a mock function is expected to
+// be called.  The implementation of Cardinality is just a linked_ptr
+// to const CardinalityInterface, so copying is fairly cheap.
+// Don't inherit from Cardinality!
+class GTEST_API_ Cardinality {
+ public:
+  // Constructs a null cardinality.  Needed for storing Cardinality
+  // objects in STL containers.
+  Cardinality() {}
+
+  // Constructs a Cardinality from its implementation.
+  explicit Cardinality(const CardinalityInterface* impl) : impl_(impl) {}
+
+  // Conservative estimate on the lower/upper bound of the number of
+  // calls allowed.
+  int ConservativeLowerBound() const { return impl_->ConservativeLowerBound(); }
+  int ConservativeUpperBound() const { return impl_->ConservativeUpperBound(); }
+
+  // Returns true iff call_count calls will satisfy this cardinality.
+  bool IsSatisfiedByCallCount(int call_count) const {
+    return impl_->IsSatisfiedByCallCount(call_count);
+  }
+
+  // Returns true iff call_count calls will saturate this cardinality.
+  bool IsSaturatedByCallCount(int call_count) const {
+    return impl_->IsSaturatedByCallCount(call_count);
+  }
+
+  // Returns true iff call_count calls will over-saturate this
+  // cardinality, i.e. exceed the maximum number of allowed calls.
+  bool IsOverSaturatedByCallCount(int call_count) const {
+    return impl_->IsSaturatedByCallCount(call_count) &&
+        !impl_->IsSatisfiedByCallCount(call_count);
+  }
+
+  // Describes self to an ostream
+  void DescribeTo(::std::ostream* os) const { impl_->DescribeTo(os); }
+
+  // Describes the given actual call count to an ostream.
+  static void DescribeActualCallCountTo(int actual_call_count,
+                                        ::std::ostream* os);
+
+ private:
+  internal::linked_ptr<const CardinalityInterface> impl_;
+};
+
+// Creates a cardinality that allows at least n calls.
+GTEST_API_ Cardinality AtLeast(int n);
+
+// Creates a cardinality that allows at most n calls.
+GTEST_API_ Cardinality AtMost(int n);
+
+// Creates a cardinality that allows any number of calls.
+GTEST_API_ Cardinality AnyNumber();
+
+// Creates a cardinality that allows between min and max calls.
+GTEST_API_ Cardinality Between(int min, int max);
+
+// Creates a cardinality that allows exactly n calls.
+GTEST_API_ Cardinality Exactly(int n);
+
+// Creates a cardinality from its implementation.
+inline Cardinality MakeCardinality(const CardinalityInterface* c) {
+  return Cardinality(c);
+}
+
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+// This file was GENERATED by a script.  DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used variadic actions.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+
+
+namespace testing {
+namespace internal {
+
+// InvokeHelper<F> knows how to unpack an N-tuple and invoke an N-ary
+// function or method with the unpacked values, where F is a function
+// type that takes N arguments.
+template <typename Result, typename ArgumentTuple>
+class InvokeHelper;
+
+template <typename R>
+class InvokeHelper<R, ::testing::tuple<> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<>&) {
+           return function();
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<>&) {
+           return (obj_ptr->*method_ptr)();
+  }
+};
+
+template <typename R, typename A1>
+class InvokeHelper<R, ::testing::tuple<A1> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1>& args) {
+           return function(get<0>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2>
+class InvokeHelper<R, ::testing::tuple<A1, A2> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2>& args) {
+           return function(get<0>(args), get<1>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3,
+      A4>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args),
+               get<3>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3, A4>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args), get<3>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4,
+      A5>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args),
+               get<3>(args), get<4>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3, A4, A5>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args), get<3>(args), get<4>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+      A6>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args),
+               get<3>(args), get<4>(args), get<5>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3, A4, A5, A6>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args), get<3>(args), get<4>(args), get<5>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+      A6, A7>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args),
+               get<3>(args), get<4>(args), get<5>(args), get<6>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3, A4, A5, A6,
+                            A7>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+               get<6>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+      A6, A7, A8>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args),
+               get<3>(args), get<4>(args), get<5>(args), get<6>(args),
+               get<7>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3, A4, A5, A6, A7,
+                            A8>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+               get<6>(args), get<7>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8, typename A9>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+      A6, A7, A8, A9>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args),
+               get<3>(args), get<4>(args), get<5>(args), get<6>(args),
+               get<7>(args), get<8>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8,
+                            A9>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+               get<6>(args), get<7>(args), get<8>(args));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8, typename A9,
+    typename A10>
+class InvokeHelper<R, ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+    A10> > {
+ public:
+  template <typename Function>
+  static R Invoke(Function function, const ::testing::tuple<A1, A2, A3, A4, A5,
+      A6, A7, A8, A9, A10>& args) {
+           return function(get<0>(args), get<1>(args), get<2>(args),
+               get<3>(args), get<4>(args), get<5>(args), get<6>(args),
+               get<7>(args), get<8>(args), get<9>(args));
+  }
+
+  template <class Class, typename MethodPtr>
+  static R InvokeMethod(Class* obj_ptr,
+                        MethodPtr method_ptr,
+                        const ::testing::tuple<A1, A2, A3, A4, A5, A6, A7, A8,
+                            A9, A10>& args) {
+           return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args),
+               get<2>(args), get<3>(args), get<4>(args), get<5>(args),
+               get<6>(args), get<7>(args), get<8>(args), get<9>(args));
+  }
+};
+
+// An INTERNAL macro for extracting the type of a tuple field.  It's
+// subject to change without notice - DO NOT USE IN USER CODE!
+#define GMOCK_FIELD_(Tuple, N) \
+    typename ::testing::tuple_element<N, Tuple>::type
+
+// SelectArgs<Result, ArgumentTuple, k1, k2, ..., k_n>::type is the
+// type of an n-ary function whose i-th (1-based) argument type is the
+// k{i}-th (0-based) field of ArgumentTuple, which must be a tuple
+// type, and whose return type is Result.  For example,
+//   SelectArgs<int, ::testing::tuple<bool, char, double, long>, 0, 3>::type
+// is int(bool, long).
+//
+// SelectArgs<Result, ArgumentTuple, k1, k2, ..., k_n>::Select(args)
+// returns the selected fields (k1, k2, ..., k_n) of args as a tuple.
+// For example,
+//   SelectArgs<int, tuple<bool, char, double>, 2, 0>::Select(
+//       ::testing::make_tuple(true, 'a', 2.5))
+// returns tuple (2.5, true).
+//
+// The numbers in list k1, k2, ..., k_n must be >= 0, where n can be
+// in the range [0, 10].  Duplicates are allowed and they don't have
+// to be in an ascending or descending order.
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+    int k4, int k5, int k6, int k7, int k8, int k9, int k10>
+class SelectArgs {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+      GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+      GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+      GMOCK_FIELD_(ArgumentTuple, k8), GMOCK_FIELD_(ArgumentTuple, k9),
+      GMOCK_FIELD_(ArgumentTuple, k10));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+        get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+        get<k8>(args), get<k9>(args), get<k10>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple>
+class SelectArgs<Result, ArgumentTuple,
+                 -1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef Result type();
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& /* args */) {
+    return SelectedArgs();
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, k3, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+    int k4>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, k3, k4, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+      GMOCK_FIELD_(ArgumentTuple, k4));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+        get<k4>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+    int k4, int k5>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, k3, k4, k5, -1, -1, -1, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+      GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+        get<k4>(args), get<k5>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+    int k4, int k5, int k6>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, k3, k4, k5, k6, -1, -1, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+      GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+      GMOCK_FIELD_(ArgumentTuple, k6));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+        get<k4>(args), get<k5>(args), get<k6>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+    int k4, int k5, int k6, int k7>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, k3, k4, k5, k6, k7, -1, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+      GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+      GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+        get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+    int k4, int k5, int k6, int k7, int k8>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, k3, k4, k5, k6, k7, k8, -1, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+      GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+      GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+      GMOCK_FIELD_(ArgumentTuple, k8));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+        get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+        get<k8>(args));
+  }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+    int k4, int k5, int k6, int k7, int k8, int k9>
+class SelectArgs<Result, ArgumentTuple,
+                 k1, k2, k3, k4, k5, k6, k7, k8, k9, -1> {
+ public:
+  typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+      GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+      GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+      GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+      GMOCK_FIELD_(ArgumentTuple, k8), GMOCK_FIELD_(ArgumentTuple, k9));
+  typedef typename Function<type>::ArgumentTuple SelectedArgs;
+  static SelectedArgs Select(const ArgumentTuple& args) {
+    return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+        get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+        get<k8>(args), get<k9>(args));
+  }
+};
+
+#undef GMOCK_FIELD_
+
+// Implements the WithArgs action.
+template <typename InnerAction, int k1 = -1, int k2 = -1, int k3 = -1,
+    int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+    int k9 = -1, int k10 = -1>
+class WithArgsAction {
+ public:
+  explicit WithArgsAction(const InnerAction& action) : action_(action) {}
+
+  template <typename F>
+  operator Action<F>() const { return MakeAction(new Impl<F>(action_)); }
+
+ private:
+  template <typename F>
+  class Impl : public ActionInterface<F> {
+   public:
+    typedef typename Function<F>::Result Result;
+    typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+    explicit Impl(const InnerAction& action) : action_(action) {}
+
+    virtual Result Perform(const ArgumentTuple& args) {
+      return action_.Perform(SelectArgs<Result, ArgumentTuple, k1, k2, k3, k4,
+          k5, k6, k7, k8, k9, k10>::Select(args));
+    }
+
+   private:
+    typedef typename SelectArgs<Result, ArgumentTuple,
+        k1, k2, k3, k4, k5, k6, k7, k8, k9, k10>::type InnerFunctionType;
+
+    Action<InnerFunctionType> action_;
+  };
+
+  const InnerAction action_;
+
+  GTEST_DISALLOW_ASSIGN_(WithArgsAction);
+};
+
+// A macro from the ACTION* family (defined later in this file)
+// defines an action that can be used in a mock function.  Typically,
+// these actions only care about a subset of the arguments of the mock
+// function.  For example, if such an action only uses the second
+// argument, it can be used in any mock function that takes >= 2
+// arguments where the type of the second argument is compatible.
+//
+// Therefore, the action implementation must be prepared to take more
+// arguments than it needs.  The ExcessiveArg type is used to
+// represent those excessive arguments.  In order to keep the compiler
+// error messages tractable, we define it in the testing namespace
+// instead of testing::internal.  However, this is an INTERNAL TYPE
+// and subject to change without notice, so a user MUST NOT USE THIS
+// TYPE DIRECTLY.
+struct ExcessiveArg {};
+
+// A helper class needed for implementing the ACTION* macros.
+template <typename Result, class Impl>
+class ActionHelper {
+ public:
+  static Result Perform(Impl* impl, const ::testing::tuple<>& args) {
+    return impl->template gmock_PerformImpl<>(args, ExcessiveArg(),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0>& args) {
+    return impl->template gmock_PerformImpl<A0>(args, get<0>(args),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1>& args) {
+    return impl->template gmock_PerformImpl<A0, A1>(args, get<0>(args),
+        get<1>(args), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2>(args, get<0>(args),
+        get<1>(args), get<2>(args), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2, typename A3>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2,
+      A3>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2, A3>(args, get<0>(args),
+        get<1>(args), get<2>(args), get<3>(args), ExcessiveArg(),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2, typename A3, typename A4>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3,
+      A4>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4>(args,
+        get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+        ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2, typename A3, typename A4,
+      typename A5>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+      A5>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5>(args,
+        get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+        get<5>(args), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2, typename A3, typename A4,
+      typename A5, typename A6>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+      A5, A6>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6>(args,
+        get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+        get<5>(args), get<6>(args), ExcessiveArg(), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2, typename A3, typename A4,
+      typename A5, typename A6, typename A7>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+      A5, A6, A7>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6,
+        A7>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+        get<4>(args), get<5>(args), get<6>(args), get<7>(args), ExcessiveArg(),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2, typename A3, typename A4,
+      typename A5, typename A6, typename A7, typename A8>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+      A5, A6, A7, A8>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6, A7,
+        A8>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+        get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args),
+        ExcessiveArg());
+  }
+
+  template <typename A0, typename A1, typename A2, typename A3, typename A4,
+      typename A5, typename A6, typename A7, typename A8, typename A9>
+  static Result Perform(Impl* impl, const ::testing::tuple<A0, A1, A2, A3, A4,
+      A5, A6, A7, A8, A9>& args) {
+    return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6, A7, A8,
+        A9>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+        get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args),
+        get<9>(args));
+  }
+};
+
+}  // namespace internal
+
+// Various overloads for Invoke().
+
+// WithArgs<N1, N2, ..., Nk>(an_action) creates an action that passes
+// the selected arguments of the mock function to an_action and
+// performs it.  It serves as an adaptor between actions with
+// different argument lists.  C++ doesn't support default arguments for
+// function templates, so we have to overload it.
+template <int k1, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1>(action);
+}
+
+template <int k1, int k2, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2>(action);
+}
+
+template <int k1, int k2, int k3, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3>(action);
+}
+
+template <int k1, int k2, int k3, int k4, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3, k4>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7,
+    typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6,
+      k7>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+    typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7,
+      k8>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+    int k9, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8, k9>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+      k9>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+    int k9, int k10, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+    k9, k10>
+WithArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+      k9, k10>(action);
+}
+
+// Creates an action that does actions a1, a2, ..., sequentially in
+// each invocation.
+template <typename Action1, typename Action2>
+inline internal::DoBothAction<Action1, Action2>
+DoAll(Action1 a1, Action2 a2) {
+  return internal::DoBothAction<Action1, Action2>(a1, a2);
+}
+
+template <typename Action1, typename Action2, typename Action3>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    Action3> >
+DoAll(Action1 a1, Action2 a2, Action3 a3) {
+  return DoAll(a1, DoAll(a2, a3));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+    typename Action4>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    internal::DoBothAction<Action3, Action4> > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4) {
+  return DoAll(a1, DoAll(a2, a3, a4));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+    typename Action4, typename Action5>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+    Action5> > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5) {
+  return DoAll(a1, DoAll(a2, a3, a4, a5));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+    typename Action4, typename Action5, typename Action6>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+    internal::DoBothAction<Action5, Action6> > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6) {
+  return DoAll(a1, DoAll(a2, a3, a4, a5, a6));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+    typename Action4, typename Action5, typename Action6, typename Action7>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+    internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+    Action7> > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+    Action7 a7) {
+  return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+    typename Action4, typename Action5, typename Action6, typename Action7,
+    typename Action8>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+    internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+    internal::DoBothAction<Action7, Action8> > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+    Action7 a7, Action8 a8) {
+  return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+    typename Action4, typename Action5, typename Action6, typename Action7,
+    typename Action8, typename Action9>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+    internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+    internal::DoBothAction<Action7, internal::DoBothAction<Action8,
+    Action9> > > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+    Action7 a7, Action8 a8, Action9 a9) {
+  return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8, a9));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+    typename Action4, typename Action5, typename Action6, typename Action7,
+    typename Action8, typename Action9, typename Action10>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+    internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+    internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+    internal::DoBothAction<Action7, internal::DoBothAction<Action8,
+    internal::DoBothAction<Action9, Action10> > > > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+    Action7 a7, Action8 a8, Action9 a9, Action10 a10) {
+  return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8, a9, a10));
+}
+
+}  // namespace testing
+
+// The ACTION* family of macros can be used in a namespace scope to
+// define custom actions easily.  The syntax:
+//
+//   ACTION(name) { statements; }
+//
+// will define an action with the given name that executes the
+// statements.  The value returned by the statements will be used as
+// the return value of the action.  Inside the statements, you can
+// refer to the K-th (0-based) argument of the mock function by
+// 'argK', and refer to its type by 'argK_type'.  For example:
+//
+//   ACTION(IncrementArg1) {
+//     arg1_type temp = arg1;
+//     return ++(*temp);
+//   }
+//
+// allows you to write
+//
+//   ...WillOnce(IncrementArg1());
+//
+// You can also refer to the entire argument tuple and its type by
+// 'args' and 'args_type', and refer to the mock function type and its
+// return type by 'function_type' and 'return_type'.
+//
+// Note that you don't need to specify the types of the mock function
+// arguments.  However rest assured that your code is still type-safe:
+// you'll get a compiler error if *arg1 doesn't support the ++
+// operator, or if the type of ++(*arg1) isn't compatible with the
+// mock function's return type, for example.
+//
+// Sometimes you'll want to parameterize the action.   For that you can use
+// another macro:
+//
+//   ACTION_P(name, param_name) { statements; }
+//
+// For example:
+//
+//   ACTION_P(Add, n) { return arg0 + n; }
+//
+// will allow you to write:
+//
+//   ...WillOnce(Add(5));
+//
+// Note that you don't need to provide the type of the parameter
+// either.  If you need to reference the type of a parameter named
+// 'foo', you can write 'foo_type'.  For example, in the body of
+// ACTION_P(Add, n) above, you can write 'n_type' to refer to the type
+// of 'n'.
+//
+// We also provide ACTION_P2, ACTION_P3, ..., up to ACTION_P10 to support
+// multi-parameter actions.
+//
+// For the purpose of typing, you can view
+//
+//   ACTION_Pk(Foo, p1, ..., pk) { ... }
+//
+// as shorthand for
+//
+//   template <typename p1_type, ..., typename pk_type>
+//   FooActionPk<p1_type, ..., pk_type> Foo(p1_type p1, ..., pk_type pk) { ... }
+//
+// In particular, you can provide the template type arguments
+// explicitly when invoking Foo(), as in Foo<long, bool>(5, false);
+// although usually you can rely on the compiler to infer the types
+// for you automatically.  You can assign the result of expression
+// Foo(p1, ..., pk) to a variable of type FooActionPk<p1_type, ...,
+// pk_type>.  This can be useful when composing actions.
+//
+// You can also overload actions with different numbers of parameters:
+//
+//   ACTION_P(Plus, a) { ... }
+//   ACTION_P2(Plus, a, b) { ... }
+//
+// While it's tempting to always use the ACTION* macros when defining
+// a new action, you should also consider implementing ActionInterface
+// or using MakePolymorphicAction() instead, especially if you need to
+// use the action a lot.  While these approaches require more work,
+// they give you more control on the types of the mock function
+// arguments and the action parameters, which in general leads to
+// better compiler error messages that pay off in the long run.  They
+// also allow overloading actions based on parameter types (as opposed
+// to just based on the number of parameters).
+//
+// CAVEAT:
+//
+// ACTION*() can only be used in a namespace scope.  The reason is
+// that C++ doesn't yet allow function-local types to be used to
+// instantiate templates.  The up-coming C++0x standard will fix this.
+// Once that's done, we'll consider supporting using ACTION*() inside
+// a function.
+//
+// MORE INFORMATION:
+//
+// To learn more about using these macros, please search for 'ACTION'
+// on http://code.google.com/p/googlemock/wiki/CookBook.
+
+// An internal macro needed for implementing ACTION*().
+#define GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_\
+    const args_type& args GTEST_ATTRIBUTE_UNUSED_, \
+    arg0_type arg0 GTEST_ATTRIBUTE_UNUSED_, \
+    arg1_type arg1 GTEST_ATTRIBUTE_UNUSED_, \
+    arg2_type arg2 GTEST_ATTRIBUTE_UNUSED_, \
+    arg3_type arg3 GTEST_ATTRIBUTE_UNUSED_, \
+    arg4_type arg4 GTEST_ATTRIBUTE_UNUSED_, \
+    arg5_type arg5 GTEST_ATTRIBUTE_UNUSED_, \
+    arg6_type arg6 GTEST_ATTRIBUTE_UNUSED_, \
+    arg7_type arg7 GTEST_ATTRIBUTE_UNUSED_, \
+    arg8_type arg8 GTEST_ATTRIBUTE_UNUSED_, \
+    arg9_type arg9 GTEST_ATTRIBUTE_UNUSED_
+
+// Sometimes you want to give an action explicit template parameters
+// that cannot be inferred from its value parameters.  ACTION() and
+// ACTION_P*() don't support that.  ACTION_TEMPLATE() remedies that
+// and can be viewed as an extension to ACTION() and ACTION_P*().
+//
+// The syntax:
+//
+//   ACTION_TEMPLATE(ActionName,
+//                   HAS_m_TEMPLATE_PARAMS(kind1, name1, ..., kind_m, name_m),
+//                   AND_n_VALUE_PARAMS(p1, ..., p_n)) { statements; }
+//
+// defines an action template that takes m explicit template
+// parameters and n value parameters.  name_i is the name of the i-th
+// template parameter, and kind_i specifies whether it's a typename,
+// an integral constant, or a template.  p_i is the name of the i-th
+// value parameter.
+//
+// Example:
+//
+//   // DuplicateArg<k, T>(output) converts the k-th argument of the mock
+//   // function to type T and copies it to *output.
+//   ACTION_TEMPLATE(DuplicateArg,
+//                   HAS_2_TEMPLATE_PARAMS(int, k, typename, T),
+//                   AND_1_VALUE_PARAMS(output)) {
+//     *output = T(::testing::get<k>(args));
+//   }
+//   ...
+//     int n;
+//     EXPECT_CALL(mock, Foo(_, _))
+//         .WillOnce(DuplicateArg<1, unsigned char>(&n));
+//
+// To create an instance of an action template, write:
+//
+//   ActionName<t1, ..., t_m>(v1, ..., v_n)
+//
+// where the ts are the template arguments and the vs are the value
+// arguments.  The value argument types are inferred by the compiler.
+// If you want to explicitly specify the value argument types, you can
+// provide additional template arguments:
+//
+//   ActionName<t1, ..., t_m, u1, ..., u_k>(v1, ..., v_n)
+//
+// where u_i is the desired type of v_i.
+//
+// ACTION_TEMPLATE and ACTION/ACTION_P* can be overloaded on the
+// number of value parameters, but not on the number of template
+// parameters.  Without the restriction, the meaning of the following
+// is unclear:
+//
+//   OverloadedAction<int, bool>(x);
+//
+// Are we using a single-template-parameter action where 'bool' refers
+// to the type of x, or are we using a two-template-parameter action
+// where the compiler is asked to infer the type of x?
+//
+// Implementation notes:
+//
+// GMOCK_INTERNAL_*_HAS_m_TEMPLATE_PARAMS and
+// GMOCK_INTERNAL_*_AND_n_VALUE_PARAMS are internal macros for
+// implementing ACTION_TEMPLATE.  The main trick we use is to create
+// new macro invocations when expanding a macro.  For example, we have
+//
+//   #define ACTION_TEMPLATE(name, template_params, value_params)
+//       ... GMOCK_INTERNAL_DECL_##template_params ...
+//
+// which causes ACTION_TEMPLATE(..., HAS_1_TEMPLATE_PARAMS(typename, T), ...)
+// to expand to
+//
+//       ... GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS(typename, T) ...
+//
+// Since GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS is a macro, the
+// preprocessor will continue to expand it to
+//
+//       ... typename T ...
+//
+// This technique conforms to the C++ standard and is portable.  It
+// allows us to implement action templates using O(N) code, where N is
+// the maximum number of template/value parameters supported.  Without
+// using it, we'd have to devote O(N^2) amount of code to implement all
+// combinations of m and n.
+
+// Declares the template parameters.
+#define GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS(kind0, name0) kind0 name0
+#define GMOCK_INTERNAL_DECL_HAS_2_TEMPLATE_PARAMS(kind0, name0, kind1, \
+    name1) kind0 name0, kind1 name1
+#define GMOCK_INTERNAL_DECL_HAS_3_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2) kind0 name0, kind1 name1, kind2 name2
+#define GMOCK_INTERNAL_DECL_HAS_4_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3) kind0 name0, kind1 name1, kind2 name2, \
+    kind3 name3
+#define GMOCK_INTERNAL_DECL_HAS_5_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4) kind0 name0, kind1 name1, \
+    kind2 name2, kind3 name3, kind4 name4
+#define GMOCK_INTERNAL_DECL_HAS_6_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5) kind0 name0, \
+    kind1 name1, kind2 name2, kind3 name3, kind4 name4, kind5 name5
+#define GMOCK_INTERNAL_DECL_HAS_7_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+    name6) kind0 name0, kind1 name1, kind2 name2, kind3 name3, kind4 name4, \
+    kind5 name5, kind6 name6
+#define GMOCK_INTERNAL_DECL_HAS_8_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+    kind7, name7) kind0 name0, kind1 name1, kind2 name2, kind3 name3, \
+    kind4 name4, kind5 name5, kind6 name6, kind7 name7
+#define GMOCK_INTERNAL_DECL_HAS_9_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+    kind7, name7, kind8, name8) kind0 name0, kind1 name1, kind2 name2, \
+    kind3 name3, kind4 name4, kind5 name5, kind6 name6, kind7 name7, \
+    kind8 name8
+#define GMOCK_INTERNAL_DECL_HAS_10_TEMPLATE_PARAMS(kind0, name0, kind1, \
+    name1, kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+    name6, kind7, name7, kind8, name8, kind9, name9) kind0 name0, \
+    kind1 name1, kind2 name2, kind3 name3, kind4 name4, kind5 name5, \
+    kind6 name6, kind7 name7, kind8 name8, kind9 name9
+
+// Lists the template parameters.
+#define GMOCK_INTERNAL_LIST_HAS_1_TEMPLATE_PARAMS(kind0, name0) name0
+#define GMOCK_INTERNAL_LIST_HAS_2_TEMPLATE_PARAMS(kind0, name0, kind1, \
+    name1) name0, name1
+#define GMOCK_INTERNAL_LIST_HAS_3_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2) name0, name1, name2
+#define GMOCK_INTERNAL_LIST_HAS_4_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3) name0, name1, name2, name3
+#define GMOCK_INTERNAL_LIST_HAS_5_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4) name0, name1, name2, name3, \
+    name4
+#define GMOCK_INTERNAL_LIST_HAS_6_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5) name0, name1, \
+    name2, name3, name4, name5
+#define GMOCK_INTERNAL_LIST_HAS_7_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+    name6) name0, name1, name2, name3, name4, name5, name6
+#define GMOCK_INTERNAL_LIST_HAS_8_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+    kind7, name7) name0, name1, name2, name3, name4, name5, name6, name7
+#define GMOCK_INTERNAL_LIST_HAS_9_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+    kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+    kind7, name7, kind8, name8) name0, name1, name2, name3, name4, name5, \
+    name6, name7, name8
+#define GMOCK_INTERNAL_LIST_HAS_10_TEMPLATE_PARAMS(kind0, name0, kind1, \
+    name1, kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+    name6, kind7, name7, kind8, name8, kind9, name9) name0, name1, name2, \
+    name3, name4, name5, name6, name7, name8, name9
+
+// Declares the types of value parameters.
+#define GMOCK_INTERNAL_DECL_TYPE_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DECL_TYPE_AND_1_VALUE_PARAMS(p0) , typename p0##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_2_VALUE_PARAMS(p0, p1) , \
+    typename p0##_type, typename p1##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_3_VALUE_PARAMS(p0, p1, p2) , \
+    typename p0##_type, typename p1##_type, typename p2##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_4_VALUE_PARAMS(p0, p1, p2, p3) , \
+    typename p0##_type, typename p1##_type, typename p2##_type, \
+    typename p3##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) , \
+    typename p0##_type, typename p1##_type, typename p2##_type, \
+    typename p3##_type, typename p4##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) , \
+    typename p0##_type, typename p1##_type, typename p2##_type, \
+    typename p3##_type, typename p4##_type, typename p5##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6) , typename p0##_type, typename p1##_type, typename p2##_type, \
+    typename p3##_type, typename p4##_type, typename p5##_type, \
+    typename p6##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6, p7) , typename p0##_type, typename p1##_type, typename p2##_type, \
+    typename p3##_type, typename p4##_type, typename p5##_type, \
+    typename p6##_type, typename p7##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6, p7, p8) , typename p0##_type, typename p1##_type, typename p2##_type, \
+    typename p3##_type, typename p4##_type, typename p5##_type, \
+    typename p6##_type, typename p7##_type, typename p8##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6, p7, p8, p9) , typename p0##_type, typename p1##_type, \
+    typename p2##_type, typename p3##_type, typename p4##_type, \
+    typename p5##_type, typename p6##_type, typename p7##_type, \
+    typename p8##_type, typename p9##_type
+
+// Initializes the value parameters.
+#define GMOCK_INTERNAL_INIT_AND_0_VALUE_PARAMS()\
+    ()
+#define GMOCK_INTERNAL_INIT_AND_1_VALUE_PARAMS(p0)\
+    (p0##_type gmock_p0) : p0(gmock_p0)
+#define GMOCK_INTERNAL_INIT_AND_2_VALUE_PARAMS(p0, p1)\
+    (p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), p1(gmock_p1)
+#define GMOCK_INTERNAL_INIT_AND_3_VALUE_PARAMS(p0, p1, p2)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2)
+#define GMOCK_INTERNAL_INIT_AND_4_VALUE_PARAMS(p0, p1, p2, p3)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+        p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3)
+#define GMOCK_INTERNAL_INIT_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+        p3##_type gmock_p3, p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3), p4(gmock_p4)
+#define GMOCK_INTERNAL_INIT_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+        p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5)
+#define GMOCK_INTERNAL_INIT_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+        p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+        p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6)
+#define GMOCK_INTERNAL_INIT_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+        p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+        p6##_type gmock_p6, p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+        p7(gmock_p7)
+#define GMOCK_INTERNAL_INIT_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+        p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+        p6##_type gmock_p6, p7##_type gmock_p7, \
+        p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+        p8(gmock_p8)
+#define GMOCK_INTERNAL_INIT_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8, p9)\
+    (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+        p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+        p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+        p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+        p8(gmock_p8), p9(gmock_p9)
+
+// Declares the fields for storing the value parameters.
+#define GMOCK_INTERNAL_DEFN_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DEFN_AND_1_VALUE_PARAMS(p0) p0##_type p0;
+#define GMOCK_INTERNAL_DEFN_AND_2_VALUE_PARAMS(p0, p1) p0##_type p0; \
+    p1##_type p1;
+#define GMOCK_INTERNAL_DEFN_AND_3_VALUE_PARAMS(p0, p1, p2) p0##_type p0; \
+    p1##_type p1; p2##_type p2;
+#define GMOCK_INTERNAL_DEFN_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0##_type p0; \
+    p1##_type p1; p2##_type p2; p3##_type p3;
+#define GMOCK_INTERNAL_DEFN_AND_5_VALUE_PARAMS(p0, p1, p2, p3, \
+    p4) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4;
+#define GMOCK_INTERNAL_DEFN_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, \
+    p5) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+    p5##_type p5;
+#define GMOCK_INTERNAL_DEFN_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+    p5##_type p5; p6##_type p6;
+#define GMOCK_INTERNAL_DEFN_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+    p5##_type p5; p6##_type p6; p7##_type p7;
+#define GMOCK_INTERNAL_DEFN_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; \
+    p4##_type p4; p5##_type p5; p6##_type p6; p7##_type p7; p8##_type p8;
+#define GMOCK_INTERNAL_DEFN_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8, p9) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; \
+    p4##_type p4; p5##_type p5; p6##_type p6; p7##_type p7; p8##_type p8; \
+    p9##_type p9;
+
+// Lists the value parameters.
+#define GMOCK_INTERNAL_LIST_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_LIST_AND_1_VALUE_PARAMS(p0) p0
+#define GMOCK_INTERNAL_LIST_AND_2_VALUE_PARAMS(p0, p1) p0, p1
+#define GMOCK_INTERNAL_LIST_AND_3_VALUE_PARAMS(p0, p1, p2) p0, p1, p2
+#define GMOCK_INTERNAL_LIST_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0, p1, p2, p3
+#define GMOCK_INTERNAL_LIST_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) p0, p1, \
+    p2, p3, p4
+#define GMOCK_INTERNAL_LIST_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) p0, \
+    p1, p2, p3, p4, p5
+#define GMOCK_INTERNAL_LIST_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6) p0, p1, p2, p3, p4, p5, p6
+#define GMOCK_INTERNAL_LIST_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7) p0, p1, p2, p3, p4, p5, p6, p7
+#define GMOCK_INTERNAL_LIST_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8) p0, p1, p2, p3, p4, p5, p6, p7, p8
+#define GMOCK_INTERNAL_LIST_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8, p9) p0, p1, p2, p3, p4, p5, p6, p7, p8, p9
+
+// Lists the value parameter types.
+#define GMOCK_INTERNAL_LIST_TYPE_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_LIST_TYPE_AND_1_VALUE_PARAMS(p0) , p0##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_2_VALUE_PARAMS(p0, p1) , p0##_type, \
+    p1##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_3_VALUE_PARAMS(p0, p1, p2) , p0##_type, \
+    p1##_type, p2##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_4_VALUE_PARAMS(p0, p1, p2, p3) , \
+    p0##_type, p1##_type, p2##_type, p3##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) , \
+    p0##_type, p1##_type, p2##_type, p3##_type, p4##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) , \
+    p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, p5##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, p5##_type, \
+    p6##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6, p7) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+    p5##_type, p6##_type, p7##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6, p7, p8) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+    p5##_type, p6##_type, p7##_type, p8##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6, p7, p8, p9) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+    p5##_type, p6##_type, p7##_type, p8##_type, p9##_type
+
+// Declares the value parameters.
+#define GMOCK_INTERNAL_DECL_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DECL_AND_1_VALUE_PARAMS(p0) p0##_type p0
+#define GMOCK_INTERNAL_DECL_AND_2_VALUE_PARAMS(p0, p1) p0##_type p0, \
+    p1##_type p1
+#define GMOCK_INTERNAL_DECL_AND_3_VALUE_PARAMS(p0, p1, p2) p0##_type p0, \
+    p1##_type p1, p2##_type p2
+#define GMOCK_INTERNAL_DECL_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0##_type p0, \
+    p1##_type p1, p2##_type p2, p3##_type p3
+#define GMOCK_INTERNAL_DECL_AND_5_VALUE_PARAMS(p0, p1, p2, p3, \
+    p4) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4
+#define GMOCK_INTERNAL_DECL_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, \
+    p5) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+    p5##_type p5
+#define GMOCK_INTERNAL_DECL_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+    p6) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+    p5##_type p5, p6##_type p6
+#define GMOCK_INTERNAL_DECL_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+    p5##_type p5, p6##_type p6, p7##_type p7
+#define GMOCK_INTERNAL_DECL_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+    p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8
+#define GMOCK_INTERNAL_DECL_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8, p9) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+    p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+    p9##_type p9
+
+// The suffix of the class template implementing the action template.
+#define GMOCK_INTERNAL_COUNT_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_COUNT_AND_1_VALUE_PARAMS(p0) P
+#define GMOCK_INTERNAL_COUNT_AND_2_VALUE_PARAMS(p0, p1) P2
+#define GMOCK_INTERNAL_COUNT_AND_3_VALUE_PARAMS(p0, p1, p2) P3
+#define GMOCK_INTERNAL_COUNT_AND_4_VALUE_PARAMS(p0, p1, p2, p3) P4
+#define GMOCK_INTERNAL_COUNT_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) P5
+#define GMOCK_INTERNAL_COUNT_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) P6
+#define GMOCK_INTERNAL_COUNT_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6) P7
+#define GMOCK_INTERNAL_COUNT_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7) P8
+#define GMOCK_INTERNAL_COUNT_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8) P9
+#define GMOCK_INTERNAL_COUNT_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+    p7, p8, p9) P10
+
+// The name of the class template implementing the action template.
+#define GMOCK_ACTION_CLASS_(name, value_params)\
+    GTEST_CONCAT_TOKEN_(name##Action, GMOCK_INTERNAL_COUNT_##value_params)
+
+#define ACTION_TEMPLATE(name, template_params, value_params)\
+  template <GMOCK_INTERNAL_DECL_##template_params\
+            GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+  class GMOCK_ACTION_CLASS_(name, value_params) {\
+   public:\
+    explicit GMOCK_ACTION_CLASS_(name, value_params)\
+        GMOCK_INTERNAL_INIT_##value_params {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      explicit gmock_Impl GMOCK_INTERNAL_INIT_##value_params {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      GMOCK_INTERNAL_DEFN_##value_params\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(\
+          new gmock_Impl<F>(GMOCK_INTERNAL_LIST_##value_params));\
+    }\
+    GMOCK_INTERNAL_DEFN_##value_params\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(GMOCK_ACTION_CLASS_(name, value_params));\
+  };\
+  template <GMOCK_INTERNAL_DECL_##template_params\
+            GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+  inline GMOCK_ACTION_CLASS_(name, value_params)<\
+      GMOCK_INTERNAL_LIST_##template_params\
+      GMOCK_INTERNAL_LIST_TYPE_##value_params> name(\
+          GMOCK_INTERNAL_DECL_##value_params) {\
+    return GMOCK_ACTION_CLASS_(name, value_params)<\
+        GMOCK_INTERNAL_LIST_##template_params\
+        GMOCK_INTERNAL_LIST_TYPE_##value_params>(\
+            GMOCK_INTERNAL_LIST_##value_params);\
+  }\
+  template <GMOCK_INTERNAL_DECL_##template_params\
+            GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      GMOCK_ACTION_CLASS_(name, value_params)<\
+          GMOCK_INTERNAL_LIST_##template_params\
+          GMOCK_INTERNAL_LIST_TYPE_##value_params>::gmock_Impl<F>::\
+              gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION(name)\
+  class name##Action {\
+   public:\
+    name##Action() {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl() {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>());\
+    }\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##Action);\
+  };\
+  inline name##Action name() {\
+    return name##Action();\
+  }\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##Action::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P(name, p0)\
+  template <typename p0##_type>\
+  class name##ActionP {\
+   public:\
+    explicit name##ActionP(p0##_type gmock_p0) : p0(gmock_p0) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      explicit gmock_Impl(p0##_type gmock_p0) : p0(gmock_p0) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0));\
+    }\
+    p0##_type p0;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP);\
+  };\
+  template <typename p0##_type>\
+  inline name##ActionP<p0##_type> name(p0##_type p0) {\
+    return name##ActionP<p0##_type>(p0);\
+  }\
+  template <typename p0##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP<p0##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P2(name, p0, p1)\
+  template <typename p0##_type, typename p1##_type>\
+  class name##ActionP2 {\
+   public:\
+    name##ActionP2(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+        p1(gmock_p1) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+          p1(gmock_p1) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP2);\
+  };\
+  template <typename p0##_type, typename p1##_type>\
+  inline name##ActionP2<p0##_type, p1##_type> name(p0##_type p0, \
+      p1##_type p1) {\
+    return name##ActionP2<p0##_type, p1##_type>(p0, p1);\
+  }\
+  template <typename p0##_type, typename p1##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP2<p0##_type, p1##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P3(name, p0, p1, p2)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type>\
+  class name##ActionP3 {\
+   public:\
+    name##ActionP3(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, \
+          p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP3);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type>\
+  inline name##ActionP3<p0##_type, p1##_type, p2##_type> name(p0##_type p0, \
+      p1##_type p1, p2##_type p2) {\
+    return name##ActionP3<p0##_type, p1##_type, p2##_type>(p0, p1, p2);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP3<p0##_type, p1##_type, \
+          p2##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P4(name, p0, p1, p2, p3)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type>\
+  class name##ActionP4 {\
+   public:\
+    name##ActionP4(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+          p3(gmock_p3) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP4);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type>\
+  inline name##ActionP4<p0##_type, p1##_type, p2##_type, \
+      p3##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+      p3##_type p3) {\
+    return name##ActionP4<p0##_type, p1##_type, p2##_type, p3##_type>(p0, p1, \
+        p2, p3);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP4<p0##_type, p1##_type, p2##_type, \
+          p3##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P5(name, p0, p1, p2, p3, p4)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type>\
+  class name##ActionP5 {\
+   public:\
+    name##ActionP5(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, \
+        p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4) : p0(gmock_p0), \
+          p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), p4(gmock_p4) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP5);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type>\
+  inline name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+      p4##_type p4) {\
+    return name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type>(p0, p1, p2, p3, p4);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+          p4##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P6(name, p0, p1, p2, p3, p4, p5)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type>\
+  class name##ActionP6 {\
+   public:\
+    name##ActionP6(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, \
+          p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+          p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP6);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type>\
+  inline name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+      p3##_type p3, p4##_type p4, p5##_type p5) {\
+    return name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+          p5##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P7(name, p0, p1, p2, p3, p4, p5, p6)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type>\
+  class name##ActionP7 {\
+   public:\
+    name##ActionP7(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), \
+        p6(gmock_p6) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+          p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+          p6));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP7);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type>\
+  inline name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type> name(p0##_type p0, p1##_type p1, \
+      p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+      p6##_type p6) {\
+    return name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, p6);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+          p5##_type, p6##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P8(name, p0, p1, p2, p3, p4, p5, p6, p7)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type>\
+  class name##ActionP8 {\
+   public:\
+    name##ActionP8(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6, \
+        p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+        p7(gmock_p7) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6, p7##_type gmock_p7) : p0(gmock_p0), \
+          p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), \
+          p5(gmock_p5), p6(gmock_p6), p7(gmock_p7) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+      p7##_type p7;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+          p6, p7));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+    p7##_type p7;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP8);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type>\
+  inline name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type, p7##_type> name(p0##_type p0, \
+      p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+      p6##_type p6, p7##_type p7) {\
+    return name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, p3, p4, p5, \
+        p6, p7);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+          p5##_type, p6##_type, \
+          p7##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P9(name, p0, p1, p2, p3, p4, p5, p6, p7, p8)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type>\
+  class name##ActionP9 {\
+   public:\
+    name##ActionP9(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+        p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+        p8(gmock_p8) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6, p7##_type gmock_p7, \
+          p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+          p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+          p7(gmock_p7), p8(gmock_p8) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+      p7##_type p7;\
+      p8##_type p8;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+          p6, p7, p8));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+    p7##_type p7;\
+    p8##_type p8;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP9);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type>\
+  inline name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type, p7##_type, \
+      p8##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+      p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, \
+      p8##_type p8) {\
+    return name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type, p7##_type, p8##_type>(p0, p1, p2, \
+        p3, p4, p5, p6, p7, p8);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+          p5##_type, p6##_type, p7##_type, \
+          p8##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P10(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type, \
+      typename p9##_type>\
+  class name##ActionP10 {\
+   public:\
+    name##ActionP10(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+        p8##_type gmock_p8, p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+        p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {}\
+    template <typename F>\
+    class gmock_Impl : public ::testing::ActionInterface<F> {\
+     public:\
+      typedef F function_type;\
+      typedef typename ::testing::internal::Function<F>::Result return_type;\
+      typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+          args_type;\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+          p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+          p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+          p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {}\
+      virtual return_type Perform(const args_type& args) {\
+        return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+            Perform(this, args);\
+      }\
+      template <typename arg0_type, typename arg1_type, typename arg2_type, \
+          typename arg3_type, typename arg4_type, typename arg5_type, \
+          typename arg6_type, typename arg7_type, typename arg8_type, \
+          typename arg9_type>\
+      return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+          arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+          arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+          arg9_type arg9) const;\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+      p7##_type p7;\
+      p8##_type p8;\
+      p9##_type p9;\
+     private:\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename F> operator ::testing::Action<F>() const {\
+      return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+          p6, p7, p8, p9));\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+    p7##_type p7;\
+    p8##_type p8;\
+    p9##_type p9;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##ActionP10);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type, \
+      typename p9##_type>\
+  inline name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+      p9##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+      p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+      p9##_type p9) {\
+    return name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, p9##_type>(p0, \
+        p1, p2, p3, p4, p5, p6, p7, p8, p9);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type, \
+      typename p9##_type>\
+  template <typename F>\
+  template <typename arg0_type, typename arg1_type, typename arg2_type, \
+      typename arg3_type, typename arg4_type, typename arg5_type, \
+      typename arg6_type, typename arg7_type, typename arg8_type, \
+      typename arg9_type>\
+  typename ::testing::internal::Function<F>::Result\
+      name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+          p5##_type, p6##_type, p7##_type, p8##_type, \
+          p9##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+          GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+namespace testing {
+
+
+// The ACTION*() macros trigger warning C4100 (unreferenced formal
+// parameter) in MSVC with -W4.  Unfortunately they cannot be fixed in
+// the macro definition, as the warnings are generated when the macro
+// is expanded and macro expansion cannot contain #pragma.  Therefore
+// we suppress them here.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4100)
+#endif
+
+// Various overloads for InvokeArgument<N>().
+//
+// The InvokeArgument<N>(a1, a2, ..., a_k) action invokes the N-th
+// (0-based) argument, which must be a k-ary callable, of the mock
+// function, with arguments a1, a2, ..., a_k.
+//
+// Notes:
+//
+//   1. The arguments are passed by value by default.  If you need to
+//   pass an argument by reference, wrap it inside ByRef().  For
+//   example,
+//
+//     InvokeArgument<1>(5, string("Hello"), ByRef(foo))
+//
+//   passes 5 and string("Hello") by value, and passes foo by
+//   reference.
+//
+//   2. If the callable takes an argument by reference but ByRef() is
+//   not used, it will receive the reference to a copy of the value,
+//   instead of the original value.  For example, when the 0-th
+//   argument of the mock function takes a const string&, the action
+//
+//     InvokeArgument<0>(string("Hello"))
+//
+//   makes a copy of the temporary string("Hello") object and passes a
+//   reference of the copy, instead of the original temporary object,
+//   to the callable.  This makes it easy for a user to define an
+//   InvokeArgument action from temporary values and have it performed
+//   later.
+
+namespace internal {
+namespace invoke_argument {
+
+// Appears in InvokeArgumentAdl's argument list to help avoid
+// accidental calls to user functions of the same name.
+struct AdlTag {};
+
+// InvokeArgumentAdl - a helper for InvokeArgument.
+// The basic overloads are provided here for generic functors.
+// Overloads for other custom-callables are provided in the
+// internal/custom/callback-actions.h header.
+
+template <typename R, typename F>
+R InvokeArgumentAdl(AdlTag, F f) {
+  return f();
+}
+template <typename R, typename F, typename A1>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1) {
+  return f(a1);
+}
+template <typename R, typename F, typename A1, typename A2>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2) {
+  return f(a1, a2);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3) {
+  return f(a1, a2, a3);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+    typename A4>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4) {
+  return f(a1, a2, a3, a4);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+    typename A4, typename A5>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) {
+  return f(a1, a2, a3, a4, a5);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) {
+  return f(a1, a2, a3, a4, a5, a6);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6, typename A7>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+    A7 a7) {
+  return f(a1, a2, a3, a4, a5, a6, a7);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6, typename A7, typename A8>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+    A7 a7, A8 a8) {
+  return f(a1, a2, a3, a4, a5, a6, a7, a8);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6, typename A7, typename A8,
+    typename A9>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+    A7 a7, A8 a8, A9 a9) {
+  return f(a1, a2, a3, a4, a5, a6, a7, a8, a9);
+}
+template <typename R, typename F, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6, typename A7, typename A8,
+    typename A9, typename A10>
+R InvokeArgumentAdl(AdlTag, F f, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+    A7 a7, A8 a8, A9 a9, A10 a10) {
+  return f(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10);
+}
+}  // namespace invoke_argument
+}  // namespace internal
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_0_VALUE_PARAMS()) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args));
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_1_VALUE_PARAMS(p0)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_2_VALUE_PARAMS(p0, p1)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_3_VALUE_PARAMS(p0, p1, p2)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_4_VALUE_PARAMS(p0, p1, p2, p3)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2, p3);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2, p3, p4);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2, p3, p4, p5);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7, p8);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)) {
+  using internal::invoke_argument::InvokeArgumentAdl;
+  return InvokeArgumentAdl<return_type>(
+      internal::invoke_argument::AdlTag(),
+      ::testing::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7, p8, p9);
+}
+
+// Various overloads for ReturnNew<T>().
+//
+// The ReturnNew<T>(a1, a2, ..., a_k) action returns a pointer to a new
+// instance of type T, constructed on the heap with constructor arguments
+// a1, a2, ..., and a_k. The caller assumes ownership of the returned value.
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_0_VALUE_PARAMS()) {
+  return new T();
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_1_VALUE_PARAMS(p0)) {
+  return new T(p0);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_2_VALUE_PARAMS(p0, p1)) {
+  return new T(p0, p1);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_3_VALUE_PARAMS(p0, p1, p2)) {
+  return new T(p0, p1, p2);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_4_VALUE_PARAMS(p0, p1, p2, p3)) {
+  return new T(p0, p1, p2, p3);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)) {
+  return new T(p0, p1, p2, p3, p4);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)) {
+  return new T(p0, p1, p2, p3, p4, p5);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)) {
+  return new T(p0, p1, p2, p3, p4, p5, p6);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)) {
+  return new T(p0, p1, p2, p3, p4, p5, p6, p7);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8)) {
+  return new T(p0, p1, p2, p3, p4, p5, p6, p7, p8);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+                HAS_1_TEMPLATE_PARAMS(typename, T),
+                AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)) {
+  return new T(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9);
+}
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+}  // namespace testing
+
+// Include any custom actions added by the local installation.
+// We must include this header at the end to make sure it can use the
+// declarations from this file.
+// This file was GENERATED by command:
+//     pump.py gmock-generated-actions.h.pump
+// DO NOT EDIT BY HAND!!!
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_
+
+#endif  // GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+// This file was GENERATED by command:
+//     pump.py gmock-generated-function-mockers.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements function mockers of various arities.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements the ON_CALL() and EXPECT_CALL() macros.
+//
+// A user can use the ON_CALL() macro to specify the default action of
+// a mock method.  The syntax is:
+//
+//   ON_CALL(mock_object, Method(argument-matchers))
+//       .With(multi-argument-matcher)
+//       .WillByDefault(action);
+//
+//  where the .With() clause is optional.
+//
+// A user can use the EXPECT_CALL() macro to specify an expectation on
+// a mock method.  The syntax is:
+//
+//   EXPECT_CALL(mock_object, Method(argument-matchers))
+//       .With(multi-argument-matchers)
+//       .Times(cardinality)
+//       .InSequence(sequences)
+//       .After(expectations)
+//       .WillOnce(action)
+//       .WillRepeatedly(action)
+//       .RetiresOnSaturation();
+//
+// where all clauses are optional, and .InSequence()/.After()/
+// .WillOnce() can appear any number of times.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+
+#include <map>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#if GTEST_HAS_EXCEPTIONS
+# include <stdexcept>  // NOLINT
+#endif
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used argument matchers.  More
+// matchers can be defined by the user implementing the
+// MatcherInterface<T> interface if necessary.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+
+#include <math.h>
+#include <algorithm>
+#include <iterator>
+#include <limits>
+#include <ostream>  // NOLINT
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+# include <initializer_list>  // NOLINT -- must be after gtest.h
+#endif
+
+namespace testing {
+
+// To implement a matcher Foo for type T, define:
+//   1. a class FooMatcherImpl that implements the
+//      MatcherInterface<T> interface, and
+//   2. a factory function that creates a Matcher<T> object from a
+//      FooMatcherImpl*.
+//
+// The two-level delegation design makes it possible to allow a user
+// to write "v" instead of "Eq(v)" where a Matcher is expected, which
+// is impossible if we pass matchers by pointers.  It also eases
+// ownership management as Matcher objects can now be copied like
+// plain values.
+
+// MatchResultListener is an abstract class.  Its << operator can be
+// used by a matcher to explain why a value matches or doesn't match.
+//
+// TODO(wan@google.com): add method
+//   bool InterestedInWhy(bool result) const;
+// to indicate whether the listener is interested in why the match
+// result is 'result'.
+class MatchResultListener {
+ public:
+  // Creates a listener object with the given underlying ostream.  The
+  // listener does not own the ostream, and does not dereference it
+  // in the constructor or destructor.
+  explicit MatchResultListener(::std::ostream* os) : stream_(os) {}
+  virtual ~MatchResultListener() = 0;  // Makes this class abstract.
+
+  // Streams x to the underlying ostream; does nothing if the ostream
+  // is NULL.
+  template <typename T>
+  MatchResultListener& operator<<(const T& x) {
+    if (stream_ != NULL)
+      *stream_ << x;
+    return *this;
+  }
+
+  // Returns the underlying ostream.
+  ::std::ostream* stream() { return stream_; }
+
+  // Returns true iff the listener is interested in an explanation of
+  // the match result.  A matcher's MatchAndExplain() method can use
+  // this information to avoid generating the explanation when no one
+  // intends to hear it.
+  bool IsInterested() const { return stream_ != NULL; }
+
+ private:
+  ::std::ostream* const stream_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MatchResultListener);
+};
+
+inline MatchResultListener::~MatchResultListener() {
+}
+
+// An instance of a subclass of this knows how to describe itself as a
+// matcher.
+class MatcherDescriberInterface {
+ public:
+  virtual ~MatcherDescriberInterface() {}
+
+  // Describes this matcher to an ostream.  The function should print
+  // a verb phrase that describes the property a value matching this
+  // matcher should have.  The subject of the verb phrase is the value
+  // being matched.  For example, the DescribeTo() method of the Gt(7)
+  // matcher prints "is greater than 7".
+  virtual void DescribeTo(::std::ostream* os) const = 0;
+
+  // Describes the negation of this matcher to an ostream.  For
+  // example, if the description of this matcher is "is greater than
+  // 7", the negated description could be "is not greater than 7".
+  // You are not required to override this when implementing
+  // MatcherInterface, but it is highly advised so that your matcher
+  // can produce good error messages.
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "not (";
+    DescribeTo(os);
+    *os << ")";
+  }
+};
+
+// The implementation of a matcher.
+template <typename T>
+class MatcherInterface : public MatcherDescriberInterface {
+ public:
+  // Returns true iff the matcher matches x; also explains the match
+  // result to 'listener' if necessary (see the next paragraph), in
+  // the form of a non-restrictive relative clause ("which ...",
+  // "whose ...", etc) that describes x.  For example, the
+  // MatchAndExplain() method of the Pointee(...) matcher should
+  // generate an explanation like "which points to ...".
+  //
+  // Implementations of MatchAndExplain() should add an explanation of
+  // the match result *if and only if* they can provide additional
+  // information that's not already present (or not obvious) in the
+  // print-out of x and the matcher's description.  Whether the match
+  // succeeds is not a factor in deciding whether an explanation is
+  // needed, as sometimes the caller needs to print a failure message
+  // when the match succeeds (e.g. when the matcher is used inside
+  // Not()).
+  //
+  // For example, a "has at least 10 elements" matcher should explain
+  // what the actual element count is, regardless of the match result,
+  // as it is useful information to the reader; on the other hand, an
+  // "is empty" matcher probably only needs to explain what the actual
+  // size is when the match fails, as it's redundant to say that the
+  // size is 0 when the value is already known to be empty.
+  //
+  // You should override this method when defining a new matcher.
+  //
+  // It's the responsibility of the caller (Google Mock) to guarantee
+  // that 'listener' is not NULL.  This helps to simplify a matcher's
+  // implementation when it doesn't care about the performance, as it
+  // can talk to 'listener' without checking its validity first.
+  // However, in order to implement dummy listeners efficiently,
+  // listener->stream() may be NULL.
+  virtual bool MatchAndExplain(T x, MatchResultListener* listener) const = 0;
+
+  // Inherits these methods from MatcherDescriberInterface:
+  //   virtual void DescribeTo(::std::ostream* os) const = 0;
+  //   virtual void DescribeNegationTo(::std::ostream* os) const;
+};
+
+// A match result listener that stores the explanation in a string.
+class StringMatchResultListener : public MatchResultListener {
+ public:
+  StringMatchResultListener() : MatchResultListener(&ss_) {}
+
+  // Returns the explanation accumulated so far.
+  internal::string str() const { return ss_.str(); }
+
+  // Clears the explanation accumulated so far.
+  void Clear() { ss_.str(""); }
+
+ private:
+  ::std::stringstream ss_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(StringMatchResultListener);
+};
+
+namespace internal {
+
+struct AnyEq {
+  template <typename A, typename B>
+  bool operator()(const A& a, const B& b) const { return a == b; }
+};
+struct AnyNe {
+  template <typename A, typename B>
+  bool operator()(const A& a, const B& b) const { return a != b; }
+};
+struct AnyLt {
+  template <typename A, typename B>
+  bool operator()(const A& a, const B& b) const { return a < b; }
+};
+struct AnyGt {
+  template <typename A, typename B>
+  bool operator()(const A& a, const B& b) const { return a > b; }
+};
+struct AnyLe {
+  template <typename A, typename B>
+  bool operator()(const A& a, const B& b) const { return a <= b; }
+};
+struct AnyGe {
+  template <typename A, typename B>
+  bool operator()(const A& a, const B& b) const { return a >= b; }
+};
+
+// A match result listener that ignores the explanation.
+class DummyMatchResultListener : public MatchResultListener {
+ public:
+  DummyMatchResultListener() : MatchResultListener(NULL) {}
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(DummyMatchResultListener);
+};
+
+// A match result listener that forwards the explanation to a given
+// ostream.  The difference between this and MatchResultListener is
+// that the former is concrete.
+class StreamMatchResultListener : public MatchResultListener {
+ public:
+  explicit StreamMatchResultListener(::std::ostream* os)
+      : MatchResultListener(os) {}
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(StreamMatchResultListener);
+};
+
+// An internal class for implementing Matcher<T>, which will derive
+// from it.  We put functionalities common to all Matcher<T>
+// specializations here to avoid code duplication.
+template <typename T>
+class MatcherBase {
+ public:
+  // Returns true iff the matcher matches x; also explains the match
+  // result to 'listener'.
+  bool MatchAndExplain(T x, MatchResultListener* listener) const {
+    return impl_->MatchAndExplain(x, listener);
+  }
+
+  // Returns true iff this matcher matches x.
+  bool Matches(T x) const {
+    DummyMatchResultListener dummy;
+    return MatchAndExplain(x, &dummy);
+  }
+
+  // Describes this matcher to an ostream.
+  void DescribeTo(::std::ostream* os) const { impl_->DescribeTo(os); }
+
+  // Describes the negation of this matcher to an ostream.
+  void DescribeNegationTo(::std::ostream* os) const {
+    impl_->DescribeNegationTo(os);
+  }
+
+  // Explains why x matches, or doesn't match, the matcher.
+  void ExplainMatchResultTo(T x, ::std::ostream* os) const {
+    StreamMatchResultListener listener(os);
+    MatchAndExplain(x, &listener);
+  }
+
+  // Returns the describer for this matcher object; retains ownership
+  // of the describer, which is only guaranteed to be alive when
+  // this matcher object is alive.
+  const MatcherDescriberInterface* GetDescriber() const {
+    return impl_.get();
+  }
+
+ protected:
+  MatcherBase() {}
+
+  // Constructs a matcher from its implementation.
+  explicit MatcherBase(const MatcherInterface<T>* impl)
+      : impl_(impl) {}
+
+  virtual ~MatcherBase() {}
+
+ private:
+  // shared_ptr (util/gtl/shared_ptr.h) and linked_ptr have similar
+  // interfaces.  The former dynamically allocates a chunk of memory
+  // to hold the reference count, while the latter tracks all
+  // references using a circular linked list without allocating
+  // memory.  It has been observed that linked_ptr performs better in
+  // typical scenarios.  However, shared_ptr can out-perform
+  // linked_ptr when there are many more uses of the copy constructor
+  // than the default constructor.
+  //
+  // If performance becomes a problem, we should see if using
+  // shared_ptr helps.
+  ::testing::internal::linked_ptr<const MatcherInterface<T> > impl_;
+};
+
+}  // namespace internal
+
+// A Matcher<T> is a copyable and IMMUTABLE (except by assignment)
+// object that can check whether a value of type T matches.  The
+// implementation of Matcher<T> is just a linked_ptr to const
+// MatcherInterface<T>, so copying is fairly cheap.  Don't inherit
+// from Matcher!
+template <typename T>
+class Matcher : public internal::MatcherBase<T> {
+ public:
+  // Constructs a null matcher.  Needed for storing Matcher objects in STL
+  // containers.  A default-constructed matcher is not yet initialized.  You
+  // cannot use it until a valid value has been assigned to it.
+  explicit Matcher() {}  // NOLINT
+
+  // Constructs a matcher from its implementation.
+  explicit Matcher(const MatcherInterface<T>* impl)
+      : internal::MatcherBase<T>(impl) {}
+
+  // Implicit constructor here allows people to write
+  // EXPECT_CALL(foo, Bar(5)) instead of EXPECT_CALL(foo, Bar(Eq(5))) sometimes
+  Matcher(T value);  // NOLINT
+};
+
+// The following two specializations allow the user to write str
+// instead of Eq(str) and "foo" instead of Eq("foo") when a string
+// matcher is expected.
+template <>
+class GTEST_API_ Matcher<const internal::string&>
+    : public internal::MatcherBase<const internal::string&> {
+ public:
+  Matcher() {}
+
+  explicit Matcher(const MatcherInterface<const internal::string&>* impl)
+      : internal::MatcherBase<const internal::string&>(impl) {}
+
+  // Allows the user to write str instead of Eq(str) sometimes, where
+  // str is a string object.
+  Matcher(const internal::string& s);  // NOLINT
+
+  // Allows the user to write "foo" instead of Eq("foo") sometimes.
+  Matcher(const char* s);  // NOLINT
+};
+
+template <>
+class GTEST_API_ Matcher<internal::string>
+    : public internal::MatcherBase<internal::string> {
+ public:
+  Matcher() {}
+
+  explicit Matcher(const MatcherInterface<internal::string>* impl)
+      : internal::MatcherBase<internal::string>(impl) {}
+
+  // Allows the user to write str instead of Eq(str) sometimes, where
+  // str is a string object.
+  Matcher(const internal::string& s);  // NOLINT
+
+  // Allows the user to write "foo" instead of Eq("foo") sometimes.
+  Matcher(const char* s);  // NOLINT
+};
+
+#if GTEST_HAS_STRING_PIECE_
+// The following two specializations allow the user to write str
+// instead of Eq(str) and "foo" instead of Eq("foo") when a StringPiece
+// matcher is expected.
+template <>
+class GTEST_API_ Matcher<const StringPiece&>
+    : public internal::MatcherBase<const StringPiece&> {
+ public:
+  Matcher() {}
+
+  explicit Matcher(const MatcherInterface<const StringPiece&>* impl)
+      : internal::MatcherBase<const StringPiece&>(impl) {}
+
+  // Allows the user to write str instead of Eq(str) sometimes, where
+  // str is a string object.
+  Matcher(const internal::string& s);  // NOLINT
+
+  // Allows the user to write "foo" instead of Eq("foo") sometimes.
+  Matcher(const char* s);  // NOLINT
+
+  // Allows the user to pass StringPieces directly.
+  Matcher(StringPiece s);  // NOLINT
+};
+
+template <>
+class GTEST_API_ Matcher<StringPiece>
+    : public internal::MatcherBase<StringPiece> {
+ public:
+  Matcher() {}
+
+  explicit Matcher(const MatcherInterface<StringPiece>* impl)
+      : internal::MatcherBase<StringPiece>(impl) {}
+
+  // Allows the user to write str instead of Eq(str) sometimes, where
+  // str is a string object.
+  Matcher(const internal::string& s);  // NOLINT
+
+  // Allows the user to write "foo" instead of Eq("foo") sometimes.
+  Matcher(const char* s);  // NOLINT
+
+  // Allows the user to pass StringPieces directly.
+  Matcher(StringPiece s);  // NOLINT
+};
+#endif  // GTEST_HAS_STRING_PIECE_
+
+// The PolymorphicMatcher class template makes it easy to implement a
+// polymorphic matcher (i.e. a matcher that can match values of more
+// than one type, e.g. Eq(n) and NotNull()).
+//
+// To define a polymorphic matcher, a user should provide an Impl
+// class that has a DescribeTo() method and a DescribeNegationTo()
+// method, and define a member function (or member function template)
+//
+//   bool MatchAndExplain(const Value& value,
+//                        MatchResultListener* listener) const;
+//
+// See the definition of NotNull() for a complete example.
+template <class Impl>
+class PolymorphicMatcher {
+ public:
+  explicit PolymorphicMatcher(const Impl& an_impl) : impl_(an_impl) {}
+
+  // Returns a mutable reference to the underlying matcher
+  // implementation object.
+  Impl& mutable_impl() { return impl_; }
+
+  // Returns an immutable reference to the underlying matcher
+  // implementation object.
+  const Impl& impl() const { return impl_; }
+
+  template <typename T>
+  operator Matcher<T>() const {
+    return Matcher<T>(new MonomorphicImpl<T>(impl_));
+  }
+
+ private:
+  template <typename T>
+  class MonomorphicImpl : public MatcherInterface<T> {
+   public:
+    explicit MonomorphicImpl(const Impl& impl) : impl_(impl) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      impl_.DescribeTo(os);
+    }
+
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      impl_.DescribeNegationTo(os);
+    }
+
+    virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+      return impl_.MatchAndExplain(x, listener);
+    }
+
+   private:
+    const Impl impl_;
+
+    GTEST_DISALLOW_ASSIGN_(MonomorphicImpl);
+  };
+
+  Impl impl_;
+
+  GTEST_DISALLOW_ASSIGN_(PolymorphicMatcher);
+};
+
+// Creates a matcher from its implementation.  This is easier to use
+// than the Matcher<T> constructor as it doesn't require you to
+// explicitly write the template argument, e.g.
+//
+//   MakeMatcher(foo);
+// vs
+//   Matcher<const string&>(foo);
+template <typename T>
+inline Matcher<T> MakeMatcher(const MatcherInterface<T>* impl) {
+  return Matcher<T>(impl);
+}
+
+// Creates a polymorphic matcher from its implementation.  This is
+// easier to use than the PolymorphicMatcher<Impl> constructor as it
+// doesn't require you to explicitly write the template argument, e.g.
+//
+//   MakePolymorphicMatcher(foo);
+// vs
+//   PolymorphicMatcher<TypeOfFoo>(foo);
+template <class Impl>
+inline PolymorphicMatcher<Impl> MakePolymorphicMatcher(const Impl& impl) {
+  return PolymorphicMatcher<Impl>(impl);
+}
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// The MatcherCastImpl class template is a helper for implementing
+// MatcherCast().  We need this helper in order to partially
+// specialize the implementation of MatcherCast() (C++ allows
+// class/struct templates to be partially specialized, but not
+// function templates.).
+
+// This general version is used when MatcherCast()'s argument is a
+// polymorphic matcher (i.e. something that can be converted to a
+// Matcher but is not one yet; for example, Eq(value)) or a value (for
+// example, "hello").
+template <typename T, typename M>
+class MatcherCastImpl {
+ public:
+  static Matcher<T> Cast(const M& polymorphic_matcher_or_value) {
+    // M can be a polymorhic matcher, in which case we want to use
+    // its conversion operator to create Matcher<T>.  Or it can be a value
+    // that should be passed to the Matcher<T>'s constructor.
+    //
+    // We can't call Matcher<T>(polymorphic_matcher_or_value) when M is a
+    // polymorphic matcher because it'll be ambiguous if T has an implicit
+    // constructor from M (this usually happens when T has an implicit
+    // constructor from any type).
+    //
+    // It won't work to unconditionally implict_cast
+    // polymorphic_matcher_or_value to Matcher<T> because it won't trigger
+    // a user-defined conversion from M to T if one exists (assuming M is
+    // a value).
+    return CastImpl(
+        polymorphic_matcher_or_value,
+        BooleanConstant<
+            internal::ImplicitlyConvertible<M, Matcher<T> >::value>());
+  }
+
+ private:
+  static Matcher<T> CastImpl(const M& value, BooleanConstant<false>) {
+    // M can't be implicitly converted to Matcher<T>, so M isn't a polymorphic
+    // matcher.  It must be a value then.  Use direct initialization to create
+    // a matcher.
+    return Matcher<T>(ImplicitCast_<T>(value));
+  }
+
+  static Matcher<T> CastImpl(const M& polymorphic_matcher_or_value,
+                             BooleanConstant<true>) {
+    // M is implicitly convertible to Matcher<T>, which means that either
+    // M is a polymorhpic matcher or Matcher<T> has an implicit constructor
+    // from M.  In both cases using the implicit conversion will produce a
+    // matcher.
+    //
+    // Even if T has an implicit constructor from M, it won't be called because
+    // creating Matcher<T> would require a chain of two user-defined conversions
+    // (first to create T from M and then to create Matcher<T> from T).
+    return polymorphic_matcher_or_value;
+  }
+};
+
+// This more specialized version is used when MatcherCast()'s argument
+// is already a Matcher.  This only compiles when type T can be
+// statically converted to type U.
+template <typename T, typename U>
+class MatcherCastImpl<T, Matcher<U> > {
+ public:
+  static Matcher<T> Cast(const Matcher<U>& source_matcher) {
+    return Matcher<T>(new Impl(source_matcher));
+  }
+
+ private:
+  class Impl : public MatcherInterface<T> {
+   public:
+    explicit Impl(const Matcher<U>& source_matcher)
+        : source_matcher_(source_matcher) {}
+
+    // We delegate the matching logic to the source matcher.
+    virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+      return source_matcher_.MatchAndExplain(static_cast<U>(x), listener);
+    }
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      source_matcher_.DescribeTo(os);
+    }
+
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      source_matcher_.DescribeNegationTo(os);
+    }
+
+   private:
+    const Matcher<U> source_matcher_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+};
+
+// This even more specialized version is used for efficiently casting
+// a matcher to its own type.
+template <typename T>
+class MatcherCastImpl<T, Matcher<T> > {
+ public:
+  static Matcher<T> Cast(const Matcher<T>& matcher) { return matcher; }
+};
+
+}  // namespace internal
+
+// In order to be safe and clear, casting between different matcher
+// types is done explicitly via MatcherCast<T>(m), which takes a
+// matcher m and returns a Matcher<T>.  It compiles only when T can be
+// statically converted to the argument type of m.
+template <typename T, typename M>
+inline Matcher<T> MatcherCast(const M& matcher) {
+  return internal::MatcherCastImpl<T, M>::Cast(matcher);
+}
+
+// Implements SafeMatcherCast().
+//
+// We use an intermediate class to do the actual safe casting as Nokia's
+// Symbian compiler cannot decide between
+// template <T, M> ... (M) and
+// template <T, U> ... (const Matcher<U>&)
+// for function templates but can for member function templates.
+template <typename T>
+class SafeMatcherCastImpl {
+ public:
+  // This overload handles polymorphic matchers and values only since
+  // monomorphic matchers are handled by the next one.
+  template <typename M>
+  static inline Matcher<T> Cast(const M& polymorphic_matcher_or_value) {
+    return internal::MatcherCastImpl<T, M>::Cast(polymorphic_matcher_or_value);
+  }
+
+  // This overload handles monomorphic matchers.
+  //
+  // In general, if type T can be implicitly converted to type U, we can
+  // safely convert a Matcher<U> to a Matcher<T> (i.e. Matcher is
+  // contravariant): just keep a copy of the original Matcher<U>, convert the
+  // argument from type T to U, and then pass it to the underlying Matcher<U>.
+  // The only exception is when U is a reference and T is not, as the
+  // underlying Matcher<U> may be interested in the argument's address, which
+  // is not preserved in the conversion from T to U.
+  template <typename U>
+  static inline Matcher<T> Cast(const Matcher<U>& matcher) {
+    // Enforce that T can be implicitly converted to U.
+    GTEST_COMPILE_ASSERT_((internal::ImplicitlyConvertible<T, U>::value),
+                          T_must_be_implicitly_convertible_to_U);
+    // Enforce that we are not converting a non-reference type T to a reference
+    // type U.
+    GTEST_COMPILE_ASSERT_(
+        internal::is_reference<T>::value || !internal::is_reference<U>::value,
+        cannot_convert_non_referentce_arg_to_reference);
+    // In case both T and U are arithmetic types, enforce that the
+    // conversion is not lossy.
+    typedef GTEST_REMOVE_REFERENCE_AND_CONST_(T) RawT;
+    typedef GTEST_REMOVE_REFERENCE_AND_CONST_(U) RawU;
+    const bool kTIsOther = GMOCK_KIND_OF_(RawT) == internal::kOther;
+    const bool kUIsOther = GMOCK_KIND_OF_(RawU) == internal::kOther;
+    GTEST_COMPILE_ASSERT_(
+        kTIsOther || kUIsOther ||
+        (internal::LosslessArithmeticConvertible<RawT, RawU>::value),
+        conversion_of_arithmetic_types_must_be_lossless);
+    return MatcherCast<T>(matcher);
+  }
+};
+
+template <typename T, typename M>
+inline Matcher<T> SafeMatcherCast(const M& polymorphic_matcher) {
+  return SafeMatcherCastImpl<T>::Cast(polymorphic_matcher);
+}
+
+// A<T>() returns a matcher that matches any value of type T.
+template <typename T>
+Matcher<T> A();
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// If the explanation is not empty, prints it to the ostream.
+inline void PrintIfNotEmpty(const internal::string& explanation,
+                            ::std::ostream* os) {
+  if (explanation != "" && os != NULL) {
+    *os << ", " << explanation;
+  }
+}
+
+// Returns true if the given type name is easy to read by a human.
+// This is used to decide whether printing the type of a value might
+// be helpful.
+inline bool IsReadableTypeName(const string& type_name) {
+  // We consider a type name readable if it's short or doesn't contain
+  // a template or function type.
+  return (type_name.length() <= 20 ||
+          type_name.find_first_of("<(") == string::npos);
+}
+
+// Matches the value against the given matcher, prints the value and explains
+// the match result to the listener. Returns the match result.
+// 'listener' must not be NULL.
+// Value cannot be passed by const reference, because some matchers take a
+// non-const argument.
+template <typename Value, typename T>
+bool MatchPrintAndExplain(Value& value, const Matcher<T>& matcher,
+                          MatchResultListener* listener) {
+  if (!listener->IsInterested()) {
+    // If the listener is not interested, we do not need to construct the
+    // inner explanation.
+    return matcher.Matches(value);
+  }
+
+  StringMatchResultListener inner_listener;
+  const bool match = matcher.MatchAndExplain(value, &inner_listener);
+
+  UniversalPrint(value, listener->stream());
+#if GTEST_HAS_RTTI
+  const string& type_name = GetTypeName<Value>();
+  if (IsReadableTypeName(type_name))
+    *listener->stream() << " (of type " << type_name << ")";
+#endif
+  PrintIfNotEmpty(inner_listener.str(), listener->stream());
+
+  return match;
+}
+
+// An internal helper class for doing compile-time loop on a tuple's
+// fields.
+template <size_t N>
+class TuplePrefix {
+ public:
+  // TuplePrefix<N>::Matches(matcher_tuple, value_tuple) returns true
+  // iff the first N fields of matcher_tuple matches the first N
+  // fields of value_tuple, respectively.
+  template <typename MatcherTuple, typename ValueTuple>
+  static bool Matches(const MatcherTuple& matcher_tuple,
+                      const ValueTuple& value_tuple) {
+    return TuplePrefix<N - 1>::Matches(matcher_tuple, value_tuple)
+        && get<N - 1>(matcher_tuple).Matches(get<N - 1>(value_tuple));
+  }
+
+  // TuplePrefix<N>::ExplainMatchFailuresTo(matchers, values, os)
+  // describes failures in matching the first N fields of matchers
+  // against the first N fields of values.  If there is no failure,
+  // nothing will be streamed to os.
+  template <typename MatcherTuple, typename ValueTuple>
+  static void ExplainMatchFailuresTo(const MatcherTuple& matchers,
+                                     const ValueTuple& values,
+                                     ::std::ostream* os) {
+    // First, describes failures in the first N - 1 fields.
+    TuplePrefix<N - 1>::ExplainMatchFailuresTo(matchers, values, os);
+
+    // Then describes the failure (if any) in the (N - 1)-th (0-based)
+    // field.
+    typename tuple_element<N - 1, MatcherTuple>::type matcher =
+        get<N - 1>(matchers);
+    typedef typename tuple_element<N - 1, ValueTuple>::type Value;
+    Value value = get<N - 1>(values);
+    StringMatchResultListener listener;
+    if (!matcher.MatchAndExplain(value, &listener)) {
+      // TODO(wan): include in the message the name of the parameter
+      // as used in MOCK_METHOD*() when possible.
+      *os << "  Expected arg #" << N - 1 << ": ";
+      get<N - 1>(matchers).DescribeTo(os);
+      *os << "\n           Actual: ";
+      // We remove the reference in type Value to prevent the
+      // universal printer from printing the address of value, which
+      // isn't interesting to the user most of the time.  The
+      // matcher's MatchAndExplain() method handles the case when
+      // the address is interesting.
+      internal::UniversalPrint(value, os);
+      PrintIfNotEmpty(listener.str(), os);
+      *os << "\n";
+    }
+  }
+};
+
+// The base case.
+template <>
+class TuplePrefix<0> {
+ public:
+  template <typename MatcherTuple, typename ValueTuple>
+  static bool Matches(const MatcherTuple& /* matcher_tuple */,
+                      const ValueTuple& /* value_tuple */) {
+    return true;
+  }
+
+  template <typename MatcherTuple, typename ValueTuple>
+  static void ExplainMatchFailuresTo(const MatcherTuple& /* matchers */,
+                                     const ValueTuple& /* values */,
+                                     ::std::ostream* /* os */) {}
+};
+
+// TupleMatches(matcher_tuple, value_tuple) returns true iff all
+// matchers in matcher_tuple match the corresponding fields in
+// value_tuple.  It is a compiler error if matcher_tuple and
+// value_tuple have different number of fields or incompatible field
+// types.
+template <typename MatcherTuple, typename ValueTuple>
+bool TupleMatches(const MatcherTuple& matcher_tuple,
+                  const ValueTuple& value_tuple) {
+  // Makes sure that matcher_tuple and value_tuple have the same
+  // number of fields.
+  GTEST_COMPILE_ASSERT_(tuple_size<MatcherTuple>::value ==
+                        tuple_size<ValueTuple>::value,
+                        matcher_and_value_have_different_numbers_of_fields);
+  return TuplePrefix<tuple_size<ValueTuple>::value>::
+      Matches(matcher_tuple, value_tuple);
+}
+
+// Describes failures in matching matchers against values.  If there
+// is no failure, nothing will be streamed to os.
+template <typename MatcherTuple, typename ValueTuple>
+void ExplainMatchFailureTupleTo(const MatcherTuple& matchers,
+                                const ValueTuple& values,
+                                ::std::ostream* os) {
+  TuplePrefix<tuple_size<MatcherTuple>::value>::ExplainMatchFailuresTo(
+      matchers, values, os);
+}
+
+// TransformTupleValues and its helper.
+//
+// TransformTupleValuesHelper hides the internal machinery that
+// TransformTupleValues uses to implement a tuple traversal.
+template <typename Tuple, typename Func, typename OutIter>
+class TransformTupleValuesHelper {
+ private:
+  typedef ::testing::tuple_size<Tuple> TupleSize;
+
+ public:
+  // For each member of tuple 't', taken in order, evaluates '*out++ = f(t)'.
+  // Returns the final value of 'out' in case the caller needs it.
+  static OutIter Run(Func f, const Tuple& t, OutIter out) {
+    return IterateOverTuple<Tuple, TupleSize::value>()(f, t, out);
+  }
+
+ private:
+  template <typename Tup, size_t kRemainingSize>
+  struct IterateOverTuple {
+    OutIter operator() (Func f, const Tup& t, OutIter out) const {
+      *out++ = f(::testing::get<TupleSize::value - kRemainingSize>(t));
+      return IterateOverTuple<Tup, kRemainingSize - 1>()(f, t, out);
+    }
+  };
+  template <typename Tup>
+  struct IterateOverTuple<Tup, 0> {
+    OutIter operator() (Func /* f */, const Tup& /* t */, OutIter out) const {
+      return out;
+    }
+  };
+};
+
+// Successively invokes 'f(element)' on each element of the tuple 't',
+// appending each result to the 'out' iterator. Returns the final value
+// of 'out'.
+template <typename Tuple, typename Func, typename OutIter>
+OutIter TransformTupleValues(Func f, const Tuple& t, OutIter out) {
+  return TransformTupleValuesHelper<Tuple, Func, OutIter>::Run(f, t, out);
+}
+
+// Implements A<T>().
+template <typename T>
+class AnyMatcherImpl : public MatcherInterface<T> {
+ public:
+  virtual bool MatchAndExplain(
+      T /* x */, MatchResultListener* /* listener */) const { return true; }
+  virtual void DescribeTo(::std::ostream* os) const { *os << "is anything"; }
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    // This is mostly for completeness' safe, as it's not very useful
+    // to write Not(A<bool>()).  However we cannot completely rule out
+    // such a possibility, and it doesn't hurt to be prepared.
+    *os << "never matches";
+  }
+};
+
+// Implements _, a matcher that matches any value of any
+// type.  This is a polymorphic matcher, so we need a template type
+// conversion operator to make it appearing as a Matcher<T> for any
+// type T.
+class AnythingMatcher {
+ public:
+  template <typename T>
+  operator Matcher<T>() const { return A<T>(); }
+};
+
+// Implements a matcher that compares a given value with a
+// pre-supplied value using one of the ==, <=, <, etc, operators.  The
+// two values being compared don't have to have the same type.
+//
+// The matcher defined here is polymorphic (for example, Eq(5) can be
+// used to match an int, a short, a double, etc).  Therefore we use
+// a template type conversion operator in the implementation.
+//
+// The following template definition assumes that the Rhs parameter is
+// a "bare" type (i.e. neither 'const T' nor 'T&').
+template <typename D, typename Rhs, typename Op>
+class ComparisonBase {
+ public:
+  explicit ComparisonBase(const Rhs& rhs) : rhs_(rhs) {}
+  template <typename Lhs>
+  operator Matcher<Lhs>() const {
+    return MakeMatcher(new Impl<Lhs>(rhs_));
+  }
+
+ private:
+  template <typename Lhs>
+  class Impl : public MatcherInterface<Lhs> {
+   public:
+    explicit Impl(const Rhs& rhs) : rhs_(rhs) {}
+    virtual bool MatchAndExplain(
+        Lhs lhs, MatchResultListener* /* listener */) const {
+      return Op()(lhs, rhs_);
+    }
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << D::Desc() << " ";
+      UniversalPrint(rhs_, os);
+    }
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << D::NegatedDesc() <<  " ";
+      UniversalPrint(rhs_, os);
+    }
+   private:
+    Rhs rhs_;
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+  Rhs rhs_;
+  GTEST_DISALLOW_ASSIGN_(ComparisonBase);
+};
+
+template <typename Rhs>
+class EqMatcher : public ComparisonBase<EqMatcher<Rhs>, Rhs, AnyEq> {
+ public:
+  explicit EqMatcher(const Rhs& rhs)
+      : ComparisonBase<EqMatcher<Rhs>, Rhs, AnyEq>(rhs) { }
+  static const char* Desc() { return "is equal to"; }
+  static const char* NegatedDesc() { return "isn't equal to"; }
+};
+template <typename Rhs>
+class NeMatcher : public ComparisonBase<NeMatcher<Rhs>, Rhs, AnyNe> {
+ public:
+  explicit NeMatcher(const Rhs& rhs)
+      : ComparisonBase<NeMatcher<Rhs>, Rhs, AnyNe>(rhs) { }
+  static const char* Desc() { return "isn't equal to"; }
+  static const char* NegatedDesc() { return "is equal to"; }
+};
+template <typename Rhs>
+class LtMatcher : public ComparisonBase<LtMatcher<Rhs>, Rhs, AnyLt> {
+ public:
+  explicit LtMatcher(const Rhs& rhs)
+      : ComparisonBase<LtMatcher<Rhs>, Rhs, AnyLt>(rhs) { }
+  static const char* Desc() { return "is <"; }
+  static const char* NegatedDesc() { return "isn't <"; }
+};
+template <typename Rhs>
+class GtMatcher : public ComparisonBase<GtMatcher<Rhs>, Rhs, AnyGt> {
+ public:
+  explicit GtMatcher(const Rhs& rhs)
+      : ComparisonBase<GtMatcher<Rhs>, Rhs, AnyGt>(rhs) { }
+  static const char* Desc() { return "is >"; }
+  static const char* NegatedDesc() { return "isn't >"; }
+};
+template <typename Rhs>
+class LeMatcher : public ComparisonBase<LeMatcher<Rhs>, Rhs, AnyLe> {
+ public:
+  explicit LeMatcher(const Rhs& rhs)
+      : ComparisonBase<LeMatcher<Rhs>, Rhs, AnyLe>(rhs) { }
+  static const char* Desc() { return "is <="; }
+  static const char* NegatedDesc() { return "isn't <="; }
+};
+template <typename Rhs>
+class GeMatcher : public ComparisonBase<GeMatcher<Rhs>, Rhs, AnyGe> {
+ public:
+  explicit GeMatcher(const Rhs& rhs)
+      : ComparisonBase<GeMatcher<Rhs>, Rhs, AnyGe>(rhs) { }
+  static const char* Desc() { return "is >="; }
+  static const char* NegatedDesc() { return "isn't >="; }
+};
+
+// Implements the polymorphic IsNull() matcher, which matches any raw or smart
+// pointer that is NULL.
+class IsNullMatcher {
+ public:
+  template <typename Pointer>
+  bool MatchAndExplain(const Pointer& p,
+                       MatchResultListener* /* listener */) const {
+#if GTEST_LANG_CXX11
+    return p == nullptr;
+#else  // GTEST_LANG_CXX11
+    return GetRawPointer(p) == NULL;
+#endif  // GTEST_LANG_CXX11
+  }
+
+  void DescribeTo(::std::ostream* os) const { *os << "is NULL"; }
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "isn't NULL";
+  }
+};
+
+// Implements the polymorphic NotNull() matcher, which matches any raw or smart
+// pointer that is not NULL.
+class NotNullMatcher {
+ public:
+  template <typename Pointer>
+  bool MatchAndExplain(const Pointer& p,
+                       MatchResultListener* /* listener */) const {
+#if GTEST_LANG_CXX11
+    return p != nullptr;
+#else  // GTEST_LANG_CXX11
+    return GetRawPointer(p) != NULL;
+#endif  // GTEST_LANG_CXX11
+  }
+
+  void DescribeTo(::std::ostream* os) const { *os << "isn't NULL"; }
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "is NULL";
+  }
+};
+
+// Ref(variable) matches any argument that is a reference to
+// 'variable'.  This matcher is polymorphic as it can match any
+// super type of the type of 'variable'.
+//
+// The RefMatcher template class implements Ref(variable).  It can
+// only be instantiated with a reference type.  This prevents a user
+// from mistakenly using Ref(x) to match a non-reference function
+// argument.  For example, the following will righteously cause a
+// compiler error:
+//
+//   int n;
+//   Matcher<int> m1 = Ref(n);   // This won't compile.
+//   Matcher<int&> m2 = Ref(n);  // This will compile.
+template <typename T>
+class RefMatcher;
+
+template <typename T>
+class RefMatcher<T&> {
+  // Google Mock is a generic framework and thus needs to support
+  // mocking any function types, including those that take non-const
+  // reference arguments.  Therefore the template parameter T (and
+  // Super below) can be instantiated to either a const type or a
+  // non-const type.
+ public:
+  // RefMatcher() takes a T& instead of const T&, as we want the
+  // compiler to catch using Ref(const_value) as a matcher for a
+  // non-const reference.
+  explicit RefMatcher(T& x) : object_(x) {}  // NOLINT
+
+  template <typename Super>
+  operator Matcher<Super&>() const {
+    // By passing object_ (type T&) to Impl(), which expects a Super&,
+    // we make sure that Super is a super type of T.  In particular,
+    // this catches using Ref(const_value) as a matcher for a
+    // non-const reference, as you cannot implicitly convert a const
+    // reference to a non-const reference.
+    return MakeMatcher(new Impl<Super>(object_));
+  }
+
+ private:
+  template <typename Super>
+  class Impl : public MatcherInterface<Super&> {
+   public:
+    explicit Impl(Super& x) : object_(x) {}  // NOLINT
+
+    // MatchAndExplain() takes a Super& (as opposed to const Super&)
+    // in order to match the interface MatcherInterface<Super&>.
+    virtual bool MatchAndExplain(
+        Super& x, MatchResultListener* listener) const {
+      *listener << "which is located @" << static_cast<const void*>(&x);
+      return &x == &object_;
+    }
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "references the variable ";
+      UniversalPrinter<Super&>::Print(object_, os);
+    }
+
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "does not reference the variable ";
+      UniversalPrinter<Super&>::Print(object_, os);
+    }
+
+   private:
+    const Super& object_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  T& object_;
+
+  GTEST_DISALLOW_ASSIGN_(RefMatcher);
+};
+
+// Polymorphic helper functions for narrow and wide string matchers.
+inline bool CaseInsensitiveCStringEquals(const char* lhs, const char* rhs) {
+  return String::CaseInsensitiveCStringEquals(lhs, rhs);
+}
+
+inline bool CaseInsensitiveCStringEquals(const wchar_t* lhs,
+                                         const wchar_t* rhs) {
+  return String::CaseInsensitiveWideCStringEquals(lhs, rhs);
+}
+
+// String comparison for narrow or wide strings that can have embedded NUL
+// characters.
+template <typename StringType>
+bool CaseInsensitiveStringEquals(const StringType& s1,
+                                 const StringType& s2) {
+  // Are the heads equal?
+  if (!CaseInsensitiveCStringEquals(s1.c_str(), s2.c_str())) {
+    return false;
+  }
+
+  // Skip the equal heads.
+  const typename StringType::value_type nul = 0;
+  const size_t i1 = s1.find(nul), i2 = s2.find(nul);
+
+  // Are we at the end of either s1 or s2?
+  if (i1 == StringType::npos || i2 == StringType::npos) {
+    return i1 == i2;
+  }
+
+  // Are the tails equal?
+  return CaseInsensitiveStringEquals(s1.substr(i1 + 1), s2.substr(i2 + 1));
+}
+
+// String matchers.
+
+// Implements equality-based string matchers like StrEq, StrCaseNe, and etc.
+template <typename StringType>
+class StrEqualityMatcher {
+ public:
+  StrEqualityMatcher(const StringType& str, bool expect_eq,
+                     bool case_sensitive)
+      : string_(str), expect_eq_(expect_eq), case_sensitive_(case_sensitive) {}
+
+  // Accepts pointer types, particularly:
+  //   const char*
+  //   char*
+  //   const wchar_t*
+  //   wchar_t*
+  template <typename CharType>
+  bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+    if (s == NULL) {
+      return !expect_eq_;
+    }
+    return MatchAndExplain(StringType(s), listener);
+  }
+
+  // Matches anything that can convert to StringType.
+  //
+  // This is a template, not just a plain function with const StringType&,
+  // because StringPiece has some interfering non-explicit constructors.
+  template <typename MatcheeStringType>
+  bool MatchAndExplain(const MatcheeStringType& s,
+                       MatchResultListener* /* listener */) const {
+    const StringType& s2(s);
+    const bool eq = case_sensitive_ ? s2 == string_ :
+        CaseInsensitiveStringEquals(s2, string_);
+    return expect_eq_ == eq;
+  }
+
+  void DescribeTo(::std::ostream* os) const {
+    DescribeToHelper(expect_eq_, os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    DescribeToHelper(!expect_eq_, os);
+  }
+
+ private:
+  void DescribeToHelper(bool expect_eq, ::std::ostream* os) const {
+    *os << (expect_eq ? "is " : "isn't ");
+    *os << "equal to ";
+    if (!case_sensitive_) {
+      *os << "(ignoring case) ";
+    }
+    UniversalPrint(string_, os);
+  }
+
+  const StringType string_;
+  const bool expect_eq_;
+  const bool case_sensitive_;
+
+  GTEST_DISALLOW_ASSIGN_(StrEqualityMatcher);
+};
+
+// Implements the polymorphic HasSubstr(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class HasSubstrMatcher {
+ public:
+  explicit HasSubstrMatcher(const StringType& substring)
+      : substring_(substring) {}
+
+  // Accepts pointer types, particularly:
+  //   const char*
+  //   char*
+  //   const wchar_t*
+  //   wchar_t*
+  template <typename CharType>
+  bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+    return s != NULL && MatchAndExplain(StringType(s), listener);
+  }
+
+  // Matches anything that can convert to StringType.
+  //
+  // This is a template, not just a plain function with const StringType&,
+  // because StringPiece has some interfering non-explicit constructors.
+  template <typename MatcheeStringType>
+  bool MatchAndExplain(const MatcheeStringType& s,
+                       MatchResultListener* /* listener */) const {
+    const StringType& s2(s);
+    return s2.find(substring_) != StringType::npos;
+  }
+
+  // Describes what this matcher matches.
+  void DescribeTo(::std::ostream* os) const {
+    *os << "has substring ";
+    UniversalPrint(substring_, os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "has no substring ";
+    UniversalPrint(substring_, os);
+  }
+
+ private:
+  const StringType substring_;
+
+  GTEST_DISALLOW_ASSIGN_(HasSubstrMatcher);
+};
+
+// Implements the polymorphic StartsWith(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class StartsWithMatcher {
+ public:
+  explicit StartsWithMatcher(const StringType& prefix) : prefix_(prefix) {
+  }
+
+  // Accepts pointer types, particularly:
+  //   const char*
+  //   char*
+  //   const wchar_t*
+  //   wchar_t*
+  template <typename CharType>
+  bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+    return s != NULL && MatchAndExplain(StringType(s), listener);
+  }
+
+  // Matches anything that can convert to StringType.
+  //
+  // This is a template, not just a plain function with const StringType&,
+  // because StringPiece has some interfering non-explicit constructors.
+  template <typename MatcheeStringType>
+  bool MatchAndExplain(const MatcheeStringType& s,
+                       MatchResultListener* /* listener */) const {
+    const StringType& s2(s);
+    return s2.length() >= prefix_.length() &&
+        s2.substr(0, prefix_.length()) == prefix_;
+  }
+
+  void DescribeTo(::std::ostream* os) const {
+    *os << "starts with ";
+    UniversalPrint(prefix_, os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "doesn't start with ";
+    UniversalPrint(prefix_, os);
+  }
+
+ private:
+  const StringType prefix_;
+
+  GTEST_DISALLOW_ASSIGN_(StartsWithMatcher);
+};
+
+// Implements the polymorphic EndsWith(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class EndsWithMatcher {
+ public:
+  explicit EndsWithMatcher(const StringType& suffix) : suffix_(suffix) {}
+
+  // Accepts pointer types, particularly:
+  //   const char*
+  //   char*
+  //   const wchar_t*
+  //   wchar_t*
+  template <typename CharType>
+  bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+    return s != NULL && MatchAndExplain(StringType(s), listener);
+  }
+
+  // Matches anything that can convert to StringType.
+  //
+  // This is a template, not just a plain function with const StringType&,
+  // because StringPiece has some interfering non-explicit constructors.
+  template <typename MatcheeStringType>
+  bool MatchAndExplain(const MatcheeStringType& s,
+                       MatchResultListener* /* listener */) const {
+    const StringType& s2(s);
+    return s2.length() >= suffix_.length() &&
+        s2.substr(s2.length() - suffix_.length()) == suffix_;
+  }
+
+  void DescribeTo(::std::ostream* os) const {
+    *os << "ends with ";
+    UniversalPrint(suffix_, os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "doesn't end with ";
+    UniversalPrint(suffix_, os);
+  }
+
+ private:
+  const StringType suffix_;
+
+  GTEST_DISALLOW_ASSIGN_(EndsWithMatcher);
+};
+
+// Implements polymorphic matchers MatchesRegex(regex) and
+// ContainsRegex(regex), which can be used as a Matcher<T> as long as
+// T can be converted to a string.
+class MatchesRegexMatcher {
+ public:
+  MatchesRegexMatcher(const RE* regex, bool full_match)
+      : regex_(regex), full_match_(full_match) {}
+
+  // Accepts pointer types, particularly:
+  //   const char*
+  //   char*
+  //   const wchar_t*
+  //   wchar_t*
+  template <typename CharType>
+  bool MatchAndExplain(CharType* s, MatchResultListener* listener) const {
+    return s != NULL && MatchAndExplain(internal::string(s), listener);
+  }
+
+  // Matches anything that can convert to internal::string.
+  //
+  // This is a template, not just a plain function with const internal::string&,
+  // because StringPiece has some interfering non-explicit constructors.
+  template <class MatcheeStringType>
+  bool MatchAndExplain(const MatcheeStringType& s,
+                       MatchResultListener* /* listener */) const {
+    const internal::string& s2(s);
+    return full_match_ ? RE::FullMatch(s2, *regex_) :
+        RE::PartialMatch(s2, *regex_);
+  }
+
+  void DescribeTo(::std::ostream* os) const {
+    *os << (full_match_ ? "matches" : "contains")
+        << " regular expression ";
+    UniversalPrinter<internal::string>::Print(regex_->pattern(), os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "doesn't " << (full_match_ ? "match" : "contain")
+        << " regular expression ";
+    UniversalPrinter<internal::string>::Print(regex_->pattern(), os);
+  }
+
+ private:
+  const internal::linked_ptr<const RE> regex_;
+  const bool full_match_;
+
+  GTEST_DISALLOW_ASSIGN_(MatchesRegexMatcher);
+};
+
+// Implements a matcher that compares the two fields of a 2-tuple
+// using one of the ==, <=, <, etc, operators.  The two fields being
+// compared don't have to have the same type.
+//
+// The matcher defined here is polymorphic (for example, Eq() can be
+// used to match a tuple<int, short>, a tuple<const long&, double>,
+// etc).  Therefore we use a template type conversion operator in the
+// implementation.
+template <typename D, typename Op>
+class PairMatchBase {
+ public:
+  template <typename T1, typename T2>
+  operator Matcher< ::testing::tuple<T1, T2> >() const {
+    return MakeMatcher(new Impl< ::testing::tuple<T1, T2> >);
+  }
+  template <typename T1, typename T2>
+  operator Matcher<const ::testing::tuple<T1, T2>&>() const {
+    return MakeMatcher(new Impl<const ::testing::tuple<T1, T2>&>);
+  }
+
+ private:
+  static ::std::ostream& GetDesc(::std::ostream& os) {  // NOLINT
+    return os << D::Desc();
+  }
+
+  template <typename Tuple>
+  class Impl : public MatcherInterface<Tuple> {
+   public:
+    virtual bool MatchAndExplain(
+        Tuple args,
+        MatchResultListener* /* listener */) const {
+      return Op()(::testing::get<0>(args), ::testing::get<1>(args));
+    }
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "are " << GetDesc;
+    }
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "aren't " << GetDesc;
+    }
+  };
+};
+
+class Eq2Matcher : public PairMatchBase<Eq2Matcher, AnyEq> {
+ public:
+  static const char* Desc() { return "an equal pair"; }
+};
+class Ne2Matcher : public PairMatchBase<Ne2Matcher, AnyNe> {
+ public:
+  static const char* Desc() { return "an unequal pair"; }
+};
+class Lt2Matcher : public PairMatchBase<Lt2Matcher, AnyLt> {
+ public:
+  static const char* Desc() { return "a pair where the first < the second"; }
+};
+class Gt2Matcher : public PairMatchBase<Gt2Matcher, AnyGt> {
+ public:
+  static const char* Desc() { return "a pair where the first > the second"; }
+};
+class Le2Matcher : public PairMatchBase<Le2Matcher, AnyLe> {
+ public:
+  static const char* Desc() { return "a pair where the first <= the second"; }
+};
+class Ge2Matcher : public PairMatchBase<Ge2Matcher, AnyGe> {
+ public:
+  static const char* Desc() { return "a pair where the first >= the second"; }
+};
+
+// Implements the Not(...) matcher for a particular argument type T.
+// We do not nest it inside the NotMatcher class template, as that
+// will prevent different instantiations of NotMatcher from sharing
+// the same NotMatcherImpl<T> class.
+template <typename T>
+class NotMatcherImpl : public MatcherInterface<T> {
+ public:
+  explicit NotMatcherImpl(const Matcher<T>& matcher)
+      : matcher_(matcher) {}
+
+  virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+    return !matcher_.MatchAndExplain(x, listener);
+  }
+
+  virtual void DescribeTo(::std::ostream* os) const {
+    matcher_.DescribeNegationTo(os);
+  }
+
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    matcher_.DescribeTo(os);
+  }
+
+ private:
+  const Matcher<T> matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(NotMatcherImpl);
+};
+
+// Implements the Not(m) matcher, which matches a value that doesn't
+// match matcher m.
+template <typename InnerMatcher>
+class NotMatcher {
+ public:
+  explicit NotMatcher(InnerMatcher matcher) : matcher_(matcher) {}
+
+  // This template type conversion operator allows Not(m) to be used
+  // to match any type m can match.
+  template <typename T>
+  operator Matcher<T>() const {
+    return Matcher<T>(new NotMatcherImpl<T>(SafeMatcherCast<T>(matcher_)));
+  }
+
+ private:
+  InnerMatcher matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(NotMatcher);
+};
+
+// Implements the AllOf(m1, m2) matcher for a particular argument type
+// T. We do not nest it inside the BothOfMatcher class template, as
+// that will prevent different instantiations of BothOfMatcher from
+// sharing the same BothOfMatcherImpl<T> class.
+template <typename T>
+class BothOfMatcherImpl : public MatcherInterface<T> {
+ public:
+  BothOfMatcherImpl(const Matcher<T>& matcher1, const Matcher<T>& matcher2)
+      : matcher1_(matcher1), matcher2_(matcher2) {}
+
+  virtual void DescribeTo(::std::ostream* os) const {
+    *os << "(";
+    matcher1_.DescribeTo(os);
+    *os << ") and (";
+    matcher2_.DescribeTo(os);
+    *os << ")";
+  }
+
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "(";
+    matcher1_.DescribeNegationTo(os);
+    *os << ") or (";
+    matcher2_.DescribeNegationTo(os);
+    *os << ")";
+  }
+
+  virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+    // If either matcher1_ or matcher2_ doesn't match x, we only need
+    // to explain why one of them fails.
+    StringMatchResultListener listener1;
+    if (!matcher1_.MatchAndExplain(x, &listener1)) {
+      *listener << listener1.str();
+      return false;
+    }
+
+    StringMatchResultListener listener2;
+    if (!matcher2_.MatchAndExplain(x, &listener2)) {
+      *listener << listener2.str();
+      return false;
+    }
+
+    // Otherwise we need to explain why *both* of them match.
+    const internal::string s1 = listener1.str();
+    const internal::string s2 = listener2.str();
+
+    if (s1 == "") {
+      *listener << s2;
+    } else {
+      *listener << s1;
+      if (s2 != "") {
+        *listener << ", and " << s2;
+      }
+    }
+    return true;
+  }
+
+ private:
+  const Matcher<T> matcher1_;
+  const Matcher<T> matcher2_;
+
+  GTEST_DISALLOW_ASSIGN_(BothOfMatcherImpl);
+};
+
+#if GTEST_LANG_CXX11
+// MatcherList provides mechanisms for storing a variable number of matchers in
+// a list structure (ListType) and creating a combining matcher from such a
+// list.
+// The template is defined recursively using the following template paramters:
+//   * kSize is the length of the MatcherList.
+//   * Head is the type of the first matcher of the list.
+//   * Tail denotes the types of the remaining matchers of the list.
+template <int kSize, typename Head, typename... Tail>
+struct MatcherList {
+  typedef MatcherList<kSize - 1, Tail...> MatcherListTail;
+  typedef ::std::pair<Head, typename MatcherListTail::ListType> ListType;
+
+  // BuildList stores variadic type values in a nested pair structure.
+  // Example:
+  // MatcherList<3, int, string, float>::BuildList(5, "foo", 2.0) will return
+  // the corresponding result of type pair<int, pair<string, float>>.
+  static ListType BuildList(const Head& matcher, const Tail&... tail) {
+    return ListType(matcher, MatcherListTail::BuildList(tail...));
+  }
+
+  // CreateMatcher<T> creates a Matcher<T> from a given list of matchers (built
+  // by BuildList()). CombiningMatcher<T> is used to combine the matchers of the
+  // list. CombiningMatcher<T> must implement MatcherInterface<T> and have a
+  // constructor taking two Matcher<T>s as input.
+  template <typename T, template <typename /* T */> class CombiningMatcher>
+  static Matcher<T> CreateMatcher(const ListType& matchers) {
+    return Matcher<T>(new CombiningMatcher<T>(
+        SafeMatcherCast<T>(matchers.first),
+        MatcherListTail::template CreateMatcher<T, CombiningMatcher>(
+            matchers.second)));
+  }
+};
+
+// The following defines the base case for the recursive definition of
+// MatcherList.
+template <typename Matcher1, typename Matcher2>
+struct MatcherList<2, Matcher1, Matcher2> {
+  typedef ::std::pair<Matcher1, Matcher2> ListType;
+
+  static ListType BuildList(const Matcher1& matcher1,
+                            const Matcher2& matcher2) {
+    return ::std::pair<Matcher1, Matcher2>(matcher1, matcher2);
+  }
+
+  template <typename T, template <typename /* T */> class CombiningMatcher>
+  static Matcher<T> CreateMatcher(const ListType& matchers) {
+    return Matcher<T>(new CombiningMatcher<T>(
+        SafeMatcherCast<T>(matchers.first),
+        SafeMatcherCast<T>(matchers.second)));
+  }
+};
+
+// VariadicMatcher is used for the variadic implementation of
+// AllOf(m_1, m_2, ...) and AnyOf(m_1, m_2, ...).
+// CombiningMatcher<T> is used to recursively combine the provided matchers
+// (of type Args...).
+template <template <typename T> class CombiningMatcher, typename... Args>
+class VariadicMatcher {
+ public:
+  VariadicMatcher(const Args&... matchers)  // NOLINT
+      : matchers_(MatcherListType::BuildList(matchers...)) {}
+
+  // This template type conversion operator allows an
+  // VariadicMatcher<Matcher1, Matcher2...> object to match any type that
+  // all of the provided matchers (Matcher1, Matcher2, ...) can match.
+  template <typename T>
+  operator Matcher<T>() const {
+    return MatcherListType::template CreateMatcher<T, CombiningMatcher>(
+        matchers_);
+  }
+
+ private:
+  typedef MatcherList<sizeof...(Args), Args...> MatcherListType;
+
+  const typename MatcherListType::ListType matchers_;
+
+  GTEST_DISALLOW_ASSIGN_(VariadicMatcher);
+};
+
+template <typename... Args>
+using AllOfMatcher = VariadicMatcher<BothOfMatcherImpl, Args...>;
+
+#endif  // GTEST_LANG_CXX11
+
+// Used for implementing the AllOf(m_1, ..., m_n) matcher, which
+// matches a value that matches all of the matchers m_1, ..., and m_n.
+template <typename Matcher1, typename Matcher2>
+class BothOfMatcher {
+ public:
+  BothOfMatcher(Matcher1 matcher1, Matcher2 matcher2)
+      : matcher1_(matcher1), matcher2_(matcher2) {}
+
+  // This template type conversion operator allows a
+  // BothOfMatcher<Matcher1, Matcher2> object to match any type that
+  // both Matcher1 and Matcher2 can match.
+  template <typename T>
+  operator Matcher<T>() const {
+    return Matcher<T>(new BothOfMatcherImpl<T>(SafeMatcherCast<T>(matcher1_),
+                                               SafeMatcherCast<T>(matcher2_)));
+  }
+
+ private:
+  Matcher1 matcher1_;
+  Matcher2 matcher2_;
+
+  GTEST_DISALLOW_ASSIGN_(BothOfMatcher);
+};
+
+// Implements the AnyOf(m1, m2) matcher for a particular argument type
+// T.  We do not nest it inside the AnyOfMatcher class template, as
+// that will prevent different instantiations of AnyOfMatcher from
+// sharing the same EitherOfMatcherImpl<T> class.
+template <typename T>
+class EitherOfMatcherImpl : public MatcherInterface<T> {
+ public:
+  EitherOfMatcherImpl(const Matcher<T>& matcher1, const Matcher<T>& matcher2)
+      : matcher1_(matcher1), matcher2_(matcher2) {}
+
+  virtual void DescribeTo(::std::ostream* os) const {
+    *os << "(";
+    matcher1_.DescribeTo(os);
+    *os << ") or (";
+    matcher2_.DescribeTo(os);
+    *os << ")";
+  }
+
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "(";
+    matcher1_.DescribeNegationTo(os);
+    *os << ") and (";
+    matcher2_.DescribeNegationTo(os);
+    *os << ")";
+  }
+
+  virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+    // If either matcher1_ or matcher2_ matches x, we just need to
+    // explain why *one* of them matches.
+    StringMatchResultListener listener1;
+    if (matcher1_.MatchAndExplain(x, &listener1)) {
+      *listener << listener1.str();
+      return true;
+    }
+
+    StringMatchResultListener listener2;
+    if (matcher2_.MatchAndExplain(x, &listener2)) {
+      *listener << listener2.str();
+      return true;
+    }
+
+    // Otherwise we need to explain why *both* of them fail.
+    const internal::string s1 = listener1.str();
+    const internal::string s2 = listener2.str();
+
+    if (s1 == "") {
+      *listener << s2;
+    } else {
+      *listener << s1;
+      if (s2 != "") {
+        *listener << ", and " << s2;
+      }
+    }
+    return false;
+  }
+
+ private:
+  const Matcher<T> matcher1_;
+  const Matcher<T> matcher2_;
+
+  GTEST_DISALLOW_ASSIGN_(EitherOfMatcherImpl);
+};
+
+#if GTEST_LANG_CXX11
+// AnyOfMatcher is used for the variadic implementation of AnyOf(m_1, m_2, ...).
+template <typename... Args>
+using AnyOfMatcher = VariadicMatcher<EitherOfMatcherImpl, Args...>;
+
+#endif  // GTEST_LANG_CXX11
+
+// Used for implementing the AnyOf(m_1, ..., m_n) matcher, which
+// matches a value that matches at least one of the matchers m_1, ...,
+// and m_n.
+template <typename Matcher1, typename Matcher2>
+class EitherOfMatcher {
+ public:
+  EitherOfMatcher(Matcher1 matcher1, Matcher2 matcher2)
+      : matcher1_(matcher1), matcher2_(matcher2) {}
+
+  // This template type conversion operator allows a
+  // EitherOfMatcher<Matcher1, Matcher2> object to match any type that
+  // both Matcher1 and Matcher2 can match.
+  template <typename T>
+  operator Matcher<T>() const {
+    return Matcher<T>(new EitherOfMatcherImpl<T>(
+        SafeMatcherCast<T>(matcher1_), SafeMatcherCast<T>(matcher2_)));
+  }
+
+ private:
+  Matcher1 matcher1_;
+  Matcher2 matcher2_;
+
+  GTEST_DISALLOW_ASSIGN_(EitherOfMatcher);
+};
+
+// Used for implementing Truly(pred), which turns a predicate into a
+// matcher.
+template <typename Predicate>
+class TrulyMatcher {
+ public:
+  explicit TrulyMatcher(Predicate pred) : predicate_(pred) {}
+
+  // This method template allows Truly(pred) to be used as a matcher
+  // for type T where T is the argument type of predicate 'pred'.  The
+  // argument is passed by reference as the predicate may be
+  // interested in the address of the argument.
+  template <typename T>
+  bool MatchAndExplain(T& x,  // NOLINT
+                       MatchResultListener* /* listener */) const {
+    // Without the if-statement, MSVC sometimes warns about converting
+    // a value to bool (warning 4800).
+    //
+    // We cannot write 'return !!predicate_(x);' as that doesn't work
+    // when predicate_(x) returns a class convertible to bool but
+    // having no operator!().
+    if (predicate_(x))
+      return true;
+    return false;
+  }
+
+  void DescribeTo(::std::ostream* os) const {
+    *os << "satisfies the given predicate";
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "doesn't satisfy the given predicate";
+  }
+
+ private:
+  Predicate predicate_;
+
+  GTEST_DISALLOW_ASSIGN_(TrulyMatcher);
+};
+
+// Used for implementing Matches(matcher), which turns a matcher into
+// a predicate.
+template <typename M>
+class MatcherAsPredicate {
+ public:
+  explicit MatcherAsPredicate(M matcher) : matcher_(matcher) {}
+
+  // This template operator() allows Matches(m) to be used as a
+  // predicate on type T where m is a matcher on type T.
+  //
+  // The argument x is passed by reference instead of by value, as
+  // some matcher may be interested in its address (e.g. as in
+  // Matches(Ref(n))(x)).
+  template <typename T>
+  bool operator()(const T& x) const {
+    // We let matcher_ commit to a particular type here instead of
+    // when the MatcherAsPredicate object was constructed.  This
+    // allows us to write Matches(m) where m is a polymorphic matcher
+    // (e.g. Eq(5)).
+    //
+    // If we write Matcher<T>(matcher_).Matches(x) here, it won't
+    // compile when matcher_ has type Matcher<const T&>; if we write
+    // Matcher<const T&>(matcher_).Matches(x) here, it won't compile
+    // when matcher_ has type Matcher<T>; if we just write
+    // matcher_.Matches(x), it won't compile when matcher_ is
+    // polymorphic, e.g. Eq(5).
+    //
+    // MatcherCast<const T&>() is necessary for making the code work
+    // in all of the above situations.
+    return MatcherCast<const T&>(matcher_).Matches(x);
+  }
+
+ private:
+  M matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(MatcherAsPredicate);
+};
+
+// For implementing ASSERT_THAT() and EXPECT_THAT().  The template
+// argument M must be a type that can be converted to a matcher.
+template <typename M>
+class PredicateFormatterFromMatcher {
+ public:
+  explicit PredicateFormatterFromMatcher(M m) : matcher_(internal::move(m)) {}
+
+  // This template () operator allows a PredicateFormatterFromMatcher
+  // object to act as a predicate-formatter suitable for using with
+  // Google Test's EXPECT_PRED_FORMAT1() macro.
+  template <typename T>
+  AssertionResult operator()(const char* value_text, const T& x) const {
+    // We convert matcher_ to a Matcher<const T&> *now* instead of
+    // when the PredicateFormatterFromMatcher object was constructed,
+    // as matcher_ may be polymorphic (e.g. NotNull()) and we won't
+    // know which type to instantiate it to until we actually see the
+    // type of x here.
+    //
+    // We write SafeMatcherCast<const T&>(matcher_) instead of
+    // Matcher<const T&>(matcher_), as the latter won't compile when
+    // matcher_ has type Matcher<T> (e.g. An<int>()).
+    // We don't write MatcherCast<const T&> either, as that allows
+    // potentially unsafe downcasting of the matcher argument.
+    const Matcher<const T&> matcher = SafeMatcherCast<const T&>(matcher_);
+    StringMatchResultListener listener;
+    if (MatchPrintAndExplain(x, matcher, &listener))
+      return AssertionSuccess();
+
+    ::std::stringstream ss;
+    ss << "Value of: " << value_text << "\n"
+       << "Expected: ";
+    matcher.DescribeTo(&ss);
+    ss << "\n  Actual: " << listener.str();
+    return AssertionFailure() << ss.str();
+  }
+
+ private:
+  const M matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(PredicateFormatterFromMatcher);
+};
+
+// A helper function for converting a matcher to a predicate-formatter
+// without the user needing to explicitly write the type.  This is
+// used for implementing ASSERT_THAT() and EXPECT_THAT().
+// Implementation detail: 'matcher' is received by-value to force decaying.
+template <typename M>
+inline PredicateFormatterFromMatcher<M>
+MakePredicateFormatterFromMatcher(M matcher) {
+  return PredicateFormatterFromMatcher<M>(internal::move(matcher));
+}
+
+// Implements the polymorphic floating point equality matcher, which matches
+// two float values using ULP-based approximation or, optionally, a
+// user-specified epsilon.  The template is meant to be instantiated with
+// FloatType being either float or double.
+template <typename FloatType>
+class FloatingEqMatcher {
+ public:
+  // Constructor for FloatingEqMatcher.
+  // The matcher's input will be compared with expected.  The matcher treats two
+  // NANs as equal if nan_eq_nan is true.  Otherwise, under IEEE standards,
+  // equality comparisons between NANs will always return false.  We specify a
+  // negative max_abs_error_ term to indicate that ULP-based approximation will
+  // be used for comparison.
+  FloatingEqMatcher(FloatType expected, bool nan_eq_nan) :
+    expected_(expected), nan_eq_nan_(nan_eq_nan), max_abs_error_(-1) {
+  }
+
+  // Constructor that supports a user-specified max_abs_error that will be used
+  // for comparison instead of ULP-based approximation.  The max absolute
+  // should be non-negative.
+  FloatingEqMatcher(FloatType expected, bool nan_eq_nan,
+                    FloatType max_abs_error)
+      : expected_(expected),
+        nan_eq_nan_(nan_eq_nan),
+        max_abs_error_(max_abs_error) {
+    GTEST_CHECK_(max_abs_error >= 0)
+        << ", where max_abs_error is" << max_abs_error;
+  }
+
+  // Implements floating point equality matcher as a Matcher<T>.
+  template <typename T>
+  class Impl : public MatcherInterface<T> {
+   public:
+    Impl(FloatType expected, bool nan_eq_nan, FloatType max_abs_error)
+        : expected_(expected),
+          nan_eq_nan_(nan_eq_nan),
+          max_abs_error_(max_abs_error) {}
+
+    virtual bool MatchAndExplain(T value,
+                                 MatchResultListener* listener) const {
+      const FloatingPoint<FloatType> actual(value), expected(expected_);
+
+      // Compares NaNs first, if nan_eq_nan_ is true.
+      if (actual.is_nan() || expected.is_nan()) {
+        if (actual.is_nan() && expected.is_nan()) {
+          return nan_eq_nan_;
+        }
+        // One is nan; the other is not nan.
+        return false;
+      }
+      if (HasMaxAbsError()) {
+        // We perform an equality check so that inf will match inf, regardless
+        // of error bounds.  If the result of value - expected_ would result in
+        // overflow or if either value is inf, the default result is infinity,
+        // which should only match if max_abs_error_ is also infinity.
+        if (value == expected_) {
+          return true;
+        }
+
+        const FloatType diff = value - expected_;
+        if (fabs(diff) <= max_abs_error_) {
+          return true;
+        }
+
+        if (listener->IsInterested()) {
+          *listener << "which is " << diff << " from " << expected_;
+        }
+        return false;
+      } else {
+        return actual.AlmostEquals(expected);
+      }
+    }
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      // os->precision() returns the previously set precision, which we
+      // store to restore the ostream to its original configuration
+      // after outputting.
+      const ::std::streamsize old_precision = os->precision(
+          ::std::numeric_limits<FloatType>::digits10 + 2);
+      if (FloatingPoint<FloatType>(expected_).is_nan()) {
+        if (nan_eq_nan_) {
+          *os << "is NaN";
+        } else {
+          *os << "never matches";
+        }
+      } else {
+        *os << "is approximately " << expected_;
+        if (HasMaxAbsError()) {
+          *os << " (absolute error <= " << max_abs_error_ << ")";
+        }
+      }
+      os->precision(old_precision);
+    }
+
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      // As before, get original precision.
+      const ::std::streamsize old_precision = os->precision(
+          ::std::numeric_limits<FloatType>::digits10 + 2);
+      if (FloatingPoint<FloatType>(expected_).is_nan()) {
+        if (nan_eq_nan_) {
+          *os << "isn't NaN";
+        } else {
+          *os << "is anything";
+        }
+      } else {
+        *os << "isn't approximately " << expected_;
+        if (HasMaxAbsError()) {
+          *os << " (absolute error > " << max_abs_error_ << ")";
+        }
+      }
+      // Restore original precision.
+      os->precision(old_precision);
+    }
+
+   private:
+    bool HasMaxAbsError() const {
+      return max_abs_error_ >= 0;
+    }
+
+    const FloatType expected_;
+    const bool nan_eq_nan_;
+    // max_abs_error will be used for value comparison when >= 0.
+    const FloatType max_abs_error_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  // The following 3 type conversion operators allow FloatEq(expected) and
+  // NanSensitiveFloatEq(expected) to be used as a Matcher<float>, a
+  // Matcher<const float&>, or a Matcher<float&>, but nothing else.
+  // (While Google's C++ coding style doesn't allow arguments passed
+  // by non-const reference, we may see them in code not conforming to
+  // the style.  Therefore Google Mock needs to support them.)
+  operator Matcher<FloatType>() const {
+    return MakeMatcher(
+        new Impl<FloatType>(expected_, nan_eq_nan_, max_abs_error_));
+  }
+
+  operator Matcher<const FloatType&>() const {
+    return MakeMatcher(
+        new Impl<const FloatType&>(expected_, nan_eq_nan_, max_abs_error_));
+  }
+
+  operator Matcher<FloatType&>() const {
+    return MakeMatcher(
+        new Impl<FloatType&>(expected_, nan_eq_nan_, max_abs_error_));
+  }
+
+ private:
+  const FloatType expected_;
+  const bool nan_eq_nan_;
+  // max_abs_error will be used for value comparison when >= 0.
+  const FloatType max_abs_error_;
+
+  GTEST_DISALLOW_ASSIGN_(FloatingEqMatcher);
+};
+
+// Implements the Pointee(m) matcher for matching a pointer whose
+// pointee matches matcher m.  The pointer can be either raw or smart.
+template <typename InnerMatcher>
+class PointeeMatcher {
+ public:
+  explicit PointeeMatcher(const InnerMatcher& matcher) : matcher_(matcher) {}
+
+  // This type conversion operator template allows Pointee(m) to be
+  // used as a matcher for any pointer type whose pointee type is
+  // compatible with the inner matcher, where type Pointer can be
+  // either a raw pointer or a smart pointer.
+  //
+  // The reason we do this instead of relying on
+  // MakePolymorphicMatcher() is that the latter is not flexible
+  // enough for implementing the DescribeTo() method of Pointee().
+  template <typename Pointer>
+  operator Matcher<Pointer>() const {
+    return MakeMatcher(new Impl<Pointer>(matcher_));
+  }
+
+ private:
+  // The monomorphic implementation that works for a particular pointer type.
+  template <typename Pointer>
+  class Impl : public MatcherInterface<Pointer> {
+   public:
+    typedef typename PointeeOf<GTEST_REMOVE_CONST_(  // NOLINT
+        GTEST_REMOVE_REFERENCE_(Pointer))>::type Pointee;
+
+    explicit Impl(const InnerMatcher& matcher)
+        : matcher_(MatcherCast<const Pointee&>(matcher)) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "points to a value that ";
+      matcher_.DescribeTo(os);
+    }
+
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "does not point to a value that ";
+      matcher_.DescribeTo(os);
+    }
+
+    virtual bool MatchAndExplain(Pointer pointer,
+                                 MatchResultListener* listener) const {
+      if (GetRawPointer(pointer) == NULL)
+        return false;
+
+      *listener << "which points to ";
+      return MatchPrintAndExplain(*pointer, matcher_, listener);
+    }
+
+   private:
+    const Matcher<const Pointee&> matcher_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  const InnerMatcher matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(PointeeMatcher);
+};
+
+// Implements the WhenDynamicCastTo<T>(m) matcher that matches a pointer or
+// reference that matches inner_matcher when dynamic_cast<T> is applied.
+// The result of dynamic_cast<To> is forwarded to the inner matcher.
+// If To is a pointer and the cast fails, the inner matcher will receive NULL.
+// If To is a reference and the cast fails, this matcher returns false
+// immediately.
+template <typename To>
+class WhenDynamicCastToMatcherBase {
+ public:
+  explicit WhenDynamicCastToMatcherBase(const Matcher<To>& matcher)
+      : matcher_(matcher) {}
+
+  void DescribeTo(::std::ostream* os) const {
+    GetCastTypeDescription(os);
+    matcher_.DescribeTo(os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    GetCastTypeDescription(os);
+    matcher_.DescribeNegationTo(os);
+  }
+
+ protected:
+  const Matcher<To> matcher_;
+
+  static string GetToName() {
+#if GTEST_HAS_RTTI
+    return GetTypeName<To>();
+#else  // GTEST_HAS_RTTI
+    return "the target type";
+#endif  // GTEST_HAS_RTTI
+  }
+
+ private:
+  static void GetCastTypeDescription(::std::ostream* os) {
+    *os << "when dynamic_cast to " << GetToName() << ", ";
+  }
+
+  GTEST_DISALLOW_ASSIGN_(WhenDynamicCastToMatcherBase);
+};
+
+// Primary template.
+// To is a pointer. Cast and forward the result.
+template <typename To>
+class WhenDynamicCastToMatcher : public WhenDynamicCastToMatcherBase<To> {
+ public:
+  explicit WhenDynamicCastToMatcher(const Matcher<To>& matcher)
+      : WhenDynamicCastToMatcherBase<To>(matcher) {}
+
+  template <typename From>
+  bool MatchAndExplain(From from, MatchResultListener* listener) const {
+    // TODO(sbenza): Add more detail on failures. ie did the dyn_cast fail?
+    To to = dynamic_cast<To>(from);
+    return MatchPrintAndExplain(to, this->matcher_, listener);
+  }
+};
+
+// Specialize for references.
+// In this case we return false if the dynamic_cast fails.
+template <typename To>
+class WhenDynamicCastToMatcher<To&> : public WhenDynamicCastToMatcherBase<To&> {
+ public:
+  explicit WhenDynamicCastToMatcher(const Matcher<To&>& matcher)
+      : WhenDynamicCastToMatcherBase<To&>(matcher) {}
+
+  template <typename From>
+  bool MatchAndExplain(From& from, MatchResultListener* listener) const {
+    // We don't want an std::bad_cast here, so do the cast with pointers.
+    To* to = dynamic_cast<To*>(&from);
+    if (to == NULL) {
+      *listener << "which cannot be dynamic_cast to " << this->GetToName();
+      return false;
+    }
+    return MatchPrintAndExplain(*to, this->matcher_, listener);
+  }
+};
+
+// Implements the Field() matcher for matching a field (i.e. member
+// variable) of an object.
+template <typename Class, typename FieldType>
+class FieldMatcher {
+ public:
+  FieldMatcher(FieldType Class::*field,
+               const Matcher<const FieldType&>& matcher)
+      : field_(field), matcher_(matcher) {}
+
+  void DescribeTo(::std::ostream* os) const {
+    *os << "is an object whose given field ";
+    matcher_.DescribeTo(os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "is an object whose given field ";
+    matcher_.DescribeNegationTo(os);
+  }
+
+  template <typename T>
+  bool MatchAndExplain(const T& value, MatchResultListener* listener) const {
+    return MatchAndExplainImpl(
+        typename ::testing::internal::
+            is_pointer<GTEST_REMOVE_CONST_(T)>::type(),
+        value, listener);
+  }
+
+ private:
+  // The first argument of MatchAndExplainImpl() is needed to help
+  // Symbian's C++ compiler choose which overload to use.  Its type is
+  // true_type iff the Field() matcher is used to match a pointer.
+  bool MatchAndExplainImpl(false_type /* is_not_pointer */, const Class& obj,
+                           MatchResultListener* listener) const {
+    *listener << "whose given field is ";
+    return MatchPrintAndExplain(obj.*field_, matcher_, listener);
+  }
+
+  bool MatchAndExplainImpl(true_type /* is_pointer */, const Class* p,
+                           MatchResultListener* listener) const {
+    if (p == NULL)
+      return false;
+
+    *listener << "which points to an object ";
+    // Since *p has a field, it must be a class/struct/union type and
+    // thus cannot be a pointer.  Therefore we pass false_type() as
+    // the first argument.
+    return MatchAndExplainImpl(false_type(), *p, listener);
+  }
+
+  const FieldType Class::*field_;
+  const Matcher<const FieldType&> matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(FieldMatcher);
+};
+
+// Implements the Property() matcher for matching a property
+// (i.e. return value of a getter method) of an object.
+template <typename Class, typename PropertyType>
+class PropertyMatcher {
+ public:
+  // The property may have a reference type, so 'const PropertyType&'
+  // may cause double references and fail to compile.  That's why we
+  // need GTEST_REFERENCE_TO_CONST, which works regardless of
+  // PropertyType being a reference or not.
+  typedef GTEST_REFERENCE_TO_CONST_(PropertyType) RefToConstProperty;
+
+  PropertyMatcher(PropertyType (Class::*property)() const,
+                  const Matcher<RefToConstProperty>& matcher)
+      : property_(property), matcher_(matcher) {}
+
+  void DescribeTo(::std::ostream* os) const {
+    *os << "is an object whose given property ";
+    matcher_.DescribeTo(os);
+  }
+
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "is an object whose given property ";
+    matcher_.DescribeNegationTo(os);
+  }
+
+  template <typename T>
+  bool MatchAndExplain(const T&value, MatchResultListener* listener) const {
+    return MatchAndExplainImpl(
+        typename ::testing::internal::
+            is_pointer<GTEST_REMOVE_CONST_(T)>::type(),
+        value, listener);
+  }
+
+ private:
+  // The first argument of MatchAndExplainImpl() is needed to help
+  // Symbian's C++ compiler choose which overload to use.  Its type is
+  // true_type iff the Property() matcher is used to match a pointer.
+  bool MatchAndExplainImpl(false_type /* is_not_pointer */, const Class& obj,
+                           MatchResultListener* listener) const {
+    *listener << "whose given property is ";
+    // Cannot pass the return value (for example, int) to MatchPrintAndExplain,
+    // which takes a non-const reference as argument.
+#if defined(_PREFAST_ ) && _MSC_VER == 1800
+    // Workaround bug in VC++ 2013's /analyze parser.
+    // https://connect.microsoft.com/VisualStudio/feedback/details/1106363/internal-compiler-error-with-analyze-due-to-failure-to-infer-move
+    posix::Abort();  // To make sure it is never run.
+    return false;
+#else
+    RefToConstProperty result = (obj.*property_)();
+    return MatchPrintAndExplain(result, matcher_, listener);
+#endif
+  }
+
+  bool MatchAndExplainImpl(true_type /* is_pointer */, const Class* p,
+                           MatchResultListener* listener) const {
+    if (p == NULL)
+      return false;
+
+    *listener << "which points to an object ";
+    // Since *p has a property method, it must be a class/struct/union
+    // type and thus cannot be a pointer.  Therefore we pass
+    // false_type() as the first argument.
+    return MatchAndExplainImpl(false_type(), *p, listener);
+  }
+
+  PropertyType (Class::*property_)() const;
+  const Matcher<RefToConstProperty> matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(PropertyMatcher);
+};
+
+// Type traits specifying various features of different functors for ResultOf.
+// The default template specifies features for functor objects.
+// Functor classes have to typedef argument_type and result_type
+// to be compatible with ResultOf.
+template <typename Functor>
+struct CallableTraits {
+  typedef typename Functor::result_type ResultType;
+  typedef Functor StorageType;
+
+  static void CheckIsValid(Functor /* functor */) {}
+  template <typename T>
+  static ResultType Invoke(Functor f, T arg) { return f(arg); }
+};
+
+// Specialization for function pointers.
+template <typename ArgType, typename ResType>
+struct CallableTraits<ResType(*)(ArgType)> {
+  typedef ResType ResultType;
+  typedef ResType(*StorageType)(ArgType);
+
+  static void CheckIsValid(ResType(*f)(ArgType)) {
+    GTEST_CHECK_(f != NULL)
+        << "NULL function pointer is passed into ResultOf().";
+  }
+  template <typename T>
+  static ResType Invoke(ResType(*f)(ArgType), T arg) {
+    return (*f)(arg);
+  }
+};
+
+// Implements the ResultOf() matcher for matching a return value of a
+// unary function of an object.
+template <typename Callable>
+class ResultOfMatcher {
+ public:
+  typedef typename CallableTraits<Callable>::ResultType ResultType;
+
+  ResultOfMatcher(Callable callable, const Matcher<ResultType>& matcher)
+      : callable_(callable), matcher_(matcher) {
+    CallableTraits<Callable>::CheckIsValid(callable_);
+  }
+
+  template <typename T>
+  operator Matcher<T>() const {
+    return Matcher<T>(new Impl<T>(callable_, matcher_));
+  }
+
+ private:
+  typedef typename CallableTraits<Callable>::StorageType CallableStorageType;
+
+  template <typename T>
+  class Impl : public MatcherInterface<T> {
+   public:
+    Impl(CallableStorageType callable, const Matcher<ResultType>& matcher)
+        : callable_(callable), matcher_(matcher) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "is mapped by the given callable to a value that ";
+      matcher_.DescribeTo(os);
+    }
+
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "is mapped by the given callable to a value that ";
+      matcher_.DescribeNegationTo(os);
+    }
+
+    virtual bool MatchAndExplain(T obj, MatchResultListener* listener) const {
+      *listener << "which is mapped by the given callable to ";
+      // Cannot pass the return value (for example, int) to
+      // MatchPrintAndExplain, which takes a non-const reference as argument.
+      ResultType result =
+          CallableTraits<Callable>::template Invoke<T>(callable_, obj);
+      return MatchPrintAndExplain(result, matcher_, listener);
+    }
+
+   private:
+    // Functors often define operator() as non-const method even though
+    // they are actualy stateless. But we need to use them even when
+    // 'this' is a const pointer. It's the user's responsibility not to
+    // use stateful callables with ResultOf(), which does't guarantee
+    // how many times the callable will be invoked.
+    mutable CallableStorageType callable_;
+    const Matcher<ResultType> matcher_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };  // class Impl
+
+  const CallableStorageType callable_;
+  const Matcher<ResultType> matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(ResultOfMatcher);
+};
+
+// Implements a matcher that checks the size of an STL-style container.
+template <typename SizeMatcher>
+class SizeIsMatcher {
+ public:
+  explicit SizeIsMatcher(const SizeMatcher& size_matcher)
+       : size_matcher_(size_matcher) {
+  }
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    return MakeMatcher(new Impl<Container>(size_matcher_));
+  }
+
+  template <typename Container>
+  class Impl : public MatcherInterface<Container> {
+   public:
+    typedef internal::StlContainerView<
+         GTEST_REMOVE_REFERENCE_AND_CONST_(Container)> ContainerView;
+    typedef typename ContainerView::type::size_type SizeType;
+    explicit Impl(const SizeMatcher& size_matcher)
+        : size_matcher_(MatcherCast<SizeType>(size_matcher)) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "size ";
+      size_matcher_.DescribeTo(os);
+    }
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "size ";
+      size_matcher_.DescribeNegationTo(os);
+    }
+
+    virtual bool MatchAndExplain(Container container,
+                                 MatchResultListener* listener) const {
+      SizeType size = container.size();
+      StringMatchResultListener size_listener;
+      const bool result = size_matcher_.MatchAndExplain(size, &size_listener);
+      *listener
+          << "whose size " << size << (result ? " matches" : " doesn't match");
+      PrintIfNotEmpty(size_listener.str(), listener->stream());
+      return result;
+    }
+
+   private:
+    const Matcher<SizeType> size_matcher_;
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+ private:
+  const SizeMatcher size_matcher_;
+  GTEST_DISALLOW_ASSIGN_(SizeIsMatcher);
+};
+
+// Implements a matcher that checks the begin()..end() distance of an STL-style
+// container.
+template <typename DistanceMatcher>
+class BeginEndDistanceIsMatcher {
+ public:
+  explicit BeginEndDistanceIsMatcher(const DistanceMatcher& distance_matcher)
+      : distance_matcher_(distance_matcher) {}
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    return MakeMatcher(new Impl<Container>(distance_matcher_));
+  }
+
+  template <typename Container>
+  class Impl : public MatcherInterface<Container> {
+   public:
+    typedef internal::StlContainerView<
+        GTEST_REMOVE_REFERENCE_AND_CONST_(Container)> ContainerView;
+    typedef typename std::iterator_traits<
+        typename ContainerView::type::const_iterator>::difference_type
+        DistanceType;
+    explicit Impl(const DistanceMatcher& distance_matcher)
+        : distance_matcher_(MatcherCast<DistanceType>(distance_matcher)) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "distance between begin() and end() ";
+      distance_matcher_.DescribeTo(os);
+    }
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "distance between begin() and end() ";
+      distance_matcher_.DescribeNegationTo(os);
+    }
+
+    virtual bool MatchAndExplain(Container container,
+                                 MatchResultListener* listener) const {
+#if GTEST_HAS_STD_BEGIN_AND_END_
+      using std::begin;
+      using std::end;
+      DistanceType distance = std::distance(begin(container), end(container));
+#else
+      DistanceType distance = std::distance(container.begin(), container.end());
+#endif
+      StringMatchResultListener distance_listener;
+      const bool result =
+          distance_matcher_.MatchAndExplain(distance, &distance_listener);
+      *listener << "whose distance between begin() and end() " << distance
+                << (result ? " matches" : " doesn't match");
+      PrintIfNotEmpty(distance_listener.str(), listener->stream());
+      return result;
+    }
+
+   private:
+    const Matcher<DistanceType> distance_matcher_;
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+ private:
+  const DistanceMatcher distance_matcher_;
+  GTEST_DISALLOW_ASSIGN_(BeginEndDistanceIsMatcher);
+};
+
+// Implements an equality matcher for any STL-style container whose elements
+// support ==. This matcher is like Eq(), but its failure explanations provide
+// more detailed information that is useful when the container is used as a set.
+// The failure message reports elements that are in one of the operands but not
+// the other. The failure messages do not report duplicate or out-of-order
+// elements in the containers (which don't properly matter to sets, but can
+// occur if the containers are vectors or lists, for example).
+//
+// Uses the container's const_iterator, value_type, operator ==,
+// begin(), and end().
+template <typename Container>
+class ContainerEqMatcher {
+ public:
+  typedef internal::StlContainerView<Container> View;
+  typedef typename View::type StlContainer;
+  typedef typename View::const_reference StlContainerReference;
+
+  // We make a copy of expected in case the elements in it are modified
+  // after this matcher is created.
+  explicit ContainerEqMatcher(const Container& expected)
+      : expected_(View::Copy(expected)) {
+    // Makes sure the user doesn't instantiate this class template
+    // with a const or reference type.
+    (void)testing::StaticAssertTypeEq<Container,
+        GTEST_REMOVE_REFERENCE_AND_CONST_(Container)>();
+  }
+
+  void DescribeTo(::std::ostream* os) const {
+    *os << "equals ";
+    UniversalPrint(expected_, os);
+  }
+  void DescribeNegationTo(::std::ostream* os) const {
+    *os << "does not equal ";
+    UniversalPrint(expected_, os);
+  }
+
+  template <typename LhsContainer>
+  bool MatchAndExplain(const LhsContainer& lhs,
+                       MatchResultListener* listener) const {
+    // GTEST_REMOVE_CONST_() is needed to work around an MSVC 8.0 bug
+    // that causes LhsContainer to be a const type sometimes.
+    typedef internal::StlContainerView<GTEST_REMOVE_CONST_(LhsContainer)>
+        LhsView;
+    typedef typename LhsView::type LhsStlContainer;
+    StlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+    if (lhs_stl_container == expected_)
+      return true;
+
+    ::std::ostream* const os = listener->stream();
+    if (os != NULL) {
+      // Something is different. Check for extra values first.
+      bool printed_header = false;
+      for (typename LhsStlContainer::const_iterator it =
+               lhs_stl_container.begin();
+           it != lhs_stl_container.end(); ++it) {
+        if (internal::ArrayAwareFind(expected_.begin(), expected_.end(), *it) ==
+            expected_.end()) {
+          if (printed_header) {
+            *os << ", ";
+          } else {
+            *os << "which has these unexpected elements: ";
+            printed_header = true;
+          }
+          UniversalPrint(*it, os);
+        }
+      }
+
+      // Now check for missing values.
+      bool printed_header2 = false;
+      for (typename StlContainer::const_iterator it = expected_.begin();
+           it != expected_.end(); ++it) {
+        if (internal::ArrayAwareFind(
+                lhs_stl_container.begin(), lhs_stl_container.end(), *it) ==
+            lhs_stl_container.end()) {
+          if (printed_header2) {
+            *os << ", ";
+          } else {
+            *os << (printed_header ? ",\nand" : "which")
+                << " doesn't have these expected elements: ";
+            printed_header2 = true;
+          }
+          UniversalPrint(*it, os);
+        }
+      }
+    }
+
+    return false;
+  }
+
+ private:
+  const StlContainer expected_;
+
+  GTEST_DISALLOW_ASSIGN_(ContainerEqMatcher);
+};
+
+// A comparator functor that uses the < operator to compare two values.
+struct LessComparator {
+  template <typename T, typename U>
+  bool operator()(const T& lhs, const U& rhs) const { return lhs < rhs; }
+};
+
+// Implements WhenSortedBy(comparator, container_matcher).
+template <typename Comparator, typename ContainerMatcher>
+class WhenSortedByMatcher {
+ public:
+  WhenSortedByMatcher(const Comparator& comparator,
+                      const ContainerMatcher& matcher)
+      : comparator_(comparator), matcher_(matcher) {}
+
+  template <typename LhsContainer>
+  operator Matcher<LhsContainer>() const {
+    return MakeMatcher(new Impl<LhsContainer>(comparator_, matcher_));
+  }
+
+  template <typename LhsContainer>
+  class Impl : public MatcherInterface<LhsContainer> {
+   public:
+    typedef internal::StlContainerView<
+         GTEST_REMOVE_REFERENCE_AND_CONST_(LhsContainer)> LhsView;
+    typedef typename LhsView::type LhsStlContainer;
+    typedef typename LhsView::const_reference LhsStlContainerReference;
+    // Transforms std::pair<const Key, Value> into std::pair<Key, Value>
+    // so that we can match associative containers.
+    typedef typename RemoveConstFromKey<
+        typename LhsStlContainer::value_type>::type LhsValue;
+
+    Impl(const Comparator& comparator, const ContainerMatcher& matcher)
+        : comparator_(comparator), matcher_(matcher) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "(when sorted) ";
+      matcher_.DescribeTo(os);
+    }
+
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "(when sorted) ";
+      matcher_.DescribeNegationTo(os);
+    }
+
+    virtual bool MatchAndExplain(LhsContainer lhs,
+                                 MatchResultListener* listener) const {
+      LhsStlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+      ::std::vector<LhsValue> sorted_container(lhs_stl_container.begin(),
+                                               lhs_stl_container.end());
+      ::std::sort(
+           sorted_container.begin(), sorted_container.end(), comparator_);
+
+      if (!listener->IsInterested()) {
+        // If the listener is not interested, we do not need to
+        // construct the inner explanation.
+        return matcher_.Matches(sorted_container);
+      }
+
+      *listener << "which is ";
+      UniversalPrint(sorted_container, listener->stream());
+      *listener << " when sorted";
+
+      StringMatchResultListener inner_listener;
+      const bool match = matcher_.MatchAndExplain(sorted_container,
+                                                  &inner_listener);
+      PrintIfNotEmpty(inner_listener.str(), listener->stream());
+      return match;
+    }
+
+   private:
+    const Comparator comparator_;
+    const Matcher<const ::std::vector<LhsValue>&> matcher_;
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(Impl);
+  };
+
+ private:
+  const Comparator comparator_;
+  const ContainerMatcher matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(WhenSortedByMatcher);
+};
+
+// Implements Pointwise(tuple_matcher, rhs_container).  tuple_matcher
+// must be able to be safely cast to Matcher<tuple<const T1&, const
+// T2&> >, where T1 and T2 are the types of elements in the LHS
+// container and the RHS container respectively.
+template <typename TupleMatcher, typename RhsContainer>
+class PointwiseMatcher {
+ public:
+  typedef internal::StlContainerView<RhsContainer> RhsView;
+  typedef typename RhsView::type RhsStlContainer;
+  typedef typename RhsStlContainer::value_type RhsValue;
+
+  // Like ContainerEq, we make a copy of rhs in case the elements in
+  // it are modified after this matcher is created.
+  PointwiseMatcher(const TupleMatcher& tuple_matcher, const RhsContainer& rhs)
+      : tuple_matcher_(tuple_matcher), rhs_(RhsView::Copy(rhs)) {
+    // Makes sure the user doesn't instantiate this class template
+    // with a const or reference type.
+    (void)testing::StaticAssertTypeEq<RhsContainer,
+        GTEST_REMOVE_REFERENCE_AND_CONST_(RhsContainer)>();
+  }
+
+  template <typename LhsContainer>
+  operator Matcher<LhsContainer>() const {
+    return MakeMatcher(new Impl<LhsContainer>(tuple_matcher_, rhs_));
+  }
+
+  template <typename LhsContainer>
+  class Impl : public MatcherInterface<LhsContainer> {
+   public:
+    typedef internal::StlContainerView<
+         GTEST_REMOVE_REFERENCE_AND_CONST_(LhsContainer)> LhsView;
+    typedef typename LhsView::type LhsStlContainer;
+    typedef typename LhsView::const_reference LhsStlContainerReference;
+    typedef typename LhsStlContainer::value_type LhsValue;
+    // We pass the LHS value and the RHS value to the inner matcher by
+    // reference, as they may be expensive to copy.  We must use tuple
+    // instead of pair here, as a pair cannot hold references (C++ 98,
+    // 20.2.2 [lib.pairs]).
+    typedef ::testing::tuple<const LhsValue&, const RhsValue&> InnerMatcherArg;
+
+    Impl(const TupleMatcher& tuple_matcher, const RhsStlContainer& rhs)
+        // mono_tuple_matcher_ holds a monomorphic version of the tuple matcher.
+        : mono_tuple_matcher_(SafeMatcherCast<InnerMatcherArg>(tuple_matcher)),
+          rhs_(rhs) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "contains " << rhs_.size()
+          << " values, where each value and its corresponding value in ";
+      UniversalPrinter<RhsStlContainer>::Print(rhs_, os);
+      *os << " ";
+      mono_tuple_matcher_.DescribeTo(os);
+    }
+    virtual void DescribeNegationTo(::std::ostream* os) const {
+      *os << "doesn't contain exactly " << rhs_.size()
+          << " values, or contains a value x at some index i"
+          << " where x and the i-th value of ";
+      UniversalPrint(rhs_, os);
+      *os << " ";
+      mono_tuple_matcher_.DescribeNegationTo(os);
+    }
+
+    virtual bool MatchAndExplain(LhsContainer lhs,
+                                 MatchResultListener* listener) const {
+      LhsStlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+      const size_t actual_size = lhs_stl_container.size();
+      if (actual_size != rhs_.size()) {
+        *listener << "which contains " << actual_size << " values";
+        return false;
+      }
+
+      typename LhsStlContainer::const_iterator left = lhs_stl_container.begin();
+      typename RhsStlContainer::const_iterator right = rhs_.begin();
+      for (size_t i = 0; i != actual_size; ++i, ++left, ++right) {
+        const InnerMatcherArg value_pair(*left, *right);
+
+        if (listener->IsInterested()) {
+          StringMatchResultListener inner_listener;
+          if (!mono_tuple_matcher_.MatchAndExplain(
+                  value_pair, &inner_listener)) {
+            *listener << "where the value pair (";
+            UniversalPrint(*left, listener->stream());
+            *listener << ", ";
+            UniversalPrint(*right, listener->stream());
+            *listener << ") at index #" << i << " don't match";
+            PrintIfNotEmpty(inner_listener.str(), listener->stream());
+            return false;
+          }
+        } else {
+          if (!mono_tuple_matcher_.Matches(value_pair))
+            return false;
+        }
+      }
+
+      return true;
+    }
+
+   private:
+    const Matcher<InnerMatcherArg> mono_tuple_matcher_;
+    const RhsStlContainer rhs_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+ private:
+  const TupleMatcher tuple_matcher_;
+  const RhsStlContainer rhs_;
+
+  GTEST_DISALLOW_ASSIGN_(PointwiseMatcher);
+};
+
+// Holds the logic common to ContainsMatcherImpl and EachMatcherImpl.
+template <typename Container>
+class QuantifierMatcherImpl : public MatcherInterface<Container> {
+ public:
+  typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+  typedef StlContainerView<RawContainer> View;
+  typedef typename View::type StlContainer;
+  typedef typename View::const_reference StlContainerReference;
+  typedef typename StlContainer::value_type Element;
+
+  template <typename InnerMatcher>
+  explicit QuantifierMatcherImpl(InnerMatcher inner_matcher)
+      : inner_matcher_(
+           testing::SafeMatcherCast<const Element&>(inner_matcher)) {}
+
+  // Checks whether:
+  // * All elements in the container match, if all_elements_should_match.
+  // * Any element in the container matches, if !all_elements_should_match.
+  bool MatchAndExplainImpl(bool all_elements_should_match,
+                           Container container,
+                           MatchResultListener* listener) const {
+    StlContainerReference stl_container = View::ConstReference(container);
+    size_t i = 0;
+    for (typename StlContainer::const_iterator it = stl_container.begin();
+         it != stl_container.end(); ++it, ++i) {
+      StringMatchResultListener inner_listener;
+      const bool matches = inner_matcher_.MatchAndExplain(*it, &inner_listener);
+
+      if (matches != all_elements_should_match) {
+        *listener << "whose element #" << i
+                  << (matches ? " matches" : " doesn't match");
+        PrintIfNotEmpty(inner_listener.str(), listener->stream());
+        return !all_elements_should_match;
+      }
+    }
+    return all_elements_should_match;
+  }
+
+ protected:
+  const Matcher<const Element&> inner_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(QuantifierMatcherImpl);
+};
+
+// Implements Contains(element_matcher) for the given argument type Container.
+// Symmetric to EachMatcherImpl.
+template <typename Container>
+class ContainsMatcherImpl : public QuantifierMatcherImpl<Container> {
+ public:
+  template <typename InnerMatcher>
+  explicit ContainsMatcherImpl(InnerMatcher inner_matcher)
+      : QuantifierMatcherImpl<Container>(inner_matcher) {}
+
+  // Describes what this matcher does.
+  virtual void DescribeTo(::std::ostream* os) const {
+    *os << "contains at least one element that ";
+    this->inner_matcher_.DescribeTo(os);
+  }
+
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "doesn't contain any element that ";
+    this->inner_matcher_.DescribeTo(os);
+  }
+
+  virtual bool MatchAndExplain(Container container,
+                               MatchResultListener* listener) const {
+    return this->MatchAndExplainImpl(false, container, listener);
+  }
+
+ private:
+  GTEST_DISALLOW_ASSIGN_(ContainsMatcherImpl);
+};
+
+// Implements Each(element_matcher) for the given argument type Container.
+// Symmetric to ContainsMatcherImpl.
+template <typename Container>
+class EachMatcherImpl : public QuantifierMatcherImpl<Container> {
+ public:
+  template <typename InnerMatcher>
+  explicit EachMatcherImpl(InnerMatcher inner_matcher)
+      : QuantifierMatcherImpl<Container>(inner_matcher) {}
+
+  // Describes what this matcher does.
+  virtual void DescribeTo(::std::ostream* os) const {
+    *os << "only contains elements that ";
+    this->inner_matcher_.DescribeTo(os);
+  }
+
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "contains some element that ";
+    this->inner_matcher_.DescribeNegationTo(os);
+  }
+
+  virtual bool MatchAndExplain(Container container,
+                               MatchResultListener* listener) const {
+    return this->MatchAndExplainImpl(true, container, listener);
+  }
+
+ private:
+  GTEST_DISALLOW_ASSIGN_(EachMatcherImpl);
+};
+
+// Implements polymorphic Contains(element_matcher).
+template <typename M>
+class ContainsMatcher {
+ public:
+  explicit ContainsMatcher(M m) : inner_matcher_(m) {}
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    return MakeMatcher(new ContainsMatcherImpl<Container>(inner_matcher_));
+  }
+
+ private:
+  const M inner_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(ContainsMatcher);
+};
+
+// Implements polymorphic Each(element_matcher).
+template <typename M>
+class EachMatcher {
+ public:
+  explicit EachMatcher(M m) : inner_matcher_(m) {}
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    return MakeMatcher(new EachMatcherImpl<Container>(inner_matcher_));
+  }
+
+ private:
+  const M inner_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(EachMatcher);
+};
+
+// Implements Key(inner_matcher) for the given argument pair type.
+// Key(inner_matcher) matches an std::pair whose 'first' field matches
+// inner_matcher.  For example, Contains(Key(Ge(5))) can be used to match an
+// std::map that contains at least one element whose key is >= 5.
+template <typename PairType>
+class KeyMatcherImpl : public MatcherInterface<PairType> {
+ public:
+  typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
+  typedef typename RawPairType::first_type KeyType;
+
+  template <typename InnerMatcher>
+  explicit KeyMatcherImpl(InnerMatcher inner_matcher)
+      : inner_matcher_(
+          testing::SafeMatcherCast<const KeyType&>(inner_matcher)) {
+  }
+
+  // Returns true iff 'key_value.first' (the key) matches the inner matcher.
+  virtual bool MatchAndExplain(PairType key_value,
+                               MatchResultListener* listener) const {
+    StringMatchResultListener inner_listener;
+    const bool match = inner_matcher_.MatchAndExplain(key_value.first,
+                                                      &inner_listener);
+    const internal::string explanation = inner_listener.str();
+    if (explanation != "") {
+      *listener << "whose first field is a value " << explanation;
+    }
+    return match;
+  }
+
+  // Describes what this matcher does.
+  virtual void DescribeTo(::std::ostream* os) const {
+    *os << "has a key that ";
+    inner_matcher_.DescribeTo(os);
+  }
+
+  // Describes what the negation of this matcher does.
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "doesn't have a key that ";
+    inner_matcher_.DescribeTo(os);
+  }
+
+ private:
+  const Matcher<const KeyType&> inner_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(KeyMatcherImpl);
+};
+
+// Implements polymorphic Key(matcher_for_key).
+template <typename M>
+class KeyMatcher {
+ public:
+  explicit KeyMatcher(M m) : matcher_for_key_(m) {}
+
+  template <typename PairType>
+  operator Matcher<PairType>() const {
+    return MakeMatcher(new KeyMatcherImpl<PairType>(matcher_for_key_));
+  }
+
+ private:
+  const M matcher_for_key_;
+
+  GTEST_DISALLOW_ASSIGN_(KeyMatcher);
+};
+
+// Implements Pair(first_matcher, second_matcher) for the given argument pair
+// type with its two matchers. See Pair() function below.
+template <typename PairType>
+class PairMatcherImpl : public MatcherInterface<PairType> {
+ public:
+  typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
+  typedef typename RawPairType::first_type FirstType;
+  typedef typename RawPairType::second_type SecondType;
+
+  template <typename FirstMatcher, typename SecondMatcher>
+  PairMatcherImpl(FirstMatcher first_matcher, SecondMatcher second_matcher)
+      : first_matcher_(
+            testing::SafeMatcherCast<const FirstType&>(first_matcher)),
+        second_matcher_(
+            testing::SafeMatcherCast<const SecondType&>(second_matcher)) {
+  }
+
+  // Describes what this matcher does.
+  virtual void DescribeTo(::std::ostream* os) const {
+    *os << "has a first field that ";
+    first_matcher_.DescribeTo(os);
+    *os << ", and has a second field that ";
+    second_matcher_.DescribeTo(os);
+  }
+
+  // Describes what the negation of this matcher does.
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "has a first field that ";
+    first_matcher_.DescribeNegationTo(os);
+    *os << ", or has a second field that ";
+    second_matcher_.DescribeNegationTo(os);
+  }
+
+  // Returns true iff 'a_pair.first' matches first_matcher and 'a_pair.second'
+  // matches second_matcher.
+  virtual bool MatchAndExplain(PairType a_pair,
+                               MatchResultListener* listener) const {
+    if (!listener->IsInterested()) {
+      // If the listener is not interested, we don't need to construct the
+      // explanation.
+      return first_matcher_.Matches(a_pair.first) &&
+             second_matcher_.Matches(a_pair.second);
+    }
+    StringMatchResultListener first_inner_listener;
+    if (!first_matcher_.MatchAndExplain(a_pair.first,
+                                        &first_inner_listener)) {
+      *listener << "whose first field does not match";
+      PrintIfNotEmpty(first_inner_listener.str(), listener->stream());
+      return false;
+    }
+    StringMatchResultListener second_inner_listener;
+    if (!second_matcher_.MatchAndExplain(a_pair.second,
+                                         &second_inner_listener)) {
+      *listener << "whose second field does not match";
+      PrintIfNotEmpty(second_inner_listener.str(), listener->stream());
+      return false;
+    }
+    ExplainSuccess(first_inner_listener.str(), second_inner_listener.str(),
+                   listener);
+    return true;
+  }
+
+ private:
+  void ExplainSuccess(const internal::string& first_explanation,
+                      const internal::string& second_explanation,
+                      MatchResultListener* listener) const {
+    *listener << "whose both fields match";
+    if (first_explanation != "") {
+      *listener << ", where the first field is a value " << first_explanation;
+    }
+    if (second_explanation != "") {
+      *listener << ", ";
+      if (first_explanation != "") {
+        *listener << "and ";
+      } else {
+        *listener << "where ";
+      }
+      *listener << "the second field is a value " << second_explanation;
+    }
+  }
+
+  const Matcher<const FirstType&> first_matcher_;
+  const Matcher<const SecondType&> second_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(PairMatcherImpl);
+};
+
+// Implements polymorphic Pair(first_matcher, second_matcher).
+template <typename FirstMatcher, typename SecondMatcher>
+class PairMatcher {
+ public:
+  PairMatcher(FirstMatcher first_matcher, SecondMatcher second_matcher)
+      : first_matcher_(first_matcher), second_matcher_(second_matcher) {}
+
+  template <typename PairType>
+  operator Matcher<PairType> () const {
+    return MakeMatcher(
+        new PairMatcherImpl<PairType>(
+            first_matcher_, second_matcher_));
+  }
+
+ private:
+  const FirstMatcher first_matcher_;
+  const SecondMatcher second_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(PairMatcher);
+};
+
+// Implements ElementsAre() and ElementsAreArray().
+template <typename Container>
+class ElementsAreMatcherImpl : public MatcherInterface<Container> {
+ public:
+  typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+  typedef internal::StlContainerView<RawContainer> View;
+  typedef typename View::type StlContainer;
+  typedef typename View::const_reference StlContainerReference;
+  typedef typename StlContainer::value_type Element;
+
+  // Constructs the matcher from a sequence of element values or
+  // element matchers.
+  template <typename InputIter>
+  ElementsAreMatcherImpl(InputIter first, InputIter last) {
+    while (first != last) {
+      matchers_.push_back(MatcherCast<const Element&>(*first++));
+    }
+  }
+
+  // Describes what this matcher does.
+  virtual void DescribeTo(::std::ostream* os) const {
+    if (count() == 0) {
+      *os << "is empty";
+    } else if (count() == 1) {
+      *os << "has 1 element that ";
+      matchers_[0].DescribeTo(os);
+    } else {
+      *os << "has " << Elements(count()) << " where\n";
+      for (size_t i = 0; i != count(); ++i) {
+        *os << "element #" << i << " ";
+        matchers_[i].DescribeTo(os);
+        if (i + 1 < count()) {
+          *os << ",\n";
+        }
+      }
+    }
+  }
+
+  // Describes what the negation of this matcher does.
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    if (count() == 0) {
+      *os << "isn't empty";
+      return;
+    }
+
+    *os << "doesn't have " << Elements(count()) << ", or\n";
+    for (size_t i = 0; i != count(); ++i) {
+      *os << "element #" << i << " ";
+      matchers_[i].DescribeNegationTo(os);
+      if (i + 1 < count()) {
+        *os << ", or\n";
+      }
+    }
+  }
+
+  virtual bool MatchAndExplain(Container container,
+                               MatchResultListener* listener) const {
+    // To work with stream-like "containers", we must only walk
+    // through the elements in one pass.
+
+    const bool listener_interested = listener->IsInterested();
+
+    // explanations[i] is the explanation of the element at index i.
+    ::std::vector<internal::string> explanations(count());
+    StlContainerReference stl_container = View::ConstReference(container);
+    typename StlContainer::const_iterator it = stl_container.begin();
+    size_t exam_pos = 0;
+    bool mismatch_found = false;  // Have we found a mismatched element yet?
+
+    // Go through the elements and matchers in pairs, until we reach
+    // the end of either the elements or the matchers, or until we find a
+    // mismatch.
+    for (; it != stl_container.end() && exam_pos != count(); ++it, ++exam_pos) {
+      bool match;  // Does the current element match the current matcher?
+      if (listener_interested) {
+        StringMatchResultListener s;
+        match = matchers_[exam_pos].MatchAndExplain(*it, &s);
+        explanations[exam_pos] = s.str();
+      } else {
+        match = matchers_[exam_pos].Matches(*it);
+      }
+
+      if (!match) {
+        mismatch_found = true;
+        break;
+      }
+    }
+    // If mismatch_found is true, 'exam_pos' is the index of the mismatch.
+
+    // Find how many elements the actual container has.  We avoid
+    // calling size() s.t. this code works for stream-like "containers"
+    // that don't define size().
+    size_t actual_count = exam_pos;
+    for (; it != stl_container.end(); ++it) {
+      ++actual_count;
+    }
+
+    if (actual_count != count()) {
+      // The element count doesn't match.  If the container is empty,
+      // there's no need to explain anything as Google Mock already
+      // prints the empty container.  Otherwise we just need to show
+      // how many elements there actually are.
+      if (listener_interested && (actual_count != 0)) {
+        *listener << "which has " << Elements(actual_count);
+      }
+      return false;
+    }
+
+    if (mismatch_found) {
+      // The element count matches, but the exam_pos-th element doesn't match.
+      if (listener_interested) {
+        *listener << "whose element #" << exam_pos << " doesn't match";
+        PrintIfNotEmpty(explanations[exam_pos], listener->stream());
+      }
+      return false;
+    }
+
+    // Every element matches its expectation.  We need to explain why
+    // (the obvious ones can be skipped).
+    if (listener_interested) {
+      bool reason_printed = false;
+      for (size_t i = 0; i != count(); ++i) {
+        const internal::string& s = explanations[i];
+        if (!s.empty()) {
+          if (reason_printed) {
+            *listener << ",\nand ";
+          }
+          *listener << "whose element #" << i << " matches, " << s;
+          reason_printed = true;
+        }
+      }
+    }
+    return true;
+  }
+
+ private:
+  static Message Elements(size_t count) {
+    return Message() << count << (count == 1 ? " element" : " elements");
+  }
+
+  size_t count() const { return matchers_.size(); }
+
+  ::std::vector<Matcher<const Element&> > matchers_;
+
+  GTEST_DISALLOW_ASSIGN_(ElementsAreMatcherImpl);
+};
+
+// Connectivity matrix of (elements X matchers), in element-major order.
+// Initially, there are no edges.
+// Use NextGraph() to iterate over all possible edge configurations.
+// Use Randomize() to generate a random edge configuration.
+class GTEST_API_ MatchMatrix {
+ public:
+  MatchMatrix(size_t num_elements, size_t num_matchers)
+      : num_elements_(num_elements),
+        num_matchers_(num_matchers),
+        matched_(num_elements_* num_matchers_, 0) {
+  }
+
+  size_t LhsSize() const { return num_elements_; }
+  size_t RhsSize() const { return num_matchers_; }
+  bool HasEdge(size_t ilhs, size_t irhs) const {
+    return matched_[SpaceIndex(ilhs, irhs)] == 1;
+  }
+  void SetEdge(size_t ilhs, size_t irhs, bool b) {
+    matched_[SpaceIndex(ilhs, irhs)] = b ? 1 : 0;
+  }
+
+  // Treating the connectivity matrix as a (LhsSize()*RhsSize())-bit number,
+  // adds 1 to that number; returns false if incrementing the graph left it
+  // empty.
+  bool NextGraph();
+
+  void Randomize();
+
+  string DebugString() const;
+
+ private:
+  size_t SpaceIndex(size_t ilhs, size_t irhs) const {
+    return ilhs * num_matchers_ + irhs;
+  }
+
+  size_t num_elements_;
+  size_t num_matchers_;
+
+  // Each element is a char interpreted as bool. They are stored as a
+  // flattened array in lhs-major order, use 'SpaceIndex()' to translate
+  // a (ilhs, irhs) matrix coordinate into an offset.
+  ::std::vector<char> matched_;
+};
+
+typedef ::std::pair<size_t, size_t> ElementMatcherPair;
+typedef ::std::vector<ElementMatcherPair> ElementMatcherPairs;
+
+// Returns a maximum bipartite matching for the specified graph 'g'.
+// The matching is represented as a vector of {element, matcher} pairs.
+GTEST_API_ ElementMatcherPairs
+FindMaxBipartiteMatching(const MatchMatrix& g);
+
+GTEST_API_ bool FindPairing(const MatchMatrix& matrix,
+                            MatchResultListener* listener);
+
+// Untyped base class for implementing UnorderedElementsAre.  By
+// putting logic that's not specific to the element type here, we
+// reduce binary bloat and increase compilation speed.
+class GTEST_API_ UnorderedElementsAreMatcherImplBase {
+ protected:
+  // A vector of matcher describers, one for each element matcher.
+  // Does not own the describers (and thus can be used only when the
+  // element matchers are alive).
+  typedef ::std::vector<const MatcherDescriberInterface*> MatcherDescriberVec;
+
+  // Describes this UnorderedElementsAre matcher.
+  void DescribeToImpl(::std::ostream* os) const;
+
+  // Describes the negation of this UnorderedElementsAre matcher.
+  void DescribeNegationToImpl(::std::ostream* os) const;
+
+  bool VerifyAllElementsAndMatchersAreMatched(
+      const ::std::vector<string>& element_printouts,
+      const MatchMatrix& matrix,
+      MatchResultListener* listener) const;
+
+  MatcherDescriberVec& matcher_describers() {
+    return matcher_describers_;
+  }
+
+  static Message Elements(size_t n) {
+    return Message() << n << " element" << (n == 1 ? "" : "s");
+  }
+
+ private:
+  MatcherDescriberVec matcher_describers_;
+
+  GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreMatcherImplBase);
+};
+
+// Implements unordered ElementsAre and unordered ElementsAreArray.
+template <typename Container>
+class UnorderedElementsAreMatcherImpl
+    : public MatcherInterface<Container>,
+      public UnorderedElementsAreMatcherImplBase {
+ public:
+  typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+  typedef internal::StlContainerView<RawContainer> View;
+  typedef typename View::type StlContainer;
+  typedef typename View::const_reference StlContainerReference;
+  typedef typename StlContainer::const_iterator StlContainerConstIterator;
+  typedef typename StlContainer::value_type Element;
+
+  // Constructs the matcher from a sequence of element values or
+  // element matchers.
+  template <typename InputIter>
+  UnorderedElementsAreMatcherImpl(InputIter first, InputIter last) {
+    for (; first != last; ++first) {
+      matchers_.push_back(MatcherCast<const Element&>(*first));
+      matcher_describers().push_back(matchers_.back().GetDescriber());
+    }
+  }
+
+  // Describes what this matcher does.
+  virtual void DescribeTo(::std::ostream* os) const {
+    return UnorderedElementsAreMatcherImplBase::DescribeToImpl(os);
+  }
+
+  // Describes what the negation of this matcher does.
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    return UnorderedElementsAreMatcherImplBase::DescribeNegationToImpl(os);
+  }
+
+  virtual bool MatchAndExplain(Container container,
+                               MatchResultListener* listener) const {
+    StlContainerReference stl_container = View::ConstReference(container);
+    ::std::vector<string> element_printouts;
+    MatchMatrix matrix = AnalyzeElements(stl_container.begin(),
+                                         stl_container.end(),
+                                         &element_printouts,
+                                         listener);
+
+    const size_t actual_count = matrix.LhsSize();
+    if (actual_count == 0 && matchers_.empty()) {
+      return true;
+    }
+    if (actual_count != matchers_.size()) {
+      // The element count doesn't match.  If the container is empty,
+      // there's no need to explain anything as Google Mock already
+      // prints the empty container. Otherwise we just need to show
+      // how many elements there actually are.
+      if (actual_count != 0 && listener->IsInterested()) {
+        *listener << "which has " << Elements(actual_count);
+      }
+      return false;
+    }
+
+    return VerifyAllElementsAndMatchersAreMatched(element_printouts,
+                                                  matrix, listener) &&
+           FindPairing(matrix, listener);
+  }
+
+ private:
+  typedef ::std::vector<Matcher<const Element&> > MatcherVec;
+
+  template <typename ElementIter>
+  MatchMatrix AnalyzeElements(ElementIter elem_first, ElementIter elem_last,
+                              ::std::vector<string>* element_printouts,
+                              MatchResultListener* listener) const {
+    element_printouts->clear();
+    ::std::vector<char> did_match;
+    size_t num_elements = 0;
+    for (; elem_first != elem_last; ++num_elements, ++elem_first) {
+      if (listener->IsInterested()) {
+        element_printouts->push_back(PrintToString(*elem_first));
+      }
+      for (size_t irhs = 0; irhs != matchers_.size(); ++irhs) {
+        did_match.push_back(Matches(matchers_[irhs])(*elem_first));
+      }
+    }
+
+    MatchMatrix matrix(num_elements, matchers_.size());
+    ::std::vector<char>::const_iterator did_match_iter = did_match.begin();
+    for (size_t ilhs = 0; ilhs != num_elements; ++ilhs) {
+      for (size_t irhs = 0; irhs != matchers_.size(); ++irhs) {
+        matrix.SetEdge(ilhs, irhs, *did_match_iter++ != 0);
+      }
+    }
+    return matrix;
+  }
+
+  MatcherVec matchers_;
+
+  GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreMatcherImpl);
+};
+
+// Functor for use in TransformTuple.
+// Performs MatcherCast<Target> on an input argument of any type.
+template <typename Target>
+struct CastAndAppendTransform {
+  template <typename Arg>
+  Matcher<Target> operator()(const Arg& a) const {
+    return MatcherCast<Target>(a);
+  }
+};
+
+// Implements UnorderedElementsAre.
+template <typename MatcherTuple>
+class UnorderedElementsAreMatcher {
+ public:
+  explicit UnorderedElementsAreMatcher(const MatcherTuple& args)
+      : matchers_(args) {}
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+    typedef typename internal::StlContainerView<RawContainer>::type View;
+    typedef typename View::value_type Element;
+    typedef ::std::vector<Matcher<const Element&> > MatcherVec;
+    MatcherVec matchers;
+    matchers.reserve(::testing::tuple_size<MatcherTuple>::value);
+    TransformTupleValues(CastAndAppendTransform<const Element&>(), matchers_,
+                         ::std::back_inserter(matchers));
+    return MakeMatcher(new UnorderedElementsAreMatcherImpl<Container>(
+                           matchers.begin(), matchers.end()));
+  }
+
+ private:
+  const MatcherTuple matchers_;
+  GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreMatcher);
+};
+
+// Implements ElementsAre.
+template <typename MatcherTuple>
+class ElementsAreMatcher {
+ public:
+  explicit ElementsAreMatcher(const MatcherTuple& args) : matchers_(args) {}
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+    typedef typename internal::StlContainerView<RawContainer>::type View;
+    typedef typename View::value_type Element;
+    typedef ::std::vector<Matcher<const Element&> > MatcherVec;
+    MatcherVec matchers;
+    matchers.reserve(::testing::tuple_size<MatcherTuple>::value);
+    TransformTupleValues(CastAndAppendTransform<const Element&>(), matchers_,
+                         ::std::back_inserter(matchers));
+    return MakeMatcher(new ElementsAreMatcherImpl<Container>(
+                           matchers.begin(), matchers.end()));
+  }
+
+ private:
+  const MatcherTuple matchers_;
+  GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher);
+};
+
+// Implements UnorderedElementsAreArray().
+template <typename T>
+class UnorderedElementsAreArrayMatcher {
+ public:
+  UnorderedElementsAreArrayMatcher() {}
+
+  template <typename Iter>
+  UnorderedElementsAreArrayMatcher(Iter first, Iter last)
+      : matchers_(first, last) {}
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    return MakeMatcher(
+        new UnorderedElementsAreMatcherImpl<Container>(matchers_.begin(),
+                                                       matchers_.end()));
+  }
+
+ private:
+  ::std::vector<T> matchers_;
+
+  GTEST_DISALLOW_ASSIGN_(UnorderedElementsAreArrayMatcher);
+};
+
+// Implements ElementsAreArray().
+template <typename T>
+class ElementsAreArrayMatcher {
+ public:
+  template <typename Iter>
+  ElementsAreArrayMatcher(Iter first, Iter last) : matchers_(first, last) {}
+
+  template <typename Container>
+  operator Matcher<Container>() const {
+    return MakeMatcher(new ElementsAreMatcherImpl<Container>(
+        matchers_.begin(), matchers_.end()));
+  }
+
+ private:
+  const ::std::vector<T> matchers_;
+
+  GTEST_DISALLOW_ASSIGN_(ElementsAreArrayMatcher);
+};
+
+// Given a 2-tuple matcher tm of type Tuple2Matcher and a value second
+// of type Second, BoundSecondMatcher<Tuple2Matcher, Second>(tm,
+// second) is a polymorphic matcher that matches a value x iff tm
+// matches tuple (x, second).  Useful for implementing
+// UnorderedPointwise() in terms of UnorderedElementsAreArray().
+//
+// BoundSecondMatcher is copyable and assignable, as we need to put
+// instances of this class in a vector when implementing
+// UnorderedPointwise().
+template <typename Tuple2Matcher, typename Second>
+class BoundSecondMatcher {
+ public:
+  BoundSecondMatcher(const Tuple2Matcher& tm, const Second& second)
+      : tuple2_matcher_(tm), second_value_(second) {}
+
+  template <typename T>
+  operator Matcher<T>() const {
+    return MakeMatcher(new Impl<T>(tuple2_matcher_, second_value_));
+  }
+
+  // We have to define this for UnorderedPointwise() to compile in
+  // C++98 mode, as it puts BoundSecondMatcher instances in a vector,
+  // which requires the elements to be assignable in C++98.  The
+  // compiler cannot generate the operator= for us, as Tuple2Matcher
+  // and Second may not be assignable.
+  //
+  // However, this should never be called, so the implementation just
+  // need to assert.
+  void operator=(const BoundSecondMatcher& /*rhs*/) {
+    GTEST_LOG_(FATAL) << "BoundSecondMatcher should never be assigned.";
+  }
+
+ private:
+  template <typename T>
+  class Impl : public MatcherInterface<T> {
+   public:
+    typedef ::testing::tuple<T, Second> ArgTuple;
+
+    Impl(const Tuple2Matcher& tm, const Second& second)
+        : mono_tuple2_matcher_(SafeMatcherCast<const ArgTuple&>(tm)),
+          second_value_(second) {}
+
+    virtual void DescribeTo(::std::ostream* os) const {
+      *os << "and ";
+      UniversalPrint(second_value_, os);
+      *os << " ";
+      mono_tuple2_matcher_.DescribeTo(os);
+    }
+
+    virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+      return mono_tuple2_matcher_.MatchAndExplain(ArgTuple(x, second_value_),
+                                                  listener);
+    }
+
+   private:
+    const Matcher<const ArgTuple&> mono_tuple2_matcher_;
+    const Second second_value_;
+
+    GTEST_DISALLOW_ASSIGN_(Impl);
+  };
+
+  const Tuple2Matcher tuple2_matcher_;
+  const Second second_value_;
+};
+
+// Given a 2-tuple matcher tm and a value second,
+// MatcherBindSecond(tm, second) returns a matcher that matches a
+// value x iff tm matches tuple (x, second).  Useful for implementing
+// UnorderedPointwise() in terms of UnorderedElementsAreArray().
+template <typename Tuple2Matcher, typename Second>
+BoundSecondMatcher<Tuple2Matcher, Second> MatcherBindSecond(
+    const Tuple2Matcher& tm, const Second& second) {
+  return BoundSecondMatcher<Tuple2Matcher, Second>(tm, second);
+}
+
+// Returns the description for a matcher defined using the MATCHER*()
+// macro where the user-supplied description string is "", if
+// 'negation' is false; otherwise returns the description of the
+// negation of the matcher.  'param_values' contains a list of strings
+// that are the print-out of the matcher's parameters.
+GTEST_API_ string FormatMatcherDescription(bool negation,
+                                           const char* matcher_name,
+                                           const Strings& param_values);
+
+}  // namespace internal
+
+// ElementsAreArray(first, last)
+// ElementsAreArray(pointer, count)
+// ElementsAreArray(array)
+// ElementsAreArray(container)
+// ElementsAreArray({ e1, e2, ..., en })
+//
+// The ElementsAreArray() functions are like ElementsAre(...), except
+// that they are given a homogeneous sequence rather than taking each
+// element as a function argument. The sequence can be specified as an
+// array, a pointer and count, a vector, an initializer list, or an
+// STL iterator range. In each of these cases, the underlying sequence
+// can be either a sequence of values or a sequence of matchers.
+//
+// All forms of ElementsAreArray() make a copy of the input matcher sequence.
+
+template <typename Iter>
+inline internal::ElementsAreArrayMatcher<
+    typename ::std::iterator_traits<Iter>::value_type>
+ElementsAreArray(Iter first, Iter last) {
+  typedef typename ::std::iterator_traits<Iter>::value_type T;
+  return internal::ElementsAreArrayMatcher<T>(first, last);
+}
+
+template <typename T>
+inline internal::ElementsAreArrayMatcher<T> ElementsAreArray(
+    const T* pointer, size_t count) {
+  return ElementsAreArray(pointer, pointer + count);
+}
+
+template <typename T, size_t N>
+inline internal::ElementsAreArrayMatcher<T> ElementsAreArray(
+    const T (&array)[N]) {
+  return ElementsAreArray(array, N);
+}
+
+template <typename Container>
+inline internal::ElementsAreArrayMatcher<typename Container::value_type>
+ElementsAreArray(const Container& container) {
+  return ElementsAreArray(container.begin(), container.end());
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+template <typename T>
+inline internal::ElementsAreArrayMatcher<T>
+ElementsAreArray(::std::initializer_list<T> xs) {
+  return ElementsAreArray(xs.begin(), xs.end());
+}
+#endif
+
+// UnorderedElementsAreArray(first, last)
+// UnorderedElementsAreArray(pointer, count)
+// UnorderedElementsAreArray(array)
+// UnorderedElementsAreArray(container)
+// UnorderedElementsAreArray({ e1, e2, ..., en })
+//
+// The UnorderedElementsAreArray() functions are like
+// ElementsAreArray(...), but allow matching the elements in any order.
+template <typename Iter>
+inline internal::UnorderedElementsAreArrayMatcher<
+    typename ::std::iterator_traits<Iter>::value_type>
+UnorderedElementsAreArray(Iter first, Iter last) {
+  typedef typename ::std::iterator_traits<Iter>::value_type T;
+  return internal::UnorderedElementsAreArrayMatcher<T>(first, last);
+}
+
+template <typename T>
+inline internal::UnorderedElementsAreArrayMatcher<T>
+UnorderedElementsAreArray(const T* pointer, size_t count) {
+  return UnorderedElementsAreArray(pointer, pointer + count);
+}
+
+template <typename T, size_t N>
+inline internal::UnorderedElementsAreArrayMatcher<T>
+UnorderedElementsAreArray(const T (&array)[N]) {
+  return UnorderedElementsAreArray(array, N);
+}
+
+template <typename Container>
+inline internal::UnorderedElementsAreArrayMatcher<
+    typename Container::value_type>
+UnorderedElementsAreArray(const Container& container) {
+  return UnorderedElementsAreArray(container.begin(), container.end());
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+template <typename T>
+inline internal::UnorderedElementsAreArrayMatcher<T>
+UnorderedElementsAreArray(::std::initializer_list<T> xs) {
+  return UnorderedElementsAreArray(xs.begin(), xs.end());
+}
+#endif
+
+// _ is a matcher that matches anything of any type.
+//
+// This definition is fine as:
+//
+//   1. The C++ standard permits using the name _ in a namespace that
+//      is not the global namespace or ::std.
+//   2. The AnythingMatcher class has no data member or constructor,
+//      so it's OK to create global variables of this type.
+//   3. c-style has approved of using _ in this case.
+const internal::AnythingMatcher _ = {};
+// Creates a matcher that matches any value of the given type T.
+template <typename T>
+inline Matcher<T> A() { return MakeMatcher(new internal::AnyMatcherImpl<T>()); }
+
+// Creates a matcher that matches any value of the given type T.
+template <typename T>
+inline Matcher<T> An() { return A<T>(); }
+
+// Creates a polymorphic matcher that matches anything equal to x.
+// Note: if the parameter of Eq() were declared as const T&, Eq("foo")
+// wouldn't compile.
+template <typename T>
+inline internal::EqMatcher<T> Eq(T x) { return internal::EqMatcher<T>(x); }
+
+// Constructs a Matcher<T> from a 'value' of type T.  The constructed
+// matcher matches any value that's equal to 'value'.
+template <typename T>
+Matcher<T>::Matcher(T value) { *this = Eq(value); }
+
+// Creates a monomorphic matcher that matches anything with type Lhs
+// and equal to rhs.  A user may need to use this instead of Eq(...)
+// in order to resolve an overloading ambiguity.
+//
+// TypedEq<T>(x) is just a convenient short-hand for Matcher<T>(Eq(x))
+// or Matcher<T>(x), but more readable than the latter.
+//
+// We could define similar monomorphic matchers for other comparison
+// operations (e.g. TypedLt, TypedGe, and etc), but decided not to do
+// it yet as those are used much less than Eq() in practice.  A user
+// can always write Matcher<T>(Lt(5)) to be explicit about the type,
+// for example.
+template <typename Lhs, typename Rhs>
+inline Matcher<Lhs> TypedEq(const Rhs& rhs) { return Eq(rhs); }
+
+// Creates a polymorphic matcher that matches anything >= x.
+template <typename Rhs>
+inline internal::GeMatcher<Rhs> Ge(Rhs x) {
+  return internal::GeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything > x.
+template <typename Rhs>
+inline internal::GtMatcher<Rhs> Gt(Rhs x) {
+  return internal::GtMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything <= x.
+template <typename Rhs>
+inline internal::LeMatcher<Rhs> Le(Rhs x) {
+  return internal::LeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything < x.
+template <typename Rhs>
+inline internal::LtMatcher<Rhs> Lt(Rhs x) {
+  return internal::LtMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything != x.
+template <typename Rhs>
+inline internal::NeMatcher<Rhs> Ne(Rhs x) {
+  return internal::NeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches any NULL pointer.
+inline PolymorphicMatcher<internal::IsNullMatcher > IsNull() {
+  return MakePolymorphicMatcher(internal::IsNullMatcher());
+}
+
+// Creates a polymorphic matcher that matches any non-NULL pointer.
+// This is convenient as Not(NULL) doesn't compile (the compiler
+// thinks that that expression is comparing a pointer with an integer).
+inline PolymorphicMatcher<internal::NotNullMatcher > NotNull() {
+  return MakePolymorphicMatcher(internal::NotNullMatcher());
+}
+
+// Creates a polymorphic matcher that matches any argument that
+// references variable x.
+template <typename T>
+inline internal::RefMatcher<T&> Ref(T& x) {  // NOLINT
+  return internal::RefMatcher<T&>(x);
+}
+
+// Creates a matcher that matches any double argument approximately
+// equal to rhs, where two NANs are considered unequal.
+inline internal::FloatingEqMatcher<double> DoubleEq(double rhs) {
+  return internal::FloatingEqMatcher<double>(rhs, false);
+}
+
+// Creates a matcher that matches any double argument approximately
+// equal to rhs, including NaN values when rhs is NaN.
+inline internal::FloatingEqMatcher<double> NanSensitiveDoubleEq(double rhs) {
+  return internal::FloatingEqMatcher<double>(rhs, true);
+}
+
+// Creates a matcher that matches any double argument approximately equal to
+// rhs, up to the specified max absolute error bound, where two NANs are
+// considered unequal.  The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<double> DoubleNear(
+    double rhs, double max_abs_error) {
+  return internal::FloatingEqMatcher<double>(rhs, false, max_abs_error);
+}
+
+// Creates a matcher that matches any double argument approximately equal to
+// rhs, up to the specified max absolute error bound, including NaN values when
+// rhs is NaN.  The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<double> NanSensitiveDoubleNear(
+    double rhs, double max_abs_error) {
+  return internal::FloatingEqMatcher<double>(rhs, true, max_abs_error);
+}
+
+// Creates a matcher that matches any float argument approximately
+// equal to rhs, where two NANs are considered unequal.
+inline internal::FloatingEqMatcher<float> FloatEq(float rhs) {
+  return internal::FloatingEqMatcher<float>(rhs, false);
+}
+
+// Creates a matcher that matches any float argument approximately
+// equal to rhs, including NaN values when rhs is NaN.
+inline internal::FloatingEqMatcher<float> NanSensitiveFloatEq(float rhs) {
+  return internal::FloatingEqMatcher<float>(rhs, true);
+}
+
+// Creates a matcher that matches any float argument approximately equal to
+// rhs, up to the specified max absolute error bound, where two NANs are
+// considered unequal.  The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<float> FloatNear(
+    float rhs, float max_abs_error) {
+  return internal::FloatingEqMatcher<float>(rhs, false, max_abs_error);
+}
+
+// Creates a matcher that matches any float argument approximately equal to
+// rhs, up to the specified max absolute error bound, including NaN values when
+// rhs is NaN.  The max absolute error bound must be non-negative.
+inline internal::FloatingEqMatcher<float> NanSensitiveFloatNear(
+    float rhs, float max_abs_error) {
+  return internal::FloatingEqMatcher<float>(rhs, true, max_abs_error);
+}
+
+// Creates a matcher that matches a pointer (raw or smart) that points
+// to a value that matches inner_matcher.
+template <typename InnerMatcher>
+inline internal::PointeeMatcher<InnerMatcher> Pointee(
+    const InnerMatcher& inner_matcher) {
+  return internal::PointeeMatcher<InnerMatcher>(inner_matcher);
+}
+
+// Creates a matcher that matches a pointer or reference that matches
+// inner_matcher when dynamic_cast<To> is applied.
+// The result of dynamic_cast<To> is forwarded to the inner matcher.
+// If To is a pointer and the cast fails, the inner matcher will receive NULL.
+// If To is a reference and the cast fails, this matcher returns false
+// immediately.
+template <typename To>
+inline PolymorphicMatcher<internal::WhenDynamicCastToMatcher<To> >
+WhenDynamicCastTo(const Matcher<To>& inner_matcher) {
+  return MakePolymorphicMatcher(
+      internal::WhenDynamicCastToMatcher<To>(inner_matcher));
+}
+
+// Creates a matcher that matches an object whose given field matches
+// 'matcher'.  For example,
+//   Field(&Foo::number, Ge(5))
+// matches a Foo object x iff x.number >= 5.
+template <typename Class, typename FieldType, typename FieldMatcher>
+inline PolymorphicMatcher<
+  internal::FieldMatcher<Class, FieldType> > Field(
+    FieldType Class::*field, const FieldMatcher& matcher) {
+  return MakePolymorphicMatcher(
+      internal::FieldMatcher<Class, FieldType>(
+          field, MatcherCast<const FieldType&>(matcher)));
+  // The call to MatcherCast() is required for supporting inner
+  // matchers of compatible types.  For example, it allows
+  //   Field(&Foo::bar, m)
+  // to compile where bar is an int32 and m is a matcher for int64.
+}
+
+// Creates a matcher that matches an object whose given property
+// matches 'matcher'.  For example,
+//   Property(&Foo::str, StartsWith("hi"))
+// matches a Foo object x iff x.str() starts with "hi".
+template <typename Class, typename PropertyType, typename PropertyMatcher>
+inline PolymorphicMatcher<
+  internal::PropertyMatcher<Class, PropertyType> > Property(
+    PropertyType (Class::*property)() const, const PropertyMatcher& matcher) {
+  return MakePolymorphicMatcher(
+      internal::PropertyMatcher<Class, PropertyType>(
+          property,
+          MatcherCast<GTEST_REFERENCE_TO_CONST_(PropertyType)>(matcher)));
+  // The call to MatcherCast() is required for supporting inner
+  // matchers of compatible types.  For example, it allows
+  //   Property(&Foo::bar, m)
+  // to compile where bar() returns an int32 and m is a matcher for int64.
+}
+
+// Creates a matcher that matches an object iff the result of applying
+// a callable to x matches 'matcher'.
+// For example,
+//   ResultOf(f, StartsWith("hi"))
+// matches a Foo object x iff f(x) starts with "hi".
+// callable parameter can be a function, function pointer, or a functor.
+// Callable has to satisfy the following conditions:
+//   * It is required to keep no state affecting the results of
+//     the calls on it and make no assumptions about how many calls
+//     will be made. Any state it keeps must be protected from the
+//     concurrent access.
+//   * If it is a function object, it has to define type result_type.
+//     We recommend deriving your functor classes from std::unary_function.
+template <typename Callable, typename ResultOfMatcher>
+internal::ResultOfMatcher<Callable> ResultOf(
+    Callable callable, const ResultOfMatcher& matcher) {
+  return internal::ResultOfMatcher<Callable>(
+          callable,
+          MatcherCast<typename internal::CallableTraits<Callable>::ResultType>(
+              matcher));
+  // The call to MatcherCast() is required for supporting inner
+  // matchers of compatible types.  For example, it allows
+  //   ResultOf(Function, m)
+  // to compile where Function() returns an int32 and m is a matcher for int64.
+}
+
+// String matchers.
+
+// Matches a string equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+    StrEq(const internal::string& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+      str, true, true));
+}
+
+// Matches a string not equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+    StrNe(const internal::string& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+      str, false, true));
+}
+
+// Matches a string equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+    StrCaseEq(const internal::string& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+      str, true, false));
+}
+
+// Matches a string not equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+    StrCaseNe(const internal::string& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+      str, false, false));
+}
+
+// Creates a matcher that matches any string, std::string, or C string
+// that contains the given substring.
+inline PolymorphicMatcher<internal::HasSubstrMatcher<internal::string> >
+    HasSubstr(const internal::string& substring) {
+  return MakePolymorphicMatcher(internal::HasSubstrMatcher<internal::string>(
+      substring));
+}
+
+// Matches a string that starts with 'prefix' (case-sensitive).
+inline PolymorphicMatcher<internal::StartsWithMatcher<internal::string> >
+    StartsWith(const internal::string& prefix) {
+  return MakePolymorphicMatcher(internal::StartsWithMatcher<internal::string>(
+      prefix));
+}
+
+// Matches a string that ends with 'suffix' (case-sensitive).
+inline PolymorphicMatcher<internal::EndsWithMatcher<internal::string> >
+    EndsWith(const internal::string& suffix) {
+  return MakePolymorphicMatcher(internal::EndsWithMatcher<internal::string>(
+      suffix));
+}
+
+// Matches a string that fully matches regular expression 'regex'.
+// The matcher takes ownership of 'regex'.
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
+    const internal::RE* regex) {
+  return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, true));
+}
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
+    const internal::string& regex) {
+  return MatchesRegex(new internal::RE(regex));
+}
+
+// Matches a string that contains regular expression 'regex'.
+// The matcher takes ownership of 'regex'.
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
+    const internal::RE* regex) {
+  return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, false));
+}
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
+    const internal::string& regex) {
+  return ContainsRegex(new internal::RE(regex));
+}
+
+#if GTEST_HAS_GLOBAL_WSTRING || GTEST_HAS_STD_WSTRING
+// Wide string matchers.
+
+// Matches a string equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+    StrEq(const internal::wstring& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+      str, true, true));
+}
+
+// Matches a string not equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+    StrNe(const internal::wstring& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+      str, false, true));
+}
+
+// Matches a string equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+    StrCaseEq(const internal::wstring& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+      str, true, false));
+}
+
+// Matches a string not equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+    StrCaseNe(const internal::wstring& str) {
+  return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+      str, false, false));
+}
+
+// Creates a matcher that matches any wstring, std::wstring, or C wide string
+// that contains the given substring.
+inline PolymorphicMatcher<internal::HasSubstrMatcher<internal::wstring> >
+    HasSubstr(const internal::wstring& substring) {
+  return MakePolymorphicMatcher(internal::HasSubstrMatcher<internal::wstring>(
+      substring));
+}
+
+// Matches a string that starts with 'prefix' (case-sensitive).
+inline PolymorphicMatcher<internal::StartsWithMatcher<internal::wstring> >
+    StartsWith(const internal::wstring& prefix) {
+  return MakePolymorphicMatcher(internal::StartsWithMatcher<internal::wstring>(
+      prefix));
+}
+
+// Matches a string that ends with 'suffix' (case-sensitive).
+inline PolymorphicMatcher<internal::EndsWithMatcher<internal::wstring> >
+    EndsWith(const internal::wstring& suffix) {
+  return MakePolymorphicMatcher(internal::EndsWithMatcher<internal::wstring>(
+      suffix));
+}
+
+#endif  // GTEST_HAS_GLOBAL_WSTRING || GTEST_HAS_STD_WSTRING
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field == the second field.
+inline internal::Eq2Matcher Eq() { return internal::Eq2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field >= the second field.
+inline internal::Ge2Matcher Ge() { return internal::Ge2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field > the second field.
+inline internal::Gt2Matcher Gt() { return internal::Gt2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field <= the second field.
+inline internal::Le2Matcher Le() { return internal::Le2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field < the second field.
+inline internal::Lt2Matcher Lt() { return internal::Lt2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field != the second field.
+inline internal::Ne2Matcher Ne() { return internal::Ne2Matcher(); }
+
+// Creates a matcher that matches any value of type T that m doesn't
+// match.
+template <typename InnerMatcher>
+inline internal::NotMatcher<InnerMatcher> Not(InnerMatcher m) {
+  return internal::NotMatcher<InnerMatcher>(m);
+}
+
+// Returns a matcher that matches anything that satisfies the given
+// predicate.  The predicate can be any unary function or functor
+// whose return type can be implicitly converted to bool.
+template <typename Predicate>
+inline PolymorphicMatcher<internal::TrulyMatcher<Predicate> >
+Truly(Predicate pred) {
+  return MakePolymorphicMatcher(internal::TrulyMatcher<Predicate>(pred));
+}
+
+// Returns a matcher that matches the container size. The container must
+// support both size() and size_type which all STL-like containers provide.
+// Note that the parameter 'size' can be a value of type size_type as well as
+// matcher. For instance:
+//   EXPECT_THAT(container, SizeIs(2));     // Checks container has 2 elements.
+//   EXPECT_THAT(container, SizeIs(Le(2));  // Checks container has at most 2.
+template <typename SizeMatcher>
+inline internal::SizeIsMatcher<SizeMatcher>
+SizeIs(const SizeMatcher& size_matcher) {
+  return internal::SizeIsMatcher<SizeMatcher>(size_matcher);
+}
+
+// Returns a matcher that matches the distance between the container's begin()
+// iterator and its end() iterator, i.e. the size of the container. This matcher
+// can be used instead of SizeIs with containers such as std::forward_list which
+// do not implement size(). The container must provide const_iterator (with
+// valid iterator_traits), begin() and end().
+template <typename DistanceMatcher>
+inline internal::BeginEndDistanceIsMatcher<DistanceMatcher>
+BeginEndDistanceIs(const DistanceMatcher& distance_matcher) {
+  return internal::BeginEndDistanceIsMatcher<DistanceMatcher>(distance_matcher);
+}
+
+// Returns a matcher that matches an equal container.
+// This matcher behaves like Eq(), but in the event of mismatch lists the
+// values that are included in one container but not the other. (Duplicate
+// values and order differences are not explained.)
+template <typename Container>
+inline PolymorphicMatcher<internal::ContainerEqMatcher<  // NOLINT
+                            GTEST_REMOVE_CONST_(Container)> >
+    ContainerEq(const Container& rhs) {
+  // This following line is for working around a bug in MSVC 8.0,
+  // which causes Container to be a const type sometimes.
+  typedef GTEST_REMOVE_CONST_(Container) RawContainer;
+  return MakePolymorphicMatcher(
+      internal::ContainerEqMatcher<RawContainer>(rhs));
+}
+
+// Returns a matcher that matches a container that, when sorted using
+// the given comparator, matches container_matcher.
+template <typename Comparator, typename ContainerMatcher>
+inline internal::WhenSortedByMatcher<Comparator, ContainerMatcher>
+WhenSortedBy(const Comparator& comparator,
+             const ContainerMatcher& container_matcher) {
+  return internal::WhenSortedByMatcher<Comparator, ContainerMatcher>(
+      comparator, container_matcher);
+}
+
+// Returns a matcher that matches a container that, when sorted using
+// the < operator, matches container_matcher.
+template <typename ContainerMatcher>
+inline internal::WhenSortedByMatcher<internal::LessComparator, ContainerMatcher>
+WhenSorted(const ContainerMatcher& container_matcher) {
+  return
+      internal::WhenSortedByMatcher<internal::LessComparator, ContainerMatcher>(
+          internal::LessComparator(), container_matcher);
+}
+
+// Matches an STL-style container or a native array that contains the
+// same number of elements as in rhs, where its i-th element and rhs's
+// i-th element (as a pair) satisfy the given pair matcher, for all i.
+// TupleMatcher must be able to be safely cast to Matcher<tuple<const
+// T1&, const T2&> >, where T1 and T2 are the types of elements in the
+// LHS container and the RHS container respectively.
+template <typename TupleMatcher, typename Container>
+inline internal::PointwiseMatcher<TupleMatcher,
+                                  GTEST_REMOVE_CONST_(Container)>
+Pointwise(const TupleMatcher& tuple_matcher, const Container& rhs) {
+  // This following line is for working around a bug in MSVC 8.0,
+  // which causes Container to be a const type sometimes (e.g. when
+  // rhs is a const int[])..
+  typedef GTEST_REMOVE_CONST_(Container) RawContainer;
+  return internal::PointwiseMatcher<TupleMatcher, RawContainer>(
+      tuple_matcher, rhs);
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+
+// Supports the Pointwise(m, {a, b, c}) syntax.
+template <typename TupleMatcher, typename T>
+inline internal::PointwiseMatcher<TupleMatcher, std::vector<T> > Pointwise(
+    const TupleMatcher& tuple_matcher, std::initializer_list<T> rhs) {
+  return Pointwise(tuple_matcher, std::vector<T>(rhs));
+}
+
+#endif  // GTEST_HAS_STD_INITIALIZER_LIST_
+
+// UnorderedPointwise(pair_matcher, rhs) matches an STL-style
+// container or a native array that contains the same number of
+// elements as in rhs, where in some permutation of the container, its
+// i-th element and rhs's i-th element (as a pair) satisfy the given
+// pair matcher, for all i.  Tuple2Matcher must be able to be safely
+// cast to Matcher<tuple<const T1&, const T2&> >, where T1 and T2 are
+// the types of elements in the LHS container and the RHS container
+// respectively.
+//
+// This is like Pointwise(pair_matcher, rhs), except that the element
+// order doesn't matter.
+template <typename Tuple2Matcher, typename RhsContainer>
+inline internal::UnorderedElementsAreArrayMatcher<
+    typename internal::BoundSecondMatcher<
+        Tuple2Matcher, typename internal::StlContainerView<GTEST_REMOVE_CONST_(
+                           RhsContainer)>::type::value_type> >
+UnorderedPointwise(const Tuple2Matcher& tuple2_matcher,
+                   const RhsContainer& rhs_container) {
+  // This following line is for working around a bug in MSVC 8.0,
+  // which causes RhsContainer to be a const type sometimes (e.g. when
+  // rhs_container is a const int[]).
+  typedef GTEST_REMOVE_CONST_(RhsContainer) RawRhsContainer;
+
+  // RhsView allows the same code to handle RhsContainer being a
+  // STL-style container and it being a native C-style array.
+  typedef typename internal::StlContainerView<RawRhsContainer> RhsView;
+  typedef typename RhsView::type RhsStlContainer;
+  typedef typename RhsStlContainer::value_type Second;
+  const RhsStlContainer& rhs_stl_container =
+      RhsView::ConstReference(rhs_container);
+
+  // Create a matcher for each element in rhs_container.
+  ::std::vector<internal::BoundSecondMatcher<Tuple2Matcher, Second> > matchers;
+  for (typename RhsStlContainer::const_iterator it = rhs_stl_container.begin();
+       it != rhs_stl_container.end(); ++it) {
+    matchers.push_back(
+        internal::MatcherBindSecond(tuple2_matcher, *it));
+  }
+
+  // Delegate the work to UnorderedElementsAreArray().
+  return UnorderedElementsAreArray(matchers);
+}
+
+#if GTEST_HAS_STD_INITIALIZER_LIST_
+
+// Supports the UnorderedPointwise(m, {a, b, c}) syntax.
+template <typename Tuple2Matcher, typename T>
+inline internal::UnorderedElementsAreArrayMatcher<
+    typename internal::BoundSecondMatcher<Tuple2Matcher, T> >
+UnorderedPointwise(const Tuple2Matcher& tuple2_matcher,
+                   std::initializer_list<T> rhs) {
+  return UnorderedPointwise(tuple2_matcher, std::vector<T>(rhs));
+}
+
+#endif  // GTEST_HAS_STD_INITIALIZER_LIST_
+
+// Matches an STL-style container or a native array that contains at
+// least one element matching the given value or matcher.
+//
+// Examples:
+//   ::std::set<int> page_ids;
+//   page_ids.insert(3);
+//   page_ids.insert(1);
+//   EXPECT_THAT(page_ids, Contains(1));
+//   EXPECT_THAT(page_ids, Contains(Gt(2)));
+//   EXPECT_THAT(page_ids, Not(Contains(4)));
+//
+//   ::std::map<int, size_t> page_lengths;
+//   page_lengths[1] = 100;
+//   EXPECT_THAT(page_lengths,
+//               Contains(::std::pair<const int, size_t>(1, 100)));
+//
+//   const char* user_ids[] = { "joe", "mike", "tom" };
+//   EXPECT_THAT(user_ids, Contains(Eq(::std::string("tom"))));
+template <typename M>
+inline internal::ContainsMatcher<M> Contains(M matcher) {
+  return internal::ContainsMatcher<M>(matcher);
+}
+
+// Matches an STL-style container or a native array that contains only
+// elements matching the given value or matcher.
+//
+// Each(m) is semantically equivalent to Not(Contains(Not(m))). Only
+// the messages are different.
+//
+// Examples:
+//   ::std::set<int> page_ids;
+//   // Each(m) matches an empty container, regardless of what m is.
+//   EXPECT_THAT(page_ids, Each(Eq(1)));
+//   EXPECT_THAT(page_ids, Each(Eq(77)));
+//
+//   page_ids.insert(3);
+//   EXPECT_THAT(page_ids, Each(Gt(0)));
+//   EXPECT_THAT(page_ids, Not(Each(Gt(4))));
+//   page_ids.insert(1);
+//   EXPECT_THAT(page_ids, Not(Each(Lt(2))));
+//
+//   ::std::map<int, size_t> page_lengths;
+//   page_lengths[1] = 100;
+//   page_lengths[2] = 200;
+//   page_lengths[3] = 300;
+//   EXPECT_THAT(page_lengths, Not(Each(Pair(1, 100))));
+//   EXPECT_THAT(page_lengths, Each(Key(Le(3))));
+//
+//   const char* user_ids[] = { "joe", "mike", "tom" };
+//   EXPECT_THAT(user_ids, Not(Each(Eq(::std::string("tom")))));
+template <typename M>
+inline internal::EachMatcher<M> Each(M matcher) {
+  return internal::EachMatcher<M>(matcher);
+}
+
+// Key(inner_matcher) matches an std::pair whose 'first' field matches
+// inner_matcher.  For example, Contains(Key(Ge(5))) can be used to match an
+// std::map that contains at least one element whose key is >= 5.
+template <typename M>
+inline internal::KeyMatcher<M> Key(M inner_matcher) {
+  return internal::KeyMatcher<M>(inner_matcher);
+}
+
+// Pair(first_matcher, second_matcher) matches a std::pair whose 'first' field
+// matches first_matcher and whose 'second' field matches second_matcher.  For
+// example, EXPECT_THAT(map_type, ElementsAre(Pair(Ge(5), "foo"))) can be used
+// to match a std::map<int, string> that contains exactly one element whose key
+// is >= 5 and whose value equals "foo".
+template <typename FirstMatcher, typename SecondMatcher>
+inline internal::PairMatcher<FirstMatcher, SecondMatcher>
+Pair(FirstMatcher first_matcher, SecondMatcher second_matcher) {
+  return internal::PairMatcher<FirstMatcher, SecondMatcher>(
+      first_matcher, second_matcher);
+}
+
+// Returns a predicate that is satisfied by anything that matches the
+// given matcher.
+template <typename M>
+inline internal::MatcherAsPredicate<M> Matches(M matcher) {
+  return internal::MatcherAsPredicate<M>(matcher);
+}
+
+// Returns true iff the value matches the matcher.
+template <typename T, typename M>
+inline bool Value(const T& value, M matcher) {
+  return testing::Matches(matcher)(value);
+}
+
+// Matches the value against the given matcher and explains the match
+// result to listener.
+template <typename T, typename M>
+inline bool ExplainMatchResult(
+    M matcher, const T& value, MatchResultListener* listener) {
+  return SafeMatcherCast<const T&>(matcher).MatchAndExplain(value, listener);
+}
+
+#if GTEST_LANG_CXX11
+// Define variadic matcher versions. They are overloaded in
+// gmock-generated-matchers.h for the cases supported by pre C++11 compilers.
+template <typename... Args>
+inline internal::AllOfMatcher<Args...> AllOf(const Args&... matchers) {
+  return internal::AllOfMatcher<Args...>(matchers...);
+}
+
+template <typename... Args>
+inline internal::AnyOfMatcher<Args...> AnyOf(const Args&... matchers) {
+  return internal::AnyOfMatcher<Args...>(matchers...);
+}
+
+#endif  // GTEST_LANG_CXX11
+
+// AllArgs(m) is a synonym of m.  This is useful in
+//
+//   EXPECT_CALL(foo, Bar(_, _)).With(AllArgs(Eq()));
+//
+// which is easier to read than
+//
+//   EXPECT_CALL(foo, Bar(_, _)).With(Eq());
+template <typename InnerMatcher>
+inline InnerMatcher AllArgs(const InnerMatcher& matcher) { return matcher; }
+
+// These macros allow using matchers to check values in Google Test
+// tests.  ASSERT_THAT(value, matcher) and EXPECT_THAT(value, matcher)
+// succeed iff the value matches the matcher.  If the assertion fails,
+// the value and the description of the matcher will be printed.
+#define ASSERT_THAT(value, matcher) ASSERT_PRED_FORMAT1(\
+    ::testing::internal::MakePredicateFormatterFromMatcher(matcher), value)
+#define EXPECT_THAT(value, matcher) EXPECT_PRED_FORMAT1(\
+    ::testing::internal::MakePredicateFormatterFromMatcher(matcher), value)
+
+}  // namespace testing
+
+// Include any custom callback matchers added by the local installation.
+// We must include this header at the end to make sure it can use the
+// declarations from this file.
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// ============================================================
+// An installation-specific extension point for gmock-matchers.h.
+// ============================================================
+//
+// Adds google3 callback support to CallableTraits.
+//
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_CALLBACK_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_CALLBACK_MATCHERS_H_
+
+#endif  //  GMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_CALLBACK_MATCHERS_H_
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+
+namespace testing {
+
+// An abstract handle of an expectation.
+class Expectation;
+
+// A set of expectation handles.
+class ExpectationSet;
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// Implements a mock function.
+template <typename F> class FunctionMocker;
+
+// Base class for expectations.
+class ExpectationBase;
+
+// Implements an expectation.
+template <typename F> class TypedExpectation;
+
+// Helper class for testing the Expectation class template.
+class ExpectationTester;
+
+// Base class for function mockers.
+template <typename F> class FunctionMockerBase;
+
+// Protects the mock object registry (in class Mock), all function
+// mockers, and all expectations.
+//
+// The reason we don't use more fine-grained protection is: when a
+// mock function Foo() is called, it needs to consult its expectations
+// to see which one should be picked.  If another thread is allowed to
+// call a mock function (either Foo() or a different one) at the same
+// time, it could affect the "retired" attributes of Foo()'s
+// expectations when InSequence() is used, and thus affect which
+// expectation gets picked.  Therefore, we sequence all mock function
+// calls to ensure the integrity of the mock objects' states.
+GTEST_API_ GTEST_DECLARE_STATIC_MUTEX_(g_gmock_mutex);
+
+// Untyped base class for ActionResultHolder<R>.
+class UntypedActionResultHolderBase;
+
+// Abstract base class of FunctionMockerBase.  This is the
+// type-agnostic part of the function mocker interface.  Its pure
+// virtual methods are implemented by FunctionMockerBase.
+class GTEST_API_ UntypedFunctionMockerBase {
+ public:
+  UntypedFunctionMockerBase();
+  virtual ~UntypedFunctionMockerBase();
+
+  // Verifies that all expectations on this mock function have been
+  // satisfied.  Reports one or more Google Test non-fatal failures
+  // and returns false if not.
+  bool VerifyAndClearExpectationsLocked()
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+  // Clears the ON_CALL()s set on this mock function.
+  virtual void ClearDefaultActionsLocked()
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) = 0;
+
+  // In all of the following Untyped* functions, it's the caller's
+  // responsibility to guarantee the correctness of the arguments'
+  // types.
+
+  // Performs the default action with the given arguments and returns
+  // the action's result.  The call description string will be used in
+  // the error message to describe the call in the case the default
+  // action fails.
+  // L = *
+  virtual UntypedActionResultHolderBase* UntypedPerformDefaultAction(
+      const void* untyped_args,
+      const string& call_description) const = 0;
+
+  // Performs the given action with the given arguments and returns
+  // the action's result.
+  // L = *
+  virtual UntypedActionResultHolderBase* UntypedPerformAction(
+      const void* untyped_action,
+      const void* untyped_args) const = 0;
+
+  // Writes a message that the call is uninteresting (i.e. neither
+  // explicitly expected nor explicitly unexpected) to the given
+  // ostream.
+  virtual void UntypedDescribeUninterestingCall(
+      const void* untyped_args,
+      ::std::ostream* os) const
+          GTEST_LOCK_EXCLUDED_(g_gmock_mutex) = 0;
+
+  // Returns the expectation that matches the given function arguments
+  // (or NULL is there's no match); when a match is found,
+  // untyped_action is set to point to the action that should be
+  // performed (or NULL if the action is "do default"), and
+  // is_excessive is modified to indicate whether the call exceeds the
+  // expected number.
+  virtual const ExpectationBase* UntypedFindMatchingExpectation(
+      const void* untyped_args,
+      const void** untyped_action, bool* is_excessive,
+      ::std::ostream* what, ::std::ostream* why)
+          GTEST_LOCK_EXCLUDED_(g_gmock_mutex) = 0;
+
+  // Prints the given function arguments to the ostream.
+  virtual void UntypedPrintArgs(const void* untyped_args,
+                                ::std::ostream* os) const = 0;
+
+  // Sets the mock object this mock method belongs to, and registers
+  // this information in the global mock registry.  Will be called
+  // whenever an EXPECT_CALL() or ON_CALL() is executed on this mock
+  // method.
+  // TODO(wan@google.com): rename to SetAndRegisterOwner().
+  void RegisterOwner(const void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+  // Sets the mock object this mock method belongs to, and sets the
+  // name of the mock function.  Will be called upon each invocation
+  // of this mock function.
+  void SetOwnerAndName(const void* mock_obj, const char* name)
+      GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+  // Returns the mock object this mock method belongs to.  Must be
+  // called after RegisterOwner() or SetOwnerAndName() has been
+  // called.
+  const void* MockObject() const
+      GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+  // Returns the name of this mock method.  Must be called after
+  // SetOwnerAndName() has been called.
+  const char* Name() const
+      GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+  // Returns the result of invoking this mock function with the given
+  // arguments.  This function can be safely called from multiple
+  // threads concurrently.  The caller is responsible for deleting the
+  // result.
+  UntypedActionResultHolderBase* UntypedInvokeWith(
+      const void* untyped_args)
+          GTEST_LOCK_EXCLUDED_(g_gmock_mutex);
+
+ protected:
+  typedef std::vector<const void*> UntypedOnCallSpecs;
+
+  typedef std::vector<internal::linked_ptr<ExpectationBase> >
+  UntypedExpectations;
+
+  // Returns an Expectation object that references and co-owns exp,
+  // which must be an expectation on this mock function.
+  Expectation GetHandleOf(ExpectationBase* exp);
+
+  // Address of the mock object this mock method belongs to.  Only
+  // valid after this mock method has been called or
+  // ON_CALL/EXPECT_CALL has been invoked on it.
+  const void* mock_obj_;  // Protected by g_gmock_mutex.
+
+  // Name of the function being mocked.  Only valid after this mock
+  // method has been called.
+  const char* name_;  // Protected by g_gmock_mutex.
+
+  // All default action specs for this function mocker.
+  UntypedOnCallSpecs untyped_on_call_specs_;
+
+  // All expectations for this function mocker.
+  UntypedExpectations untyped_expectations_;
+};  // class UntypedFunctionMockerBase
+
+// Untyped base class for OnCallSpec<F>.
+class UntypedOnCallSpecBase {
+ public:
+  // The arguments are the location of the ON_CALL() statement.
+  UntypedOnCallSpecBase(const char* a_file, int a_line)
+      : file_(a_file), line_(a_line), last_clause_(kNone) {}
+
+  // Where in the source file was the default action spec defined?
+  const char* file() const { return file_; }
+  int line() const { return line_; }
+
+ protected:
+  // Gives each clause in the ON_CALL() statement a name.
+  enum Clause {
+    // Do not change the order of the enum members!  The run-time
+    // syntax checking relies on it.
+    kNone,
+    kWith,
+    kWillByDefault
+  };
+
+  // Asserts that the ON_CALL() statement has a certain property.
+  void AssertSpecProperty(bool property, const string& failure_message) const {
+    Assert(property, file_, line_, failure_message);
+  }
+
+  // Expects that the ON_CALL() statement has a certain property.
+  void ExpectSpecProperty(bool property, const string& failure_message) const {
+    Expect(property, file_, line_, failure_message);
+  }
+
+  const char* file_;
+  int line_;
+
+  // The last clause in the ON_CALL() statement as seen so far.
+  // Initially kNone and changes as the statement is parsed.
+  Clause last_clause_;
+};  // class UntypedOnCallSpecBase
+
+// This template class implements an ON_CALL spec.
+template <typename F>
+class OnCallSpec : public UntypedOnCallSpecBase {
+ public:
+  typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+  typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+
+  // Constructs an OnCallSpec object from the information inside
+  // the parenthesis of an ON_CALL() statement.
+  OnCallSpec(const char* a_file, int a_line,
+             const ArgumentMatcherTuple& matchers)
+      : UntypedOnCallSpecBase(a_file, a_line),
+        matchers_(matchers),
+        // By default, extra_matcher_ should match anything.  However,
+        // we cannot initialize it with _ as that triggers a compiler
+        // bug in Symbian's C++ compiler (cannot decide between two
+        // overloaded constructors of Matcher<const ArgumentTuple&>).
+        extra_matcher_(A<const ArgumentTuple&>()) {
+  }
+
+  // Implements the .With() clause.
+  OnCallSpec& With(const Matcher<const ArgumentTuple&>& m) {
+    // Makes sure this is called at most once.
+    ExpectSpecProperty(last_clause_ < kWith,
+                       ".With() cannot appear "
+                       "more than once in an ON_CALL().");
+    last_clause_ = kWith;
+
+    extra_matcher_ = m;
+    return *this;
+  }
+
+  // Implements the .WillByDefault() clause.
+  OnCallSpec& WillByDefault(const Action<F>& action) {
+    ExpectSpecProperty(last_clause_ < kWillByDefault,
+                       ".WillByDefault() must appear "
+                       "exactly once in an ON_CALL().");
+    last_clause_ = kWillByDefault;
+
+    ExpectSpecProperty(!action.IsDoDefault(),
+                       "DoDefault() cannot be used in ON_CALL().");
+    action_ = action;
+    return *this;
+  }
+
+  // Returns true iff the given arguments match the matchers.
+  bool Matches(const ArgumentTuple& args) const {
+    return TupleMatches(matchers_, args) && extra_matcher_.Matches(args);
+  }
+
+  // Returns the action specified by the user.
+  const Action<F>& GetAction() const {
+    AssertSpecProperty(last_clause_ == kWillByDefault,
+                       ".WillByDefault() must appear exactly "
+                       "once in an ON_CALL().");
+    return action_;
+  }
+
+ private:
+  // The information in statement
+  //
+  //   ON_CALL(mock_object, Method(matchers))
+  //       .With(multi-argument-matcher)
+  //       .WillByDefault(action);
+  //
+  // is recorded in the data members like this:
+  //
+  //   source file that contains the statement => file_
+  //   line number of the statement            => line_
+  //   matchers                                => matchers_
+  //   multi-argument-matcher                  => extra_matcher_
+  //   action                                  => action_
+  ArgumentMatcherTuple matchers_;
+  Matcher<const ArgumentTuple&> extra_matcher_;
+  Action<F> action_;
+};  // class OnCallSpec
+
+// Possible reactions on uninteresting calls.
+enum CallReaction {
+  kAllow,
+  kWarn,
+  kFail,
+  kDefault = kWarn  // By default, warn about uninteresting calls.
+};
+
+}  // namespace internal
+
+// Utilities for manipulating mock objects.
+class GTEST_API_ Mock {
+ public:
+  // The following public methods can be called concurrently.
+
+  // Tells Google Mock to ignore mock_obj when checking for leaked
+  // mock objects.
+  static void AllowLeak(const void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Verifies and clears all expectations on the given mock object.
+  // If the expectations aren't satisfied, generates one or more
+  // Google Test non-fatal failures and returns false.
+  static bool VerifyAndClearExpectations(void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Verifies all expectations on the given mock object and clears its
+  // default actions and expectations.  Returns true iff the
+  // verification was successful.
+  static bool VerifyAndClear(void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+ private:
+  friend class internal::UntypedFunctionMockerBase;
+
+  // Needed for a function mocker to register itself (so that we know
+  // how to clear a mock object).
+  template <typename F>
+  friend class internal::FunctionMockerBase;
+
+  template <typename M>
+  friend class NiceMock;
+
+  template <typename M>
+  friend class NaggyMock;
+
+  template <typename M>
+  friend class StrictMock;
+
+  // Tells Google Mock to allow uninteresting calls on the given mock
+  // object.
+  static void AllowUninterestingCalls(const void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Tells Google Mock to warn the user about uninteresting calls on
+  // the given mock object.
+  static void WarnUninterestingCalls(const void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Tells Google Mock to fail uninteresting calls on the given mock
+  // object.
+  static void FailUninterestingCalls(const void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Tells Google Mock the given mock object is being destroyed and
+  // its entry in the call-reaction table should be removed.
+  static void UnregisterCallReaction(const void* mock_obj)
+      GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Returns the reaction Google Mock will have on uninteresting calls
+  // made on the given mock object.
+  static internal::CallReaction GetReactionOnUninterestingCalls(
+      const void* mock_obj)
+          GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Verifies that all expectations on the given mock object have been
+  // satisfied.  Reports one or more Google Test non-fatal failures
+  // and returns false if not.
+  static bool VerifyAndClearExpectationsLocked(void* mock_obj)
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex);
+
+  // Clears all ON_CALL()s set on the given mock object.
+  static void ClearDefaultActionsLocked(void* mock_obj)
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex);
+
+  // Registers a mock object and a mock method it owns.
+  static void Register(
+      const void* mock_obj,
+      internal::UntypedFunctionMockerBase* mocker)
+          GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Tells Google Mock where in the source code mock_obj is used in an
+  // ON_CALL or EXPECT_CALL.  In case mock_obj is leaked, this
+  // information helps the user identify which object it is.
+  static void RegisterUseByOnCallOrExpectCall(
+      const void* mock_obj, const char* file, int line)
+          GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex);
+
+  // Unregisters a mock method; removes the owning mock object from
+  // the registry when the last mock method associated with it has
+  // been unregistered.  This is called only in the destructor of
+  // FunctionMockerBase.
+  static void UnregisterLocked(internal::UntypedFunctionMockerBase* mocker)
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex);
+};  // class Mock
+
+// An abstract handle of an expectation.  Useful in the .After()
+// clause of EXPECT_CALL() for setting the (partial) order of
+// expectations.  The syntax:
+//
+//   Expectation e1 = EXPECT_CALL(...)...;
+//   EXPECT_CALL(...).After(e1)...;
+//
+// sets two expectations where the latter can only be matched after
+// the former has been satisfied.
+//
+// Notes:
+//   - This class is copyable and has value semantics.
+//   - Constness is shallow: a const Expectation object itself cannot
+//     be modified, but the mutable methods of the ExpectationBase
+//     object it references can be called via expectation_base().
+//   - The constructors and destructor are defined out-of-line because
+//     the Symbian WINSCW compiler wants to otherwise instantiate them
+//     when it sees this class definition, at which point it doesn't have
+//     ExpectationBase available yet, leading to incorrect destruction
+//     in the linked_ptr (or compilation errors if using a checking
+//     linked_ptr).
+class GTEST_API_ Expectation {
+ public:
+  // Constructs a null object that doesn't reference any expectation.
+  Expectation();
+
+  ~Expectation();
+
+  // This single-argument ctor must not be explicit, in order to support the
+  //   Expectation e = EXPECT_CALL(...);
+  // syntax.
+  //
+  // A TypedExpectation object stores its pre-requisites as
+  // Expectation objects, and needs to call the non-const Retire()
+  // method on the ExpectationBase objects they reference.  Therefore
+  // Expectation must receive a *non-const* reference to the
+  // ExpectationBase object.
+  Expectation(internal::ExpectationBase& exp);  // NOLINT
+
+  // The compiler-generated copy ctor and operator= work exactly as
+  // intended, so we don't need to define our own.
+
+  // Returns true iff rhs references the same expectation as this object does.
+  bool operator==(const Expectation& rhs) const {
+    return expectation_base_ == rhs.expectation_base_;
+  }
+
+  bool operator!=(const Expectation& rhs) const { return !(*this == rhs); }
+
+ private:
+  friend class ExpectationSet;
+  friend class Sequence;
+  friend class ::testing::internal::ExpectationBase;
+  friend class ::testing::internal::UntypedFunctionMockerBase;
+
+  template <typename F>
+  friend class ::testing::internal::FunctionMockerBase;
+
+  template <typename F>
+  friend class ::testing::internal::TypedExpectation;
+
+  // This comparator is needed for putting Expectation objects into a set.
+  class Less {
+   public:
+    bool operator()(const Expectation& lhs, const Expectation& rhs) const {
+      return lhs.expectation_base_.get() < rhs.expectation_base_.get();
+    }
+  };
+
+  typedef ::std::set<Expectation, Less> Set;
+
+  Expectation(
+      const internal::linked_ptr<internal::ExpectationBase>& expectation_base);
+
+  // Returns the expectation this object references.
+  const internal::linked_ptr<internal::ExpectationBase>&
+  expectation_base() const {
+    return expectation_base_;
+  }
+
+  // A linked_ptr that co-owns the expectation this handle references.
+  internal::linked_ptr<internal::ExpectationBase> expectation_base_;
+};
+
+// A set of expectation handles.  Useful in the .After() clause of
+// EXPECT_CALL() for setting the (partial) order of expectations.  The
+// syntax:
+//
+//   ExpectationSet es;
+//   es += EXPECT_CALL(...)...;
+//   es += EXPECT_CALL(...)...;
+//   EXPECT_CALL(...).After(es)...;
+//
+// sets three expectations where the last one can only be matched
+// after the first two have both been satisfied.
+//
+// This class is copyable and has value semantics.
+class ExpectationSet {
+ public:
+  // A bidirectional iterator that can read a const element in the set.
+  typedef Expectation::Set::const_iterator const_iterator;
+
+  // An object stored in the set.  This is an alias of Expectation.
+  typedef Expectation::Set::value_type value_type;
+
+  // Constructs an empty set.
+  ExpectationSet() {}
+
+  // This single-argument ctor must not be explicit, in order to support the
+  //   ExpectationSet es = EXPECT_CALL(...);
+  // syntax.
+  ExpectationSet(internal::ExpectationBase& exp) {  // NOLINT
+    *this += Expectation(exp);
+  }
+
+  // This single-argument ctor implements implicit conversion from
+  // Expectation and thus must not be explicit.  This allows either an
+  // Expectation or an ExpectationSet to be used in .After().
+  ExpectationSet(const Expectation& e) {  // NOLINT
+    *this += e;
+  }
+
+  // The compiler-generator ctor and operator= works exactly as
+  // intended, so we don't need to define our own.
+
+  // Returns true iff rhs contains the same set of Expectation objects
+  // as this does.
+  bool operator==(const ExpectationSet& rhs) const {
+    return expectations_ == rhs.expectations_;
+  }
+
+  bool operator!=(const ExpectationSet& rhs) const { return !(*this == rhs); }
+
+  // Implements the syntax
+  //   expectation_set += EXPECT_CALL(...);
+  ExpectationSet& operator+=(const Expectation& e) {
+    expectations_.insert(e);
+    return *this;
+  }
+
+  int size() const { return static_cast<int>(expectations_.size()); }
+
+  const_iterator begin() const { return expectations_.begin(); }
+  const_iterator end() const { return expectations_.end(); }
+
+ private:
+  Expectation::Set expectations_;
+};
+
+
+// Sequence objects are used by a user to specify the relative order
+// in which the expectations should match.  They are copyable (we rely
+// on the compiler-defined copy constructor and assignment operator).
+class GTEST_API_ Sequence {
+ public:
+  // Constructs an empty sequence.
+  Sequence() : last_expectation_(new Expectation) {}
+
+  // Adds an expectation to this sequence.  The caller must ensure
+  // that no other thread is accessing this Sequence object.
+  void AddExpectation(const Expectation& expectation) const;
+
+ private:
+  // The last expectation in this sequence.  We use a linked_ptr here
+  // because Sequence objects are copyable and we want the copies to
+  // be aliases.  The linked_ptr allows the copies to co-own and share
+  // the same Expectation object.
+  internal::linked_ptr<Expectation> last_expectation_;
+};  // class Sequence
+
+// An object of this type causes all EXPECT_CALL() statements
+// encountered in its scope to be put in an anonymous sequence.  The
+// work is done in the constructor and destructor.  You should only
+// create an InSequence object on the stack.
+//
+// The sole purpose for this class is to support easy definition of
+// sequential expectations, e.g.
+//
+//   {
+//     InSequence dummy;  // The name of the object doesn't matter.
+//
+//     // The following expectations must match in the order they appear.
+//     EXPECT_CALL(a, Bar())...;
+//     EXPECT_CALL(a, Baz())...;
+//     ...
+//     EXPECT_CALL(b, Xyz())...;
+//   }
+//
+// You can create InSequence objects in multiple threads, as long as
+// they are used to affect different mock objects.  The idea is that
+// each thread can create and set up its own mocks as if it's the only
+// thread.  However, for clarity of your tests we recommend you to set
+// up mocks in the main thread unless you have a good reason not to do
+// so.
+class GTEST_API_ InSequence {
+ public:
+  InSequence();
+  ~InSequence();
+ private:
+  bool sequence_created_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(InSequence);  // NOLINT
+} GTEST_ATTRIBUTE_UNUSED_;
+
+namespace internal {
+
+// Points to the implicit sequence introduced by a living InSequence
+// object (if any) in the current thread or NULL.
+GTEST_API_ extern ThreadLocal<Sequence*> g_gmock_implicit_sequence;
+
+// Base class for implementing expectations.
+//
+// There are two reasons for having a type-agnostic base class for
+// Expectation:
+//
+//   1. We need to store collections of expectations of different
+//   types (e.g. all pre-requisites of a particular expectation, all
+//   expectations in a sequence).  Therefore these expectation objects
+//   must share a common base class.
+//
+//   2. We can avoid binary code bloat by moving methods not depending
+//   on the template argument of Expectation to the base class.
+//
+// This class is internal and mustn't be used by user code directly.
+class GTEST_API_ ExpectationBase {
+ public:
+  // source_text is the EXPECT_CALL(...) source that created this Expectation.
+  ExpectationBase(const char* file, int line, const string& source_text);
+
+  virtual ~ExpectationBase();
+
+  // Where in the source file was the expectation spec defined?
+  const char* file() const { return file_; }
+  int line() const { return line_; }
+  const char* source_text() const { return source_text_.c_str(); }
+  // Returns the cardinality specified in the expectation spec.
+  const Cardinality& cardinality() const { return cardinality_; }
+
+  // Describes the source file location of this expectation.
+  void DescribeLocationTo(::std::ostream* os) const {
+    *os << FormatFileLocation(file(), line()) << " ";
+  }
+
+  // Describes how many times a function call matching this
+  // expectation has occurred.
+  void DescribeCallCountTo(::std::ostream* os) const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+  // If this mock method has an extra matcher (i.e. .With(matcher)),
+  // describes it to the ostream.
+  virtual void MaybeDescribeExtraMatcherTo(::std::ostream* os) = 0;
+
+ protected:
+  friend class ::testing::Expectation;
+  friend class UntypedFunctionMockerBase;
+
+  enum Clause {
+    // Don't change the order of the enum members!
+    kNone,
+    kWith,
+    kTimes,
+    kInSequence,
+    kAfter,
+    kWillOnce,
+    kWillRepeatedly,
+    kRetiresOnSaturation
+  };
+
+  typedef std::vector<const void*> UntypedActions;
+
+  // Returns an Expectation object that references and co-owns this
+  // expectation.
+  virtual Expectation GetHandle() = 0;
+
+  // Asserts that the EXPECT_CALL() statement has the given property.
+  void AssertSpecProperty(bool property, const string& failure_message) const {
+    Assert(property, file_, line_, failure_message);
+  }
+
+  // Expects that the EXPECT_CALL() statement has the given property.
+  void ExpectSpecProperty(bool property, const string& failure_message) const {
+    Expect(property, file_, line_, failure_message);
+  }
+
+  // Explicitly specifies the cardinality of this expectation.  Used
+  // by the subclasses to implement the .Times() clause.
+  void SpecifyCardinality(const Cardinality& cardinality);
+
+  // Returns true iff the user specified the cardinality explicitly
+  // using a .Times().
+  bool cardinality_specified() const { return cardinality_specified_; }
+
+  // Sets the cardinality of this expectation spec.
+  void set_cardinality(const Cardinality& a_cardinality) {
+    cardinality_ = a_cardinality;
+  }
+
+  // The following group of methods should only be called after the
+  // EXPECT_CALL() statement, and only when g_gmock_mutex is held by
+  // the current thread.
+
+  // Retires all pre-requisites of this expectation.
+  void RetireAllPreRequisites()
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+  // Returns true iff this expectation is retired.
+  bool is_retired() const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    return retired_;
+  }
+
+  // Retires this expectation.
+  void Retire()
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    retired_ = true;
+  }
+
+  // Returns true iff this expectation is satisfied.
+  bool IsSatisfied() const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    return cardinality().IsSatisfiedByCallCount(call_count_);
+  }
+
+  // Returns true iff this expectation is saturated.
+  bool IsSaturated() const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    return cardinality().IsSaturatedByCallCount(call_count_);
+  }
+
+  // Returns true iff this expectation is over-saturated.
+  bool IsOverSaturated() const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    return cardinality().IsOverSaturatedByCallCount(call_count_);
+  }
+
+  // Returns true iff all pre-requisites of this expectation are satisfied.
+  bool AllPrerequisitesAreSatisfied() const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+  // Adds unsatisfied pre-requisites of this expectation to 'result'.
+  void FindUnsatisfiedPrerequisites(ExpectationSet* result) const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex);
+
+  // Returns the number this expectation has been invoked.
+  int call_count() const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    return call_count_;
+  }
+
+  // Increments the number this expectation has been invoked.
+  void IncrementCallCount()
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    call_count_++;
+  }
+
+  // Checks the action count (i.e. the number of WillOnce() and
+  // WillRepeatedly() clauses) against the cardinality if this hasn't
+  // been done before.  Prints a warning if there are too many or too
+  // few actions.
+  void CheckActionCountIfNotDone() const
+      GTEST_LOCK_EXCLUDED_(mutex_);
+
+  friend class ::testing::Sequence;
+  friend class ::testing::internal::ExpectationTester;
+
+  template <typename Function>
+  friend class TypedExpectation;
+
+  // Implements the .Times() clause.
+  void UntypedTimes(const Cardinality& a_cardinality);
+
+  // This group of fields are part of the spec and won't change after
+  // an EXPECT_CALL() statement finishes.
+  const char* file_;          // The file that contains the expectation.
+  int line_;                  // The line number of the expectation.
+  const string source_text_;  // The EXPECT_CALL(...) source text.
+  // True iff the cardinality is specified explicitly.
+  bool cardinality_specified_;
+  Cardinality cardinality_;            // The cardinality of the expectation.
+  // The immediate pre-requisites (i.e. expectations that must be
+  // satisfied before this expectation can be matched) of this
+  // expectation.  We use linked_ptr in the set because we want an
+  // Expectation object to be co-owned by its FunctionMocker and its
+  // successors.  This allows multiple mock objects to be deleted at
+  // different times.
+  ExpectationSet immediate_prerequisites_;
+
+  // This group of fields are the current state of the expectation,
+  // and can change as the mock function is called.
+  int call_count_;  // How many times this expectation has been invoked.
+  bool retired_;    // True iff this expectation has retired.
+  UntypedActions untyped_actions_;
+  bool extra_matcher_specified_;
+  bool repeated_action_specified_;  // True if a WillRepeatedly() was specified.
+  bool retires_on_saturation_;
+  Clause last_clause_;
+  mutable bool action_count_checked_;  // Under mutex_.
+  mutable Mutex mutex_;  // Protects action_count_checked_.
+
+  GTEST_DISALLOW_ASSIGN_(ExpectationBase);
+};  // class ExpectationBase
+
+// Impements an expectation for the given function type.
+template <typename F>
+class TypedExpectation : public ExpectationBase {
+ public:
+  typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+  typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+  typedef typename Function<F>::Result Result;
+
+  TypedExpectation(FunctionMockerBase<F>* owner,
+                   const char* a_file, int a_line, const string& a_source_text,
+                   const ArgumentMatcherTuple& m)
+      : ExpectationBase(a_file, a_line, a_source_text),
+        owner_(owner),
+        matchers_(m),
+        // By default, extra_matcher_ should match anything.  However,
+        // we cannot initialize it with _ as that triggers a compiler
+        // bug in Symbian's C++ compiler (cannot decide between two
+        // overloaded constructors of Matcher<const ArgumentTuple&>).
+        extra_matcher_(A<const ArgumentTuple&>()),
+        repeated_action_(DoDefault()) {}
+
+  virtual ~TypedExpectation() {
+    // Check the validity of the action count if it hasn't been done
+    // yet (for example, if the expectation was never used).
+    CheckActionCountIfNotDone();
+    for (UntypedActions::const_iterator it = untyped_actions_.begin();
+         it != untyped_actions_.end(); ++it) {
+      delete static_cast<const Action<F>*>(*it);
+    }
+  }
+
+  // Implements the .With() clause.
+  TypedExpectation& With(const Matcher<const ArgumentTuple&>& m) {
+    if (last_clause_ == kWith) {
+      ExpectSpecProperty(false,
+                         ".With() cannot appear "
+                         "more than once in an EXPECT_CALL().");
+    } else {
+      ExpectSpecProperty(last_clause_ < kWith,
+                         ".With() must be the first "
+                         "clause in an EXPECT_CALL().");
+    }
+    last_clause_ = kWith;
+
+    extra_matcher_ = m;
+    extra_matcher_specified_ = true;
+    return *this;
+  }
+
+  // Implements the .Times() clause.
+  TypedExpectation& Times(const Cardinality& a_cardinality) {
+    ExpectationBase::UntypedTimes(a_cardinality);
+    return *this;
+  }
+
+  // Implements the .Times() clause.
+  TypedExpectation& Times(int n) {
+    return Times(Exactly(n));
+  }
+
+  // Implements the .InSequence() clause.
+  TypedExpectation& InSequence(const Sequence& s) {
+    ExpectSpecProperty(last_clause_ <= kInSequence,
+                       ".InSequence() cannot appear after .After(),"
+                       " .WillOnce(), .WillRepeatedly(), or "
+                       ".RetiresOnSaturation().");
+    last_clause_ = kInSequence;
+
+    s.AddExpectation(GetHandle());
+    return *this;
+  }
+  TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2) {
+    return InSequence(s1).InSequence(s2);
+  }
+  TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+                               const Sequence& s3) {
+    return InSequence(s1, s2).InSequence(s3);
+  }
+  TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+                               const Sequence& s3, const Sequence& s4) {
+    return InSequence(s1, s2, s3).InSequence(s4);
+  }
+  TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+                               const Sequence& s3, const Sequence& s4,
+                               const Sequence& s5) {
+    return InSequence(s1, s2, s3, s4).InSequence(s5);
+  }
+
+  // Implements that .After() clause.
+  TypedExpectation& After(const ExpectationSet& s) {
+    ExpectSpecProperty(last_clause_ <= kAfter,
+                       ".After() cannot appear after .WillOnce(),"
+                       " .WillRepeatedly(), or "
+                       ".RetiresOnSaturation().");
+    last_clause_ = kAfter;
+
+    for (ExpectationSet::const_iterator it = s.begin(); it != s.end(); ++it) {
+      immediate_prerequisites_ += *it;
+    }
+    return *this;
+  }
+  TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2) {
+    return After(s1).After(s2);
+  }
+  TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+                          const ExpectationSet& s3) {
+    return After(s1, s2).After(s3);
+  }
+  TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+                          const ExpectationSet& s3, const ExpectationSet& s4) {
+    return After(s1, s2, s3).After(s4);
+  }
+  TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+                          const ExpectationSet& s3, const ExpectationSet& s4,
+                          const ExpectationSet& s5) {
+    return After(s1, s2, s3, s4).After(s5);
+  }
+
+  // Implements the .WillOnce() clause.
+  TypedExpectation& WillOnce(const Action<F>& action) {
+    ExpectSpecProperty(last_clause_ <= kWillOnce,
+                       ".WillOnce() cannot appear after "
+                       ".WillRepeatedly() or .RetiresOnSaturation().");
+    last_clause_ = kWillOnce;
+
+    untyped_actions_.push_back(new Action<F>(action));
+    if (!cardinality_specified()) {
+      set_cardinality(Exactly(static_cast<int>(untyped_actions_.size())));
+    }
+    return *this;
+  }
+
+  // Implements the .WillRepeatedly() clause.
+  TypedExpectation& WillRepeatedly(const Action<F>& action) {
+    if (last_clause_ == kWillRepeatedly) {
+      ExpectSpecProperty(false,
+                         ".WillRepeatedly() cannot appear "
+                         "more than once in an EXPECT_CALL().");
+    } else {
+      ExpectSpecProperty(last_clause_ < kWillRepeatedly,
+                         ".WillRepeatedly() cannot appear "
+                         "after .RetiresOnSaturation().");
+    }
+    last_clause_ = kWillRepeatedly;
+    repeated_action_specified_ = true;
+
+    repeated_action_ = action;
+    if (!cardinality_specified()) {
+      set_cardinality(AtLeast(static_cast<int>(untyped_actions_.size())));
+    }
+
+    // Now that no more action clauses can be specified, we check
+    // whether their count makes sense.
+    CheckActionCountIfNotDone();
+    return *this;
+  }
+
+  // Implements the .RetiresOnSaturation() clause.
+  TypedExpectation& RetiresOnSaturation() {
+    ExpectSpecProperty(last_clause_ < kRetiresOnSaturation,
+                       ".RetiresOnSaturation() cannot appear "
+                       "more than once.");
+    last_clause_ = kRetiresOnSaturation;
+    retires_on_saturation_ = true;
+
+    // Now that no more action clauses can be specified, we check
+    // whether their count makes sense.
+    CheckActionCountIfNotDone();
+    return *this;
+  }
+
+  // Returns the matchers for the arguments as specified inside the
+  // EXPECT_CALL() macro.
+  const ArgumentMatcherTuple& matchers() const {
+    return matchers_;
+  }
+
+  // Returns the matcher specified by the .With() clause.
+  const Matcher<const ArgumentTuple&>& extra_matcher() const {
+    return extra_matcher_;
+  }
+
+  // Returns the action specified by the .WillRepeatedly() clause.
+  const Action<F>& repeated_action() const { return repeated_action_; }
+
+  // If this mock method has an extra matcher (i.e. .With(matcher)),
+  // describes it to the ostream.
+  virtual void MaybeDescribeExtraMatcherTo(::std::ostream* os) {
+    if (extra_matcher_specified_) {
+      *os << "    Expected args: ";
+      extra_matcher_.DescribeTo(os);
+      *os << "\n";
+    }
+  }
+
+ private:
+  template <typename Function>
+  friend class FunctionMockerBase;
+
+  // Returns an Expectation object that references and co-owns this
+  // expectation.
+  virtual Expectation GetHandle() {
+    return owner_->GetHandleOf(this);
+  }
+
+  // The following methods will be called only after the EXPECT_CALL()
+  // statement finishes and when the current thread holds
+  // g_gmock_mutex.
+
+  // Returns true iff this expectation matches the given arguments.
+  bool Matches(const ArgumentTuple& args) const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    return TupleMatches(matchers_, args) && extra_matcher_.Matches(args);
+  }
+
+  // Returns true iff this expectation should handle the given arguments.
+  bool ShouldHandleArguments(const ArgumentTuple& args) const
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+
+    // In case the action count wasn't checked when the expectation
+    // was defined (e.g. if this expectation has no WillRepeatedly()
+    // or RetiresOnSaturation() clause), we check it when the
+    // expectation is used for the first time.
+    CheckActionCountIfNotDone();
+    return !is_retired() && AllPrerequisitesAreSatisfied() && Matches(args);
+  }
+
+  // Describes the result of matching the arguments against this
+  // expectation to the given ostream.
+  void ExplainMatchResultTo(
+      const ArgumentTuple& args,
+      ::std::ostream* os) const
+          GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+
+    if (is_retired()) {
+      *os << "         Expected: the expectation is active\n"
+          << "           Actual: it is retired\n";
+    } else if (!Matches(args)) {
+      if (!TupleMatches(matchers_, args)) {
+        ExplainMatchFailureTupleTo(matchers_, args, os);
+      }
+      StringMatchResultListener listener;
+      if (!extra_matcher_.MatchAndExplain(args, &listener)) {
+        *os << "    Expected args: ";
+        extra_matcher_.DescribeTo(os);
+        *os << "\n           Actual: don't match";
+
+        internal::PrintIfNotEmpty(listener.str(), os);
+        *os << "\n";
+      }
+    } else if (!AllPrerequisitesAreSatisfied()) {
+      *os << "         Expected: all pre-requisites are satisfied\n"
+          << "           Actual: the following immediate pre-requisites "
+          << "are not satisfied:\n";
+      ExpectationSet unsatisfied_prereqs;
+      FindUnsatisfiedPrerequisites(&unsatisfied_prereqs);
+      int i = 0;
+      for (ExpectationSet::const_iterator it = unsatisfied_prereqs.begin();
+           it != unsatisfied_prereqs.end(); ++it) {
+        it->expectation_base()->DescribeLocationTo(os);
+        *os << "pre-requisite #" << i++ << "\n";
+      }
+      *os << "                   (end of pre-requisites)\n";
+    } else {
+      // This line is here just for completeness' sake.  It will never
+      // be executed as currently the ExplainMatchResultTo() function
+      // is called only when the mock function call does NOT match the
+      // expectation.
+      *os << "The call matches the expectation.\n";
+    }
+  }
+
+  // Returns the action that should be taken for the current invocation.
+  const Action<F>& GetCurrentAction(
+      const FunctionMockerBase<F>* mocker,
+      const ArgumentTuple& args) const
+          GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    const int count = call_count();
+    Assert(count >= 1, __FILE__, __LINE__,
+           "call_count() is <= 0 when GetCurrentAction() is "
+           "called - this should never happen.");
+
+    const int action_count = static_cast<int>(untyped_actions_.size());
+    if (action_count > 0 && !repeated_action_specified_ &&
+        count > action_count) {
+      // If there is at least one WillOnce() and no WillRepeatedly(),
+      // we warn the user when the WillOnce() clauses ran out.
+      ::std::stringstream ss;
+      DescribeLocationTo(&ss);
+      ss << "Actions ran out in " << source_text() << "...\n"
+         << "Called " << count << " times, but only "
+         << action_count << " WillOnce()"
+         << (action_count == 1 ? " is" : "s are") << " specified - ";
+      mocker->DescribeDefaultActionTo(args, &ss);
+      Log(kWarning, ss.str(), 1);
+    }
+
+    return count <= action_count ?
+        *static_cast<const Action<F>*>(untyped_actions_[count - 1]) :
+        repeated_action();
+  }
+
+  // Given the arguments of a mock function call, if the call will
+  // over-saturate this expectation, returns the default action;
+  // otherwise, returns the next action in this expectation.  Also
+  // describes *what* happened to 'what', and explains *why* Google
+  // Mock does it to 'why'.  This method is not const as it calls
+  // IncrementCallCount().  A return value of NULL means the default
+  // action.
+  const Action<F>* GetActionForArguments(
+      const FunctionMockerBase<F>* mocker,
+      const ArgumentTuple& args,
+      ::std::ostream* what,
+      ::std::ostream* why)
+          GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    if (IsSaturated()) {
+      // We have an excessive call.
+      IncrementCallCount();
+      *what << "Mock function called more times than expected - ";
+      mocker->DescribeDefaultActionTo(args, what);
+      DescribeCallCountTo(why);
+
+      // TODO(wan@google.com): allow the user to control whether
+      // unexpected calls should fail immediately or continue using a
+      // flag --gmock_unexpected_calls_are_fatal.
+      return NULL;
+    }
+
+    IncrementCallCount();
+    RetireAllPreRequisites();
+
+    if (retires_on_saturation_ && IsSaturated()) {
+      Retire();
+    }
+
+    // Must be done after IncrementCount()!
+    *what << "Mock function call matches " << source_text() <<"...\n";
+    return &(GetCurrentAction(mocker, args));
+  }
+
+  // All the fields below won't change once the EXPECT_CALL()
+  // statement finishes.
+  FunctionMockerBase<F>* const owner_;
+  ArgumentMatcherTuple matchers_;
+  Matcher<const ArgumentTuple&> extra_matcher_;
+  Action<F> repeated_action_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TypedExpectation);
+};  // class TypedExpectation
+
+// A MockSpec object is used by ON_CALL() or EXPECT_CALL() for
+// specifying the default behavior of, or expectation on, a mock
+// function.
+
+// Note: class MockSpec really belongs to the ::testing namespace.
+// However if we define it in ::testing, MSVC will complain when
+// classes in ::testing::internal declare it as a friend class
+// template.  To workaround this compiler bug, we define MockSpec in
+// ::testing::internal and import it into ::testing.
+
+// Logs a message including file and line number information.
+GTEST_API_ void LogWithLocation(testing::internal::LogSeverity severity,
+                                const char* file, int line,
+                                const string& message);
+
+template <typename F>
+class MockSpec {
+ public:
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+  typedef typename internal::Function<F>::ArgumentMatcherTuple
+      ArgumentMatcherTuple;
+
+  // Constructs a MockSpec object, given the function mocker object
+  // that the spec is associated with.
+  explicit MockSpec(internal::FunctionMockerBase<F>* function_mocker)
+      : function_mocker_(function_mocker) {}
+
+  // Adds a new default action spec to the function mocker and returns
+  // the newly created spec.
+  internal::OnCallSpec<F>& InternalDefaultActionSetAt(
+      const char* file, int line, const char* obj, const char* call) {
+    LogWithLocation(internal::kInfo, file, line,
+        string("ON_CALL(") + obj + ", " + call + ") invoked");
+    return function_mocker_->AddNewOnCallSpec(file, line, matchers_);
+  }
+
+  // Adds a new expectation spec to the function mocker and returns
+  // the newly created spec.
+  internal::TypedExpectation<F>& InternalExpectedAt(
+      const char* file, int line, const char* obj, const char* call) {
+    const string source_text(string("EXPECT_CALL(") + obj + ", " + call + ")");
+    LogWithLocation(internal::kInfo, file, line, source_text + " invoked");
+    return function_mocker_->AddNewExpectation(
+        file, line, source_text, matchers_);
+  }
+
+ private:
+  template <typename Function>
+  friend class internal::FunctionMocker;
+
+  void SetMatchers(const ArgumentMatcherTuple& matchers) {
+    matchers_ = matchers;
+  }
+
+  // The function mocker that owns this spec.
+  internal::FunctionMockerBase<F>* const function_mocker_;
+  // The argument matchers specified in the spec.
+  ArgumentMatcherTuple matchers_;
+
+  GTEST_DISALLOW_ASSIGN_(MockSpec);
+};  // class MockSpec
+
+// Wrapper type for generically holding an ordinary value or lvalue reference.
+// If T is not a reference type, it must be copyable or movable.
+// ReferenceOrValueWrapper<T> is movable, and will also be copyable unless
+// T is a move-only value type (which means that it will always be copyable
+// if the current platform does not support move semantics).
+//
+// The primary template defines handling for values, but function header
+// comments describe the contract for the whole template (including
+// specializations).
+template <typename T>
+class ReferenceOrValueWrapper {
+ public:
+  // Constructs a wrapper from the given value/reference.
+  explicit ReferenceOrValueWrapper(T value)
+      : value_(::testing::internal::move(value)) {
+  }
+
+  // Unwraps and returns the underlying value/reference, exactly as
+  // originally passed. The behavior of calling this more than once on
+  // the same object is unspecified.
+  T Unwrap() { return ::testing::internal::move(value_); }
+
+  // Provides nondestructive access to the underlying value/reference.
+  // Always returns a const reference (more precisely,
+  // const RemoveReference<T>&). The behavior of calling this after
+  // calling Unwrap on the same object is unspecified.
+  const T& Peek() const {
+    return value_;
+  }
+
+ private:
+  T value_;
+};
+
+// Specialization for lvalue reference types. See primary template
+// for documentation.
+template <typename T>
+class ReferenceOrValueWrapper<T&> {
+ public:
+  // Workaround for debatable pass-by-reference lint warning (c-library-team
+  // policy precludes NOLINT in this context)
+  typedef T& reference;
+  explicit ReferenceOrValueWrapper(reference ref)
+      : value_ptr_(&ref) {}
+  T& Unwrap() { return *value_ptr_; }
+  const T& Peek() const { return *value_ptr_; }
+
+ private:
+  T* value_ptr_;
+};
+
+// MSVC warns about using 'this' in base member initializer list, so
+// we need to temporarily disable the warning.  We have to do it for
+// the entire class to suppress the warning, even though it's about
+// the constructor only.
+
+#ifdef _MSC_VER
+# pragma warning(push)          // Saves the current warning state.
+# pragma warning(disable:4355)  // Temporarily disables warning 4355.
+#endif  // _MSV_VER
+
+// C++ treats the void type specially.  For example, you cannot define
+// a void-typed variable or pass a void value to a function.
+// ActionResultHolder<T> holds a value of type T, where T must be a
+// copyable type or void (T doesn't need to be default-constructable).
+// It hides the syntactic difference between void and other types, and
+// is used to unify the code for invoking both void-returning and
+// non-void-returning mock functions.
+
+// Untyped base class for ActionResultHolder<T>.
+class UntypedActionResultHolderBase {
+ public:
+  virtual ~UntypedActionResultHolderBase() {}
+
+  // Prints the held value as an action's result to os.
+  virtual void PrintAsActionResult(::std::ostream* os) const = 0;
+};
+
+// This generic definition is used when T is not void.
+template <typename T>
+class ActionResultHolder : public UntypedActionResultHolderBase {
+ public:
+  // Returns the held value. Must not be called more than once.
+  T Unwrap() {
+    return result_.Unwrap();
+  }
+
+  // Prints the held value as an action's result to os.
+  virtual void PrintAsActionResult(::std::ostream* os) const {
+    *os << "\n          Returns: ";
+    // T may be a reference type, so we don't use UniversalPrint().
+    UniversalPrinter<T>::Print(result_.Peek(), os);
+  }
+
+  // Performs the given mock function's default action and returns the
+  // result in a new-ed ActionResultHolder.
+  template <typename F>
+  static ActionResultHolder* PerformDefaultAction(
+      const FunctionMockerBase<F>* func_mocker,
+      const typename Function<F>::ArgumentTuple& args,
+      const string& call_description) {
+    return new ActionResultHolder(Wrapper(
+        func_mocker->PerformDefaultAction(args, call_description)));
+  }
+
+  // Performs the given action and returns the result in a new-ed
+  // ActionResultHolder.
+  template <typename F>
+  static ActionResultHolder*
+  PerformAction(const Action<F>& action,
+                const typename Function<F>::ArgumentTuple& args) {
+    return new ActionResultHolder(Wrapper(action.Perform(args)));
+  }
+
+ private:
+  typedef ReferenceOrValueWrapper<T> Wrapper;
+
+  explicit ActionResultHolder(Wrapper result)
+      : result_(::testing::internal::move(result)) {
+  }
+
+  Wrapper result_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ActionResultHolder);
+};
+
+// Specialization for T = void.
+template <>
+class ActionResultHolder<void> : public UntypedActionResultHolderBase {
+ public:
+  void Unwrap() { }
+
+  virtual void PrintAsActionResult(::std::ostream* /* os */) const {}
+
+  // Performs the given mock function's default action and returns ownership
+  // of an empty ActionResultHolder*.
+  template <typename F>
+  static ActionResultHolder* PerformDefaultAction(
+      const FunctionMockerBase<F>* func_mocker,
+      const typename Function<F>::ArgumentTuple& args,
+      const string& call_description) {
+    func_mocker->PerformDefaultAction(args, call_description);
+    return new ActionResultHolder;
+  }
+
+  // Performs the given action and returns ownership of an empty
+  // ActionResultHolder*.
+  template <typename F>
+  static ActionResultHolder* PerformAction(
+      const Action<F>& action,
+      const typename Function<F>::ArgumentTuple& args) {
+    action.Perform(args);
+    return new ActionResultHolder;
+  }
+
+ private:
+  ActionResultHolder() {}
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ActionResultHolder);
+};
+
+// The base of the function mocker class for the given function type.
+// We put the methods in this class instead of its child to avoid code
+// bloat.
+template <typename F>
+class FunctionMockerBase : public UntypedFunctionMockerBase {
+ public:
+  typedef typename Function<F>::Result Result;
+  typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+  typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+
+  FunctionMockerBase() : current_spec_(this) {}
+
+  // The destructor verifies that all expectations on this mock
+  // function have been satisfied.  If not, it will report Google Test
+  // non-fatal failures for the violations.
+  virtual ~FunctionMockerBase()
+        GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+    MutexLock l(&g_gmock_mutex);
+    VerifyAndClearExpectationsLocked();
+    Mock::UnregisterLocked(this);
+    ClearDefaultActionsLocked();
+  }
+
+  // Returns the ON_CALL spec that matches this mock function with the
+  // given arguments; returns NULL if no matching ON_CALL is found.
+  // L = *
+  const OnCallSpec<F>* FindOnCallSpec(
+      const ArgumentTuple& args) const {
+    for (UntypedOnCallSpecs::const_reverse_iterator it
+             = untyped_on_call_specs_.rbegin();
+         it != untyped_on_call_specs_.rend(); ++it) {
+      const OnCallSpec<F>* spec = static_cast<const OnCallSpec<F>*>(*it);
+      if (spec->Matches(args))
+        return spec;
+    }
+
+    return NULL;
+  }
+
+  // Performs the default action of this mock function on the given
+  // arguments and returns the result. Asserts (or throws if
+  // exceptions are enabled) with a helpful call descrption if there
+  // is no valid return value. This method doesn't depend on the
+  // mutable state of this object, and thus can be called concurrently
+  // without locking.
+  // L = *
+  Result PerformDefaultAction(const ArgumentTuple& args,
+                              const string& call_description) const {
+    const OnCallSpec<F>* const spec =
+        this->FindOnCallSpec(args);
+    if (spec != NULL) {
+      return spec->GetAction().Perform(args);
+    }
+    const string message = call_description +
+        "\n    The mock function has no default action "
+        "set, and its return type has no default value set.";
+#if GTEST_HAS_EXCEPTIONS
+    if (!DefaultValue<Result>::Exists()) {
+      throw std::runtime_error(message);
+    }
+#else
+    Assert(DefaultValue<Result>::Exists(), "", -1, message);
+#endif
+    return DefaultValue<Result>::Get();
+  }
+
+  // Performs the default action with the given arguments and returns
+  // the action's result.  The call description string will be used in
+  // the error message to describe the call in the case the default
+  // action fails.  The caller is responsible for deleting the result.
+  // L = *
+  virtual UntypedActionResultHolderBase* UntypedPerformDefaultAction(
+      const void* untyped_args,  // must point to an ArgumentTuple
+      const string& call_description) const {
+    const ArgumentTuple& args =
+        *static_cast<const ArgumentTuple*>(untyped_args);
+    return ResultHolder::PerformDefaultAction(this, args, call_description);
+  }
+
+  // Performs the given action with the given arguments and returns
+  // the action's result.  The caller is responsible for deleting the
+  // result.
+  // L = *
+  virtual UntypedActionResultHolderBase* UntypedPerformAction(
+      const void* untyped_action, const void* untyped_args) const {
+    // Make a copy of the action before performing it, in case the
+    // action deletes the mock object (and thus deletes itself).
+    const Action<F> action = *static_cast<const Action<F>*>(untyped_action);
+    const ArgumentTuple& args =
+        *static_cast<const ArgumentTuple*>(untyped_args);
+    return ResultHolder::PerformAction(action, args);
+  }
+
+  // Implements UntypedFunctionMockerBase::ClearDefaultActionsLocked():
+  // clears the ON_CALL()s set on this mock function.
+  virtual void ClearDefaultActionsLocked()
+      GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+
+    // Deleting our default actions may trigger other mock objects to be
+    // deleted, for example if an action contains a reference counted smart
+    // pointer to that mock object, and that is the last reference. So if we
+    // delete our actions within the context of the global mutex we may deadlock
+    // when this method is called again. Instead, make a copy of the set of
+    // actions to delete, clear our set within the mutex, and then delete the
+    // actions outside of the mutex.
+    UntypedOnCallSpecs specs_to_delete;
+    untyped_on_call_specs_.swap(specs_to_delete);
+
+    g_gmock_mutex.Unlock();
+    for (UntypedOnCallSpecs::const_iterator it =
+             specs_to_delete.begin();
+         it != specs_to_delete.end(); ++it) {
+      delete static_cast<const OnCallSpec<F>*>(*it);
+    }
+
+    // Lock the mutex again, since the caller expects it to be locked when we
+    // return.
+    g_gmock_mutex.Lock();
+  }
+
+ protected:
+  template <typename Function>
+  friend class MockSpec;
+
+  typedef ActionResultHolder<Result> ResultHolder;
+
+  // Returns the result of invoking this mock function with the given
+  // arguments.  This function can be safely called from multiple
+  // threads concurrently.
+  Result InvokeWith(const ArgumentTuple& args)
+        GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+    scoped_ptr<ResultHolder> holder(
+        DownCast_<ResultHolder*>(this->UntypedInvokeWith(&args)));
+    return holder->Unwrap();
+  }
+
+  // Adds and returns a default action spec for this mock function.
+  OnCallSpec<F>& AddNewOnCallSpec(
+      const char* file, int line,
+      const ArgumentMatcherTuple& m)
+          GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+    Mock::RegisterUseByOnCallOrExpectCall(MockObject(), file, line);
+    OnCallSpec<F>* const on_call_spec = new OnCallSpec<F>(file, line, m);
+    untyped_on_call_specs_.push_back(on_call_spec);
+    return *on_call_spec;
+  }
+
+  // Adds and returns an expectation spec for this mock function.
+  TypedExpectation<F>& AddNewExpectation(
+      const char* file,
+      int line,
+      const string& source_text,
+      const ArgumentMatcherTuple& m)
+          GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+    Mock::RegisterUseByOnCallOrExpectCall(MockObject(), file, line);
+    TypedExpectation<F>* const expectation =
+        new TypedExpectation<F>(this, file, line, source_text, m);
+    const linked_ptr<ExpectationBase> untyped_expectation(expectation);
+    untyped_expectations_.push_back(untyped_expectation);
+
+    // Adds this expectation into the implicit sequence if there is one.
+    Sequence* const implicit_sequence = g_gmock_implicit_sequence.get();
+    if (implicit_sequence != NULL) {
+      implicit_sequence->AddExpectation(Expectation(untyped_expectation));
+    }
+
+    return *expectation;
+  }
+
+  // The current spec (either default action spec or expectation spec)
+  // being described on this function mocker.
+  MockSpec<F>& current_spec() { return current_spec_; }
+
+ private:
+  template <typename Func> friend class TypedExpectation;
+
+  // Some utilities needed for implementing UntypedInvokeWith().
+
+  // Describes what default action will be performed for the given
+  // arguments.
+  // L = *
+  void DescribeDefaultActionTo(const ArgumentTuple& args,
+                               ::std::ostream* os) const {
+    const OnCallSpec<F>* const spec = FindOnCallSpec(args);
+
+    if (spec == NULL) {
+      *os << (internal::type_equals<Result, void>::value ?
+              "returning directly.\n" :
+              "returning default value.\n");
+    } else {
+      *os << "taking default action specified at:\n"
+          << FormatFileLocation(spec->file(), spec->line()) << "\n";
+    }
+  }
+
+  // Writes a message that the call is uninteresting (i.e. neither
+  // explicitly expected nor explicitly unexpected) to the given
+  // ostream.
+  virtual void UntypedDescribeUninterestingCall(
+      const void* untyped_args,
+      ::std::ostream* os) const
+          GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+    const ArgumentTuple& args =
+        *static_cast<const ArgumentTuple*>(untyped_args);
+    *os << "Uninteresting mock function call - ";
+    DescribeDefaultActionTo(args, os);
+    *os << "    Function call: " << Name();
+    UniversalPrint(args, os);
+  }
+
+  // Returns the expectation that matches the given function arguments
+  // (or NULL is there's no match); when a match is found,
+  // untyped_action is set to point to the action that should be
+  // performed (or NULL if the action is "do default"), and
+  // is_excessive is modified to indicate whether the call exceeds the
+  // expected number.
+  //
+  // Critical section: We must find the matching expectation and the
+  // corresponding action that needs to be taken in an ATOMIC
+  // transaction.  Otherwise another thread may call this mock
+  // method in the middle and mess up the state.
+  //
+  // However, performing the action has to be left out of the critical
+  // section.  The reason is that we have no control on what the
+  // action does (it can invoke an arbitrary user function or even a
+  // mock function) and excessive locking could cause a dead lock.
+  virtual const ExpectationBase* UntypedFindMatchingExpectation(
+      const void* untyped_args,
+      const void** untyped_action, bool* is_excessive,
+      ::std::ostream* what, ::std::ostream* why)
+          GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+    const ArgumentTuple& args =
+        *static_cast<const ArgumentTuple*>(untyped_args);
+    MutexLock l(&g_gmock_mutex);
+    TypedExpectation<F>* exp = this->FindMatchingExpectationLocked(args);
+    if (exp == NULL) {  // A match wasn't found.
+      this->FormatUnexpectedCallMessageLocked(args, what, why);
+      return NULL;
+    }
+
+    // This line must be done before calling GetActionForArguments(),
+    // which will increment the call count for *exp and thus affect
+    // its saturation status.
+    *is_excessive = exp->IsSaturated();
+    const Action<F>* action = exp->GetActionForArguments(this, args, what, why);
+    if (action != NULL && action->IsDoDefault())
+      action = NULL;  // Normalize "do default" to NULL.
+    *untyped_action = action;
+    return exp;
+  }
+
+  // Prints the given function arguments to the ostream.
+  virtual void UntypedPrintArgs(const void* untyped_args,
+                                ::std::ostream* os) const {
+    const ArgumentTuple& args =
+        *static_cast<const ArgumentTuple*>(untyped_args);
+    UniversalPrint(args, os);
+  }
+
+  // Returns the expectation that matches the arguments, or NULL if no
+  // expectation matches them.
+  TypedExpectation<F>* FindMatchingExpectationLocked(
+      const ArgumentTuple& args) const
+          GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    for (typename UntypedExpectations::const_reverse_iterator it =
+             untyped_expectations_.rbegin();
+         it != untyped_expectations_.rend(); ++it) {
+      TypedExpectation<F>* const exp =
+          static_cast<TypedExpectation<F>*>(it->get());
+      if (exp->ShouldHandleArguments(args)) {
+        return exp;
+      }
+    }
+    return NULL;
+  }
+
+  // Returns a message that the arguments don't match any expectation.
+  void FormatUnexpectedCallMessageLocked(
+      const ArgumentTuple& args,
+      ::std::ostream* os,
+      ::std::ostream* why) const
+          GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    *os << "\nUnexpected mock function call - ";
+    DescribeDefaultActionTo(args, os);
+    PrintTriedExpectationsLocked(args, why);
+  }
+
+  // Prints a list of expectations that have been tried against the
+  // current mock function call.
+  void PrintTriedExpectationsLocked(
+      const ArgumentTuple& args,
+      ::std::ostream* why) const
+          GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+    g_gmock_mutex.AssertHeld();
+    const int count = static_cast<int>(untyped_expectations_.size());
+    *why << "Google Mock tried the following " << count << " "
+         << (count == 1 ? "expectation, but it didn't match" :
+             "expectations, but none matched")
+         << ":\n";
+    for (int i = 0; i < count; i++) {
+      TypedExpectation<F>* const expectation =
+          static_cast<TypedExpectation<F>*>(untyped_expectations_[i].get());
+      *why << "\n";
+      expectation->DescribeLocationTo(why);
+      if (count > 1) {
+        *why << "tried expectation #" << i << ": ";
+      }
+      *why << expectation->source_text() << "...\n";
+      expectation->ExplainMatchResultTo(args, why);
+      expectation->DescribeCallCountTo(why);
+    }
+  }
+
+  // The current spec (either default action spec or expectation spec)
+  // being described on this function mocker.
+  MockSpec<F> current_spec_;
+
+  // There is no generally useful and implementable semantics of
+  // copying a mock object, so copying a mock is usually a user error.
+  // Thus we disallow copying function mockers.  If the user really
+  // wants to copy a mock object, he should implement his own copy
+  // operation, for example:
+  //
+  //   class MockFoo : public Foo {
+  //    public:
+  //     // Defines a copy constructor explicitly.
+  //     MockFoo(const MockFoo& src) {}
+  //     ...
+  //   };
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(FunctionMockerBase);
+};  // class FunctionMockerBase
+
+#ifdef _MSC_VER
+# pragma warning(pop)  // Restores the warning state.
+#endif  // _MSV_VER
+
+// Implements methods of FunctionMockerBase.
+
+// Verifies that all expectations on this mock function have been
+// satisfied.  Reports one or more Google Test non-fatal failures and
+// returns false if not.
+
+// Reports an uninteresting call (whose description is in msg) in the
+// manner specified by 'reaction'.
+void ReportUninterestingCall(CallReaction reaction, const string& msg);
+
+}  // namespace internal
+
+// The style guide prohibits "using" statements in a namespace scope
+// inside a header file.  However, the MockSpec class template is
+// meant to be defined in the ::testing namespace.  The following line
+// is just a trick for working around a bug in MSVC 8.0, which cannot
+// handle it if we define MockSpec in ::testing.
+using internal::MockSpec;
+
+// Const(x) is a convenient function for obtaining a const reference
+// to x.  This is useful for setting expectations on an overloaded
+// const mock method, e.g.
+//
+//   class MockFoo : public FooInterface {
+//    public:
+//     MOCK_METHOD0(Bar, int());
+//     MOCK_CONST_METHOD0(Bar, int&());
+//   };
+//
+//   MockFoo foo;
+//   // Expects a call to non-const MockFoo::Bar().
+//   EXPECT_CALL(foo, Bar());
+//   // Expects a call to const MockFoo::Bar().
+//   EXPECT_CALL(Const(foo), Bar());
+template <typename T>
+inline const T& Const(const T& x) { return x; }
+
+// Constructs an Expectation object that references and co-owns exp.
+inline Expectation::Expectation(internal::ExpectationBase& exp)  // NOLINT
+    : expectation_base_(exp.GetHandle().expectation_base()) {}
+
+}  // namespace testing
+
+// A separate macro is required to avoid compile errors when the name
+// of the method used in call is a result of macro expansion.
+// See CompilesWithMethodNameExpandedFromMacro tests in
+// internal/gmock-spec-builders_test.cc for more details.
+#define GMOCK_ON_CALL_IMPL_(obj, call) \
+    ((obj).gmock_##call).InternalDefaultActionSetAt(__FILE__, __LINE__, \
+                                                    #obj, #call)
+#define ON_CALL(obj, call) GMOCK_ON_CALL_IMPL_(obj, call)
+
+#define GMOCK_EXPECT_CALL_IMPL_(obj, call) \
+    ((obj).gmock_##call).InternalExpectedAt(__FILE__, __LINE__, #obj, #call)
+#define EXPECT_CALL(obj, call) GMOCK_EXPECT_CALL_IMPL_(obj, call)
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+
+#if GTEST_HAS_STD_FUNCTION_
+# include <functional>
+#endif
+
+namespace testing {
+namespace internal {
+
+template <typename F>
+class FunctionMockerBase;
+
+// Note: class FunctionMocker really belongs to the ::testing
+// namespace.  However if we define it in ::testing, MSVC will
+// complain when classes in ::testing::internal declare it as a
+// friend class template.  To workaround this compiler bug, we define
+// FunctionMocker in ::testing::internal and import it into ::testing.
+template <typename F>
+class FunctionMocker;
+
+template <typename R>
+class FunctionMocker<R()> : public
+    internal::FunctionMockerBase<R()> {
+ public:
+  typedef R F();
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With() {
+    return this->current_spec();
+  }
+
+  R Invoke() {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple());
+  }
+};
+
+template <typename R, typename A1>
+class FunctionMocker<R(A1)> : public
+    internal::FunctionMockerBase<R(A1)> {
+ public:
+  typedef R F(A1);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1));
+  }
+};
+
+template <typename R, typename A1, typename A2>
+class FunctionMocker<R(A1, A2)> : public
+    internal::FunctionMockerBase<R(A1, A2)> {
+ public:
+  typedef R F(A1, A2);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+class FunctionMocker<R(A1, A2, A3)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3)> {
+ public:
+  typedef R F(A1, A2, A3);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+class FunctionMocker<R(A1, A2, A3, A4)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3, A4)> {
+ public:
+  typedef R F(A1, A2, A3, A4);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3, const Matcher<A4>& m4) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3, A4 a4) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5>
+class FunctionMocker<R(A1, A2, A3, A4, A5)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3, A4, A5)> {
+ public:
+  typedef R F(A1, A2, A3, A4, A5);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6)> {
+ public:
+  typedef R F(A1, A2, A3, A4, A5, A6);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+      const Matcher<A6>& m6) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+        m6));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7)> {
+ public:
+  typedef R F(A1, A2, A3, A4, A5, A6, A7);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+      const Matcher<A6>& m6, const Matcher<A7>& m7) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+        m6, m7));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8)> {
+ public:
+  typedef R F(A1, A2, A3, A4, A5, A6, A7, A8);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+      const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+        m6, m7, m8));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8, typename A9>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ public:
+  typedef R F(A1, A2, A3, A4, A5, A6, A7, A8, A9);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+      const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8,
+      const Matcher<A9>& m9) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+        m6, m7, m8, m9));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8, A9 a9) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8, a9));
+  }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+    typename A5, typename A6, typename A7, typename A8, typename A9,
+    typename A10>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)> : public
+    internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)> {
+ public:
+  typedef R F(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+  typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+  MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+      const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+      const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8,
+      const Matcher<A9>& m9, const Matcher<A10>& m10) {
+    this->current_spec().SetMatchers(::testing::make_tuple(m1, m2, m3, m4, m5,
+        m6, m7, m8, m9, m10));
+    return this->current_spec();
+  }
+
+  R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8, A9 a9,
+      A10 a10) {
+    // Even though gcc and MSVC don't enforce it, 'this->' is required
+    // by the C++ standard [14.6.4] here, as the base class type is
+    // dependent on the template argument (and thus shouldn't be
+    // looked into when resolving InvokeWith).
+    return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8, a9,
+        a10));
+  }
+};
+
+}  // namespace internal
+
+// The style guide prohibits "using" statements in a namespace scope
+// inside a header file.  However, the FunctionMocker class template
+// is meant to be defined in the ::testing namespace.  The following
+// line is just a trick for working around a bug in MSVC 8.0, which
+// cannot handle it if we define FunctionMocker in ::testing.
+using internal::FunctionMocker;
+
+// GMOCK_RESULT_(tn, F) expands to the result type of function type F.
+// We define this as a variadic macro in case F contains unprotected
+// commas (the same reason that we use variadic macros in other places
+// in this file).
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_RESULT_(tn, ...) \
+    tn ::testing::internal::Function<__VA_ARGS__>::Result
+
+// The type of argument N of the given function type.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_ARG_(tn, N, ...) \
+    tn ::testing::internal::Function<__VA_ARGS__>::Argument##N
+
+// The matcher type for argument N of the given function type.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_MATCHER_(tn, N, ...) \
+    const ::testing::Matcher<GMOCK_ARG_(tn, N, __VA_ARGS__)>&
+
+// The variable for mocking the given method.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_MOCKER_(arity, constness, Method) \
+    GTEST_CONCAT_TOKEN_(gmock##constness##arity##_##Method##_, __LINE__)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD0_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      ) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 0), \
+        this_method_does_not_take_0_arguments); \
+    GMOCK_MOCKER_(0, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(0, constness, Method).Invoke(); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method() constness { \
+    GMOCK_MOCKER_(0, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(0, constness, Method).With(); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(0, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD1_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 1), \
+        this_method_does_not_take_1_argument); \
+    GMOCK_MOCKER_(1, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(1, constness, Method).Invoke(gmock_a1); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1) constness { \
+    GMOCK_MOCKER_(1, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(1, constness, Method).With(gmock_a1); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(1, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD2_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 2), \
+        this_method_does_not_take_2_arguments); \
+    GMOCK_MOCKER_(2, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(2, constness, Method).Invoke(gmock_a1, gmock_a2); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2) constness { \
+    GMOCK_MOCKER_(2, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(2, constness, Method).With(gmock_a1, gmock_a2); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(2, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD3_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 3), \
+        this_method_does_not_take_3_arguments); \
+    GMOCK_MOCKER_(3, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(3, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3) constness { \
+    GMOCK_MOCKER_(3, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(3, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(3, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD4_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+      GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 4), \
+        this_method_does_not_take_4_arguments); \
+    GMOCK_MOCKER_(4, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(4, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+                     GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4) constness { \
+    GMOCK_MOCKER_(4, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(4, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(4, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD5_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+      GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+      GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 5), \
+        this_method_does_not_take_5_arguments); \
+    GMOCK_MOCKER_(5, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(5, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+                     GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+                     GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5) constness { \
+    GMOCK_MOCKER_(5, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(5, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(5, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD6_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+      GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+      GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+      GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 6), \
+        this_method_does_not_take_6_arguments); \
+    GMOCK_MOCKER_(6, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(6, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+                     GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+                     GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+                     GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6) constness { \
+    GMOCK_MOCKER_(6, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(6, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(6, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD7_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+      GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+      GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+      GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+      GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 7), \
+        this_method_does_not_take_7_arguments); \
+    GMOCK_MOCKER_(7, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(7, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+                     GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+                     GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+                     GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+                     GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7) constness { \
+    GMOCK_MOCKER_(7, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(7, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(7, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD8_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+      GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+      GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+      GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+      GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7, \
+      GMOCK_ARG_(tn, 8, __VA_ARGS__) gmock_a8) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 8), \
+        this_method_does_not_take_8_arguments); \
+    GMOCK_MOCKER_(8, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(8, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+                     GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+                     GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+                     GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+                     GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7, \
+                     GMOCK_MATCHER_(tn, 8, __VA_ARGS__) gmock_a8) constness { \
+    GMOCK_MOCKER_(8, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(8, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(8, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD9_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+      GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+      GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+      GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+      GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7, \
+      GMOCK_ARG_(tn, 8, __VA_ARGS__) gmock_a8, \
+      GMOCK_ARG_(tn, 9, __VA_ARGS__) gmock_a9) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 9), \
+        this_method_does_not_take_9_arguments); \
+    GMOCK_MOCKER_(9, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(9, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, \
+        gmock_a9); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+                     GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+                     GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+                     GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+                     GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7, \
+                     GMOCK_MATCHER_(tn, 8, __VA_ARGS__) gmock_a8, \
+                     GMOCK_MATCHER_(tn, 9, __VA_ARGS__) gmock_a9) constness { \
+    GMOCK_MOCKER_(9, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(9, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, \
+        gmock_a9); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(9, constness, \
+      Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD10_(tn, constness, ct, Method, ...) \
+  GMOCK_RESULT_(tn, __VA_ARGS__) ct Method( \
+      GMOCK_ARG_(tn, 1, __VA_ARGS__) gmock_a1, \
+      GMOCK_ARG_(tn, 2, __VA_ARGS__) gmock_a2, \
+      GMOCK_ARG_(tn, 3, __VA_ARGS__) gmock_a3, \
+      GMOCK_ARG_(tn, 4, __VA_ARGS__) gmock_a4, \
+      GMOCK_ARG_(tn, 5, __VA_ARGS__) gmock_a5, \
+      GMOCK_ARG_(tn, 6, __VA_ARGS__) gmock_a6, \
+      GMOCK_ARG_(tn, 7, __VA_ARGS__) gmock_a7, \
+      GMOCK_ARG_(tn, 8, __VA_ARGS__) gmock_a8, \
+      GMOCK_ARG_(tn, 9, __VA_ARGS__) gmock_a9, \
+      GMOCK_ARG_(tn, 10, __VA_ARGS__) gmock_a10) constness { \
+    GTEST_COMPILE_ASSERT_((::testing::tuple_size<                          \
+        tn ::testing::internal::Function<__VA_ARGS__>::ArgumentTuple>::value \
+            == 10), \
+        this_method_does_not_take_10_arguments); \
+    GMOCK_MOCKER_(10, constness, Method).SetOwnerAndName(this, #Method); \
+    return GMOCK_MOCKER_(10, constness, Method).Invoke(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, gmock_a9, \
+        gmock_a10); \
+  } \
+  ::testing::MockSpec<__VA_ARGS__>& \
+      gmock_##Method(GMOCK_MATCHER_(tn, 1, __VA_ARGS__) gmock_a1, \
+                     GMOCK_MATCHER_(tn, 2, __VA_ARGS__) gmock_a2, \
+                     GMOCK_MATCHER_(tn, 3, __VA_ARGS__) gmock_a3, \
+                     GMOCK_MATCHER_(tn, 4, __VA_ARGS__) gmock_a4, \
+                     GMOCK_MATCHER_(tn, 5, __VA_ARGS__) gmock_a5, \
+                     GMOCK_MATCHER_(tn, 6, __VA_ARGS__) gmock_a6, \
+                     GMOCK_MATCHER_(tn, 7, __VA_ARGS__) gmock_a7, \
+                     GMOCK_MATCHER_(tn, 8, __VA_ARGS__) gmock_a8, \
+                     GMOCK_MATCHER_(tn, 9, __VA_ARGS__) gmock_a9, \
+                     GMOCK_MATCHER_(tn, 10, \
+                         __VA_ARGS__) gmock_a10) constness { \
+    GMOCK_MOCKER_(10, constness, Method).RegisterOwner(this); \
+    return GMOCK_MOCKER_(10, constness, Method).With(gmock_a1, gmock_a2, \
+        gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, gmock_a9, \
+        gmock_a10); \
+  } \
+  mutable ::testing::FunctionMocker<__VA_ARGS__> GMOCK_MOCKER_(10, constness, \
+      Method)
+
+#define MOCK_METHOD0(m, ...) GMOCK_METHOD0_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD1(m, ...) GMOCK_METHOD1_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD2(m, ...) GMOCK_METHOD2_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD3(m, ...) GMOCK_METHOD3_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD4(m, ...) GMOCK_METHOD4_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD5(m, ...) GMOCK_METHOD5_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD6(m, ...) GMOCK_METHOD6_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD7(m, ...) GMOCK_METHOD7_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD8(m, ...) GMOCK_METHOD8_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD9(m, ...) GMOCK_METHOD9_(, , , m, __VA_ARGS__)
+#define MOCK_METHOD10(m, ...) GMOCK_METHOD10_(, , , m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0(m, ...) GMOCK_METHOD0_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1(m, ...) GMOCK_METHOD1_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2(m, ...) GMOCK_METHOD2_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3(m, ...) GMOCK_METHOD3_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4(m, ...) GMOCK_METHOD4_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5(m, ...) GMOCK_METHOD5_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6(m, ...) GMOCK_METHOD6_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7(m, ...) GMOCK_METHOD7_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8(m, ...) GMOCK_METHOD8_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9(m, ...) GMOCK_METHOD9_(, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10(m, ...) GMOCK_METHOD10_(, const, , m, __VA_ARGS__)
+
+#define MOCK_METHOD0_T(m, ...) GMOCK_METHOD0_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD1_T(m, ...) GMOCK_METHOD1_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD2_T(m, ...) GMOCK_METHOD2_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD3_T(m, ...) GMOCK_METHOD3_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD4_T(m, ...) GMOCK_METHOD4_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD5_T(m, ...) GMOCK_METHOD5_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD6_T(m, ...) GMOCK_METHOD6_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD7_T(m, ...) GMOCK_METHOD7_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD8_T(m, ...) GMOCK_METHOD8_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD9_T(m, ...) GMOCK_METHOD9_(typename, , , m, __VA_ARGS__)
+#define MOCK_METHOD10_T(m, ...) GMOCK_METHOD10_(typename, , , m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0_T(m, ...) \
+    GMOCK_METHOD0_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1_T(m, ...) \
+    GMOCK_METHOD1_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2_T(m, ...) \
+    GMOCK_METHOD2_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3_T(m, ...) \
+    GMOCK_METHOD3_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4_T(m, ...) \
+    GMOCK_METHOD4_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5_T(m, ...) \
+    GMOCK_METHOD5_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6_T(m, ...) \
+    GMOCK_METHOD6_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7_T(m, ...) \
+    GMOCK_METHOD7_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8_T(m, ...) \
+    GMOCK_METHOD8_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9_T(m, ...) \
+    GMOCK_METHOD9_(typename, const, , m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10_T(m, ...) \
+    GMOCK_METHOD10_(typename, const, , m, __VA_ARGS__)
+
+#define MOCK_METHOD0_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD0_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD1_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD1_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD2_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD2_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD3_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD3_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD4_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD4_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD5_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD5_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD6_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD6_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD7_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD7_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD8_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD8_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD9_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD9_(, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD10_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD10_(, , ct, m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD0_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD1_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD2_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD3_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD4_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD5_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD6_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD7_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD8_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD9_(, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD10_(, const, ct, m, __VA_ARGS__)
+
+#define MOCK_METHOD0_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD0_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD1_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD1_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD2_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD2_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD3_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD3_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD4_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD4_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD5_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD5_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD6_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD6_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD7_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD7_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD8_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD8_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD9_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD9_(typename, , ct, m, __VA_ARGS__)
+#define MOCK_METHOD10_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD10_(typename, , ct, m, __VA_ARGS__)
+
+#define MOCK_CONST_METHOD0_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD0_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD1_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD1_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD2_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD2_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD3_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD3_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD4_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD4_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD5_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD5_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD6_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD6_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD7_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD7_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD8_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD8_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD9_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD9_(typename, const, ct, m, __VA_ARGS__)
+#define MOCK_CONST_METHOD10_T_WITH_CALLTYPE(ct, m, ...) \
+    GMOCK_METHOD10_(typename, const, ct, m, __VA_ARGS__)
+
+// A MockFunction<F> class has one mock method whose type is F.  It is
+// useful when you just want your test code to emit some messages and
+// have Google Mock verify the right messages are sent (and perhaps at
+// the right times).  For example, if you are exercising code:
+//
+//   Foo(1);
+//   Foo(2);
+//   Foo(3);
+//
+// and want to verify that Foo(1) and Foo(3) both invoke
+// mock.Bar("a"), but Foo(2) doesn't invoke anything, you can write:
+//
+// TEST(FooTest, InvokesBarCorrectly) {
+//   MyMock mock;
+//   MockFunction<void(string check_point_name)> check;
+//   {
+//     InSequence s;
+//
+//     EXPECT_CALL(mock, Bar("a"));
+//     EXPECT_CALL(check, Call("1"));
+//     EXPECT_CALL(check, Call("2"));
+//     EXPECT_CALL(mock, Bar("a"));
+//   }
+//   Foo(1);
+//   check.Call("1");
+//   Foo(2);
+//   check.Call("2");
+//   Foo(3);
+// }
+//
+// The expectation spec says that the first Bar("a") must happen
+// before check point "1", the second Bar("a") must happen after check
+// point "2", and nothing should happen between the two check
+// points. The explicit check points make it easy to tell which
+// Bar("a") is called by which call to Foo().
+//
+// MockFunction<F> can also be used to exercise code that accepts
+// std::function<F> callbacks. To do so, use AsStdFunction() method
+// to create std::function proxy forwarding to original object's Call.
+// Example:
+//
+// TEST(FooTest, RunsCallbackWithBarArgument) {
+//   MockFunction<int(string)> callback;
+//   EXPECT_CALL(callback, Call("bar")).WillOnce(Return(1));
+//   Foo(callback.AsStdFunction());
+// }
+template <typename F>
+class MockFunction;
+
+template <typename R>
+class MockFunction<R()> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD0_T(Call, R());
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R()> AsStdFunction() {
+    return [this]() -> R {
+      return this->Call();
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0>
+class MockFunction<R(A0)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD1_T(Call, R(A0));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0)> AsStdFunction() {
+    return [this](A0 a0) -> R {
+      return this->Call(a0);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1>
+class MockFunction<R(A0, A1)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD2_T(Call, R(A0, A1));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1)> AsStdFunction() {
+    return [this](A0 a0, A1 a1) -> R {
+      return this->Call(a0, a1);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2>
+class MockFunction<R(A0, A1, A2)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD3_T(Call, R(A0, A1, A2));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2) -> R {
+      return this->Call(a0, a1, a2);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3>
+class MockFunction<R(A0, A1, A2, A3)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD4_T(Call, R(A0, A1, A2, A3));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2, A3)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2, A3 a3) -> R {
+      return this->Call(a0, a1, a2, a3);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+    typename A4>
+class MockFunction<R(A0, A1, A2, A3, A4)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD5_T(Call, R(A0, A1, A2, A3, A4));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2, A3, A4)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4) -> R {
+      return this->Call(a0, a1, a2, a3, a4);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+    typename A4, typename A5>
+class MockFunction<R(A0, A1, A2, A3, A4, A5)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD6_T(Call, R(A0, A1, A2, A3, A4, A5));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2, A3, A4, A5)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) -> R {
+      return this->Call(a0, a1, a2, a3, a4, a5);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD7_T(Call, R(A0, A1, A2, A3, A4, A5, A6));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2, A3, A4, A5, A6)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) -> R {
+      return this->Call(a0, a1, a2, a3, a4, a5, a6);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6, typename A7>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD8_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2, A3, A4, A5, A6, A7)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7) -> R {
+      return this->Call(a0, a1, a2, a3, a4, a5, a6, a7);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6, typename A7, typename A8>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7, A8)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD9_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7, A8));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2, A3, A4, A5, A6, A7, A8)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7,
+        A8 a8) -> R {
+      return this->Call(a0, a1, a2, a3, a4, a5, a6, a7, a8);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+    typename A4, typename A5, typename A6, typename A7, typename A8,
+    typename A9>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ public:
+  MockFunction() {}
+
+  MOCK_METHOD10_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9));
+
+#if GTEST_HAS_STD_FUNCTION_
+  std::function<R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9)> AsStdFunction() {
+    return [this](A0 a0, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7,
+        A8 a8, A9 a9) -> R {
+      return this->Call(a0, a1, a2, a3, a4, a5, a6, a7, a8, a9);
+    };
+  }
+#endif  // GTEST_HAS_STD_FUNCTION_
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+// This file was GENERATED by command:
+//     pump.py gmock-generated-nice-strict.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Implements class templates NiceMock, NaggyMock, and StrictMock.
+//
+// Given a mock class MockFoo that is created using Google Mock,
+// NiceMock<MockFoo> is a subclass of MockFoo that allows
+// uninteresting calls (i.e. calls to mock methods that have no
+// EXPECT_CALL specs), NaggyMock<MockFoo> is a subclass of MockFoo
+// that prints a warning when an uninteresting call occurs, and
+// StrictMock<MockFoo> is a subclass of MockFoo that treats all
+// uninteresting calls as errors.
+//
+// Currently a mock is naggy by default, so MockFoo and
+// NaggyMock<MockFoo> behave like the same.  However, we will soon
+// switch the default behavior of mocks to be nice, as that in general
+// leads to more maintainable tests.  When that happens, MockFoo will
+// stop behaving like NaggyMock<MockFoo> and start behaving like
+// NiceMock<MockFoo>.
+//
+// NiceMock, NaggyMock, and StrictMock "inherit" the constructors of
+// their respective base class, with up-to 10 arguments.  Therefore
+// you can write NiceMock<MockFoo>(5, "a") to construct a nice mock
+// where MockFoo has a constructor that accepts (int, const char*),
+// for example.
+//
+// A known limitation is that NiceMock<MockFoo>, NaggyMock<MockFoo>,
+// and StrictMock<MockFoo> only works for mock methods defined using
+// the MOCK_METHOD* family of macros DIRECTLY in the MockFoo class.
+// If a mock method is defined in a base class of MockFoo, the "nice"
+// or "strict" modifier may not affect it, depending on the compiler.
+// In particular, nesting NiceMock, NaggyMock, and StrictMock is NOT
+// supported.
+//
+// Another known limitation is that the constructors of the base mock
+// cannot have arguments passed by non-const reference, which are
+// banned by the Google C++ style guide anyway.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+
+
+namespace testing {
+
+template <class MockClass>
+class NiceMock : public MockClass {
+ public:
+  // We don't factor out the constructor body to a common method, as
+  // we have to avoid a possible clash with members of MockClass.
+  NiceMock() {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  // C++ doesn't (yet) allow inheritance of constructors, so we have
+  // to define it for each arity.
+  template <typename A1>
+  explicit NiceMock(const A1& a1) : MockClass(a1) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+  template <typename A1, typename A2>
+  NiceMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3,
+      const A4& a4) : MockClass(a1, a2, a3, a4) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+      a6, a7) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+      a2, a3, a4, a5, a6, a7, a8) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8, typename A9>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+      const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8, typename A9, typename A10>
+  NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+      const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+    ::testing::Mock::AllowUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  virtual ~NiceMock() {
+    ::testing::Mock::UnregisterCallReaction(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(NiceMock);
+};
+
+template <class MockClass>
+class NaggyMock : public MockClass {
+ public:
+  // We don't factor out the constructor body to a common method, as
+  // we have to avoid a possible clash with members of MockClass.
+  NaggyMock() {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  // C++ doesn't (yet) allow inheritance of constructors, so we have
+  // to define it for each arity.
+  template <typename A1>
+  explicit NaggyMock(const A1& a1) : MockClass(a1) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+  template <typename A1, typename A2>
+  NaggyMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3,
+      const A4& a4) : MockClass(a1, a2, a3, a4) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+      a6, a7) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+      a2, a3, a4, a5, a6, a7, a8) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8, typename A9>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+      const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8, typename A9, typename A10>
+  NaggyMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+      const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+    ::testing::Mock::WarnUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  virtual ~NaggyMock() {
+    ::testing::Mock::UnregisterCallReaction(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(NaggyMock);
+};
+
+template <class MockClass>
+class StrictMock : public MockClass {
+ public:
+  // We don't factor out the constructor body to a common method, as
+  // we have to avoid a possible clash with members of MockClass.
+  StrictMock() {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  // C++ doesn't (yet) allow inheritance of constructors, so we have
+  // to define it for each arity.
+  template <typename A1>
+  explicit StrictMock(const A1& a1) : MockClass(a1) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+  template <typename A1, typename A2>
+  StrictMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3,
+      const A4& a4) : MockClass(a1, a2, a3, a4) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+      a6, a7) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+      a2, a3, a4, a5, a6, a7, a8) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8, typename A9>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+      const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  template <typename A1, typename A2, typename A3, typename A4, typename A5,
+      typename A6, typename A7, typename A8, typename A9, typename A10>
+  StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+      const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+      const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+    ::testing::Mock::FailUninterestingCalls(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+  virtual ~StrictMock() {
+    ::testing::Mock::UnregisterCallReaction(
+        internal::ImplicitCast_<MockClass*>(this));
+  }
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(StrictMock);
+};
+
+// The following specializations catch some (relatively more common)
+// user errors of nesting nice and strict mocks.  They do NOT catch
+// all possible errors.
+
+// These specializations are declared but not defined, as NiceMock,
+// NaggyMock, and StrictMock cannot be nested.
+
+template <typename MockClass>
+class NiceMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class NiceMock<NaggyMock<MockClass> >;
+template <typename MockClass>
+class NiceMock<StrictMock<MockClass> >;
+
+template <typename MockClass>
+class NaggyMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class NaggyMock<NaggyMock<MockClass> >;
+template <typename MockClass>
+class NaggyMock<StrictMock<MockClass> >;
+
+template <typename MockClass>
+class StrictMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class StrictMock<NaggyMock<MockClass> >;
+template <typename MockClass>
+class StrictMock<StrictMock<MockClass> >;
+
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+// This file was GENERATED by command:
+//     pump.py gmock-generated-matchers.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used variadic matchers.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+
+#include <iterator>
+#include <sstream>
+#include <string>
+#include <vector>
+
+namespace testing {
+namespace internal {
+
+// The type of the i-th (0-based) field of Tuple.
+#define GMOCK_FIELD_TYPE_(Tuple, i) \
+    typename ::testing::tuple_element<i, Tuple>::type
+
+// TupleFields<Tuple, k0, ..., kn> is for selecting fields from a
+// tuple of type Tuple.  It has two members:
+//
+//   type: a tuple type whose i-th field is the ki-th field of Tuple.
+//   GetSelectedFields(t): returns fields k0, ..., and kn of t as a tuple.
+//
+// For example, in class TupleFields<tuple<bool, char, int>, 2, 0>, we have:
+//
+//   type is tuple<int, bool>, and
+//   GetSelectedFields(make_tuple(true, 'a', 42)) is (42, true).
+
+template <class Tuple, int k0 = -1, int k1 = -1, int k2 = -1, int k3 = -1,
+    int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+    int k9 = -1>
+class TupleFields;
+
+// This generic version is used when there are 10 selectors.
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+    int k7, int k8, int k9>
+class TupleFields {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+      GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+      GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+      GMOCK_FIELD_TYPE_(Tuple, k7), GMOCK_FIELD_TYPE_(Tuple, k8),
+      GMOCK_FIELD_TYPE_(Tuple, k9)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+        get<k5>(t), get<k6>(t), get<k7>(t), get<k8>(t), get<k9>(t));
+  }
+};
+
+// The following specialization is used for 0 ~ 9 selectors.
+
+template <class Tuple>
+class TupleFields<Tuple, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<> type;
+  static type GetSelectedFields(const Tuple& /* t */) {
+    return type();
+  }
+};
+
+template <class Tuple, int k0>
+class TupleFields<Tuple, k0, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1>
+class TupleFields<Tuple, k0, k1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1, int k2>
+class TupleFields<Tuple, k0, k1, k2, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3>
+class TupleFields<Tuple, k0, k1, k2, k3, -1, -1, -1, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+      GMOCK_FIELD_TYPE_(Tuple, k3)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, -1, -1, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+      GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, -1, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+      GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+      GMOCK_FIELD_TYPE_(Tuple, k5)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+        get<k5>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, -1, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+      GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+      GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+        get<k5>(t), get<k6>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+    int k7>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, k7, -1, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+      GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+      GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+      GMOCK_FIELD_TYPE_(Tuple, k7)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+        get<k5>(t), get<k6>(t), get<k7>(t));
+  }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+    int k7, int k8>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, k7, k8, -1> {
+ public:
+  typedef ::testing::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+      GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+      GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+      GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+      GMOCK_FIELD_TYPE_(Tuple, k7), GMOCK_FIELD_TYPE_(Tuple, k8)> type;
+  static type GetSelectedFields(const Tuple& t) {
+    return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+        get<k5>(t), get<k6>(t), get<k7>(t), get<k8>(t));
+  }
+};
+
+#undef GMOCK_FIELD_TYPE_
+
+// Implements the Args() matcher.
+template <class ArgsTuple, int k0 = -1, int k1 = -1, int k2 = -1, int k3 = -1,
+    int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+    int k9 = -1>
+class ArgsMatcherImpl : public MatcherInterface<ArgsTuple> {
+ public:
+  // ArgsTuple may have top-level const or reference modifiers.
+  typedef GTEST_REMOVE_REFERENCE_AND_CONST_(ArgsTuple) RawArgsTuple;
+  typedef typename internal::TupleFields<RawArgsTuple, k0, k1, k2, k3, k4, k5,
+      k6, k7, k8, k9>::type SelectedArgs;
+  typedef Matcher<const SelectedArgs&> MonomorphicInnerMatcher;
+
+  template <typename InnerMatcher>
+  explicit ArgsMatcherImpl(const InnerMatcher& inner_matcher)
+      : inner_matcher_(SafeMatcherCast<const SelectedArgs&>(inner_matcher)) {}
+
+  virtual bool MatchAndExplain(ArgsTuple args,
+                               MatchResultListener* listener) const {
+    const SelectedArgs& selected_args = GetSelectedArgs(args);
+    if (!listener->IsInterested())
+      return inner_matcher_.Matches(selected_args);
+
+    PrintIndices(listener->stream());
+    *listener << "are " << PrintToString(selected_args);
+
+    StringMatchResultListener inner_listener;
+    const bool match = inner_matcher_.MatchAndExplain(selected_args,
+                                                      &inner_listener);
+    PrintIfNotEmpty(inner_listener.str(), listener->stream());
+    return match;
+  }
+
+  virtual void DescribeTo(::std::ostream* os) const {
+    *os << "are a tuple ";
+    PrintIndices(os);
+    inner_matcher_.DescribeTo(os);
+  }
+
+  virtual void DescribeNegationTo(::std::ostream* os) const {
+    *os << "are a tuple ";
+    PrintIndices(os);
+    inner_matcher_.DescribeNegationTo(os);
+  }
+
+ private:
+  static SelectedArgs GetSelectedArgs(ArgsTuple args) {
+    return TupleFields<RawArgsTuple, k0, k1, k2, k3, k4, k5, k6, k7, k8,
+        k9>::GetSelectedFields(args);
+  }
+
+  // Prints the indices of the selected fields.
+  static void PrintIndices(::std::ostream* os) {
+    *os << "whose fields (";
+    const int indices[10] = { k0, k1, k2, k3, k4, k5, k6, k7, k8, k9 };
+    for (int i = 0; i < 10; i++) {
+      if (indices[i] < 0)
+        break;
+
+      if (i >= 1)
+        *os << ", ";
+
+      *os << "#" << indices[i];
+    }
+    *os << ") ";
+  }
+
+  const MonomorphicInnerMatcher inner_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(ArgsMatcherImpl);
+};
+
+template <class InnerMatcher, int k0 = -1, int k1 = -1, int k2 = -1,
+    int k3 = -1, int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1,
+    int k8 = -1, int k9 = -1>
+class ArgsMatcher {
+ public:
+  explicit ArgsMatcher(const InnerMatcher& inner_matcher)
+      : inner_matcher_(inner_matcher) {}
+
+  template <typename ArgsTuple>
+  operator Matcher<ArgsTuple>() const {
+    return MakeMatcher(new ArgsMatcherImpl<ArgsTuple, k0, k1, k2, k3, k4, k5,
+        k6, k7, k8, k9>(inner_matcher_));
+  }
+
+ private:
+  const InnerMatcher inner_matcher_;
+
+  GTEST_DISALLOW_ASSIGN_(ArgsMatcher);
+};
+
+// A set of metafunctions for computing the result type of AllOf.
+// AllOf(m1, ..., mN) returns
+// AllOfResultN<decltype(m1), ..., decltype(mN)>::type.
+
+// Although AllOf isn't defined for one argument, AllOfResult1 is defined
+// to simplify the implementation.
+template <typename M1>
+struct AllOfResult1 {
+  typedef M1 type;
+};
+
+template <typename M1, typename M2>
+struct AllOfResult2 {
+  typedef BothOfMatcher<
+      typename AllOfResult1<M1>::type,
+      typename AllOfResult1<M2>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3>
+struct AllOfResult3 {
+  typedef BothOfMatcher<
+      typename AllOfResult1<M1>::type,
+      typename AllOfResult2<M2, M3>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4>
+struct AllOfResult4 {
+  typedef BothOfMatcher<
+      typename AllOfResult2<M1, M2>::type,
+      typename AllOfResult2<M3, M4>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+struct AllOfResult5 {
+  typedef BothOfMatcher<
+      typename AllOfResult2<M1, M2>::type,
+      typename AllOfResult3<M3, M4, M5>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6>
+struct AllOfResult6 {
+  typedef BothOfMatcher<
+      typename AllOfResult3<M1, M2, M3>::type,
+      typename AllOfResult3<M4, M5, M6>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7>
+struct AllOfResult7 {
+  typedef BothOfMatcher<
+      typename AllOfResult3<M1, M2, M3>::type,
+      typename AllOfResult4<M4, M5, M6, M7>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8>
+struct AllOfResult8 {
+  typedef BothOfMatcher<
+      typename AllOfResult4<M1, M2, M3, M4>::type,
+      typename AllOfResult4<M5, M6, M7, M8>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9>
+struct AllOfResult9 {
+  typedef BothOfMatcher<
+      typename AllOfResult4<M1, M2, M3, M4>::type,
+      typename AllOfResult5<M5, M6, M7, M8, M9>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9, typename M10>
+struct AllOfResult10 {
+  typedef BothOfMatcher<
+      typename AllOfResult5<M1, M2, M3, M4, M5>::type,
+      typename AllOfResult5<M6, M7, M8, M9, M10>::type
+  > type;
+};
+
+// A set of metafunctions for computing the result type of AnyOf.
+// AnyOf(m1, ..., mN) returns
+// AnyOfResultN<decltype(m1), ..., decltype(mN)>::type.
+
+// Although AnyOf isn't defined for one argument, AnyOfResult1 is defined
+// to simplify the implementation.
+template <typename M1>
+struct AnyOfResult1 {
+  typedef M1 type;
+};
+
+template <typename M1, typename M2>
+struct AnyOfResult2 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult1<M1>::type,
+      typename AnyOfResult1<M2>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3>
+struct AnyOfResult3 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult1<M1>::type,
+      typename AnyOfResult2<M2, M3>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4>
+struct AnyOfResult4 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult2<M1, M2>::type,
+      typename AnyOfResult2<M3, M4>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+struct AnyOfResult5 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult2<M1, M2>::type,
+      typename AnyOfResult3<M3, M4, M5>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6>
+struct AnyOfResult6 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult3<M1, M2, M3>::type,
+      typename AnyOfResult3<M4, M5, M6>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7>
+struct AnyOfResult7 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult3<M1, M2, M3>::type,
+      typename AnyOfResult4<M4, M5, M6, M7>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8>
+struct AnyOfResult8 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult4<M1, M2, M3, M4>::type,
+      typename AnyOfResult4<M5, M6, M7, M8>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9>
+struct AnyOfResult9 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult4<M1, M2, M3, M4>::type,
+      typename AnyOfResult5<M5, M6, M7, M8, M9>::type
+  > type;
+};
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9, typename M10>
+struct AnyOfResult10 {
+  typedef EitherOfMatcher<
+      typename AnyOfResult5<M1, M2, M3, M4, M5>::type,
+      typename AnyOfResult5<M6, M7, M8, M9, M10>::type
+  > type;
+};
+
+}  // namespace internal
+
+// Args<N1, N2, ..., Nk>(a_matcher) matches a tuple if the selected
+// fields of it matches a_matcher.  C++ doesn't support default
+// arguments for function templates, so we have to overload it.
+template <typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher>(matcher);
+}
+
+template <int k1, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1>(matcher);
+}
+
+template <int k1, int k2, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2>(matcher);
+}
+
+template <int k1, int k2, int k3, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7,
+    typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6,
+      k7>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+    typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7,
+      k8>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+    int k9, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8, k9>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8,
+      k9>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+    int k9, int k10, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8, k9,
+    k10>
+Args(const InnerMatcher& matcher) {
+  return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8,
+      k9, k10>(matcher);
+}
+
+// ElementsAre(e_1, e_2, ... e_n) matches an STL-style container with
+// n elements, where the i-th element in the container must
+// match the i-th argument in the list.  Each argument of
+// ElementsAre() can be either a value or a matcher.  We support up to
+// 10 arguments.
+//
+// The use of DecayArray in the implementation allows ElementsAre()
+// to accept string literals, whose type is const char[N], but we
+// want to treat them as const char*.
+//
+// NOTE: Since ElementsAre() cares about the order of the elements, it
+// must not be used with containers whose elements's order is
+// undefined (e.g. hash_map).
+
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<> >
+ElementsAre() {
+  typedef ::testing::tuple<> Args;
+  return internal::ElementsAreMatcher<Args>(Args());
+}
+
+template <typename T1>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type> >
+ElementsAre(const T1& e1) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1));
+}
+
+template <typename T1, typename T2>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type> >
+ElementsAre(const T1& e1, const T2& e2) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2));
+}
+
+template <typename T1, typename T2, typename T3>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3));
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type,
+        typename internal::DecayArray<T8>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7, const T8& e8) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type,
+      typename internal::DecayArray<T8>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7,
+      e8));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type,
+        typename internal::DecayArray<T8>::type,
+        typename internal::DecayArray<T9>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type,
+      typename internal::DecayArray<T8>::type,
+      typename internal::DecayArray<T9>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7,
+      e8, e9));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10>
+inline internal::ElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type,
+        typename internal::DecayArray<T8>::type,
+        typename internal::DecayArray<T9>::type,
+        typename internal::DecayArray<T10>::type> >
+ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9,
+    const T10& e10) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type,
+      typename internal::DecayArray<T8>::type,
+      typename internal::DecayArray<T9>::type,
+      typename internal::DecayArray<T10>::type> Args;
+  return internal::ElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5, e6, e7,
+      e8, e9, e10));
+}
+
+// UnorderedElementsAre(e_1, e_2, ..., e_n) is an ElementsAre extension
+// that matches n elements in any order.  We support up to n=10 arguments.
+
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<> >
+UnorderedElementsAre() {
+  typedef ::testing::tuple<> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args());
+}
+
+template <typename T1>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type> >
+UnorderedElementsAre(const T1& e1) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1));
+}
+
+template <typename T1, typename T2>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2));
+}
+
+template <typename T1, typename T2, typename T3>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3));
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+      e6));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+      e6, e7));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type,
+        typename internal::DecayArray<T8>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7, const T8& e8) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type,
+      typename internal::DecayArray<T8>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+      e6, e7, e8));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type,
+        typename internal::DecayArray<T8>::type,
+        typename internal::DecayArray<T9>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type,
+      typename internal::DecayArray<T8>::type,
+      typename internal::DecayArray<T9>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+      e6, e7, e8, e9));
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10>
+inline internal::UnorderedElementsAreMatcher<
+    ::testing::tuple<
+        typename internal::DecayArray<T1>::type,
+        typename internal::DecayArray<T2>::type,
+        typename internal::DecayArray<T3>::type,
+        typename internal::DecayArray<T4>::type,
+        typename internal::DecayArray<T5>::type,
+        typename internal::DecayArray<T6>::type,
+        typename internal::DecayArray<T7>::type,
+        typename internal::DecayArray<T8>::type,
+        typename internal::DecayArray<T9>::type,
+        typename internal::DecayArray<T10>::type> >
+UnorderedElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+    const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9,
+    const T10& e10) {
+  typedef ::testing::tuple<
+      typename internal::DecayArray<T1>::type,
+      typename internal::DecayArray<T2>::type,
+      typename internal::DecayArray<T3>::type,
+      typename internal::DecayArray<T4>::type,
+      typename internal::DecayArray<T5>::type,
+      typename internal::DecayArray<T6>::type,
+      typename internal::DecayArray<T7>::type,
+      typename internal::DecayArray<T8>::type,
+      typename internal::DecayArray<T9>::type,
+      typename internal::DecayArray<T10>::type> Args;
+  return internal::UnorderedElementsAreMatcher<Args>(Args(e1, e2, e3, e4, e5,
+      e6, e7, e8, e9, e10));
+}
+
+// AllOf(m1, m2, ..., mk) matches any value that matches all of the given
+// sub-matchers.  AllOf is called fully qualified to prevent ADL from firing.
+
+template <typename M1, typename M2>
+inline typename internal::AllOfResult2<M1, M2>::type
+AllOf(M1 m1, M2 m2) {
+  return typename internal::AllOfResult2<M1, M2>::type(
+      m1,
+      m2);
+}
+
+template <typename M1, typename M2, typename M3>
+inline typename internal::AllOfResult3<M1, M2, M3>::type
+AllOf(M1 m1, M2 m2, M3 m3) {
+  return typename internal::AllOfResult3<M1, M2, M3>::type(
+      m1,
+      ::testing::AllOf(m2, m3));
+}
+
+template <typename M1, typename M2, typename M3, typename M4>
+inline typename internal::AllOfResult4<M1, M2, M3, M4>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4) {
+  return typename internal::AllOfResult4<M1, M2, M3, M4>::type(
+      ::testing::AllOf(m1, m2),
+      ::testing::AllOf(m3, m4));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+inline typename internal::AllOfResult5<M1, M2, M3, M4, M5>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5) {
+  return typename internal::AllOfResult5<M1, M2, M3, M4, M5>::type(
+      ::testing::AllOf(m1, m2),
+      ::testing::AllOf(m3, m4, m5));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6>
+inline typename internal::AllOfResult6<M1, M2, M3, M4, M5, M6>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6) {
+  return typename internal::AllOfResult6<M1, M2, M3, M4, M5, M6>::type(
+      ::testing::AllOf(m1, m2, m3),
+      ::testing::AllOf(m4, m5, m6));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7>
+inline typename internal::AllOfResult7<M1, M2, M3, M4, M5, M6, M7>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7) {
+  return typename internal::AllOfResult7<M1, M2, M3, M4, M5, M6, M7>::type(
+      ::testing::AllOf(m1, m2, m3),
+      ::testing::AllOf(m4, m5, m6, m7));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8>
+inline typename internal::AllOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8) {
+  return typename internal::AllOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type(
+      ::testing::AllOf(m1, m2, m3, m4),
+      ::testing::AllOf(m5, m6, m7, m8));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9>
+inline typename internal::AllOfResult9<M1, M2, M3, M4, M5, M6, M7, M8, M9>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9) {
+  return typename internal::AllOfResult9<M1, M2, M3, M4, M5, M6, M7, M8,
+      M9>::type(
+      ::testing::AllOf(m1, m2, m3, m4),
+      ::testing::AllOf(m5, m6, m7, m8, m9));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9, typename M10>
+inline typename internal::AllOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+    M10>::type
+AllOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9, M10 m10) {
+  return typename internal::AllOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+      M10>::type(
+      ::testing::AllOf(m1, m2, m3, m4, m5),
+      ::testing::AllOf(m6, m7, m8, m9, m10));
+}
+
+// AnyOf(m1, m2, ..., mk) matches any value that matches any of the given
+// sub-matchers.  AnyOf is called fully qualified to prevent ADL from firing.
+
+template <typename M1, typename M2>
+inline typename internal::AnyOfResult2<M1, M2>::type
+AnyOf(M1 m1, M2 m2) {
+  return typename internal::AnyOfResult2<M1, M2>::type(
+      m1,
+      m2);
+}
+
+template <typename M1, typename M2, typename M3>
+inline typename internal::AnyOfResult3<M1, M2, M3>::type
+AnyOf(M1 m1, M2 m2, M3 m3) {
+  return typename internal::AnyOfResult3<M1, M2, M3>::type(
+      m1,
+      ::testing::AnyOf(m2, m3));
+}
+
+template <typename M1, typename M2, typename M3, typename M4>
+inline typename internal::AnyOfResult4<M1, M2, M3, M4>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4) {
+  return typename internal::AnyOfResult4<M1, M2, M3, M4>::type(
+      ::testing::AnyOf(m1, m2),
+      ::testing::AnyOf(m3, m4));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5>
+inline typename internal::AnyOfResult5<M1, M2, M3, M4, M5>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5) {
+  return typename internal::AnyOfResult5<M1, M2, M3, M4, M5>::type(
+      ::testing::AnyOf(m1, m2),
+      ::testing::AnyOf(m3, m4, m5));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6>
+inline typename internal::AnyOfResult6<M1, M2, M3, M4, M5, M6>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6) {
+  return typename internal::AnyOfResult6<M1, M2, M3, M4, M5, M6>::type(
+      ::testing::AnyOf(m1, m2, m3),
+      ::testing::AnyOf(m4, m5, m6));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7>
+inline typename internal::AnyOfResult7<M1, M2, M3, M4, M5, M6, M7>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7) {
+  return typename internal::AnyOfResult7<M1, M2, M3, M4, M5, M6, M7>::type(
+      ::testing::AnyOf(m1, m2, m3),
+      ::testing::AnyOf(m4, m5, m6, m7));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8>
+inline typename internal::AnyOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8) {
+  return typename internal::AnyOfResult8<M1, M2, M3, M4, M5, M6, M7, M8>::type(
+      ::testing::AnyOf(m1, m2, m3, m4),
+      ::testing::AnyOf(m5, m6, m7, m8));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9>
+inline typename internal::AnyOfResult9<M1, M2, M3, M4, M5, M6, M7, M8, M9>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9) {
+  return typename internal::AnyOfResult9<M1, M2, M3, M4, M5, M6, M7, M8,
+      M9>::type(
+      ::testing::AnyOf(m1, m2, m3, m4),
+      ::testing::AnyOf(m5, m6, m7, m8, m9));
+}
+
+template <typename M1, typename M2, typename M3, typename M4, typename M5,
+    typename M6, typename M7, typename M8, typename M9, typename M10>
+inline typename internal::AnyOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+    M10>::type
+AnyOf(M1 m1, M2 m2, M3 m3, M4 m4, M5 m5, M6 m6, M7 m7, M8 m8, M9 m9, M10 m10) {
+  return typename internal::AnyOfResult10<M1, M2, M3, M4, M5, M6, M7, M8, M9,
+      M10>::type(
+      ::testing::AnyOf(m1, m2, m3, m4, m5),
+      ::testing::AnyOf(m6, m7, m8, m9, m10));
+}
+
+}  // namespace testing
+
+
+// The MATCHER* family of macros can be used in a namespace scope to
+// define custom matchers easily.
+//
+// Basic Usage
+// ===========
+//
+// The syntax
+//
+//   MATCHER(name, description_string) { statements; }
+//
+// defines a matcher with the given name that executes the statements,
+// which must return a bool to indicate if the match succeeds.  Inside
+// the statements, you can refer to the value being matched by 'arg',
+// and refer to its type by 'arg_type'.
+//
+// The description string documents what the matcher does, and is used
+// to generate the failure message when the match fails.  Since a
+// MATCHER() is usually defined in a header file shared by multiple
+// C++ source files, we require the description to be a C-string
+// literal to avoid possible side effects.  It can be empty, in which
+// case we'll use the sequence of words in the matcher name as the
+// description.
+//
+// For example:
+//
+//   MATCHER(IsEven, "") { return (arg % 2) == 0; }
+//
+// allows you to write
+//
+//   // Expects mock_foo.Bar(n) to be called where n is even.
+//   EXPECT_CALL(mock_foo, Bar(IsEven()));
+//
+// or,
+//
+//   // Verifies that the value of some_expression is even.
+//   EXPECT_THAT(some_expression, IsEven());
+//
+// If the above assertion fails, it will print something like:
+//
+//   Value of: some_expression
+//   Expected: is even
+//     Actual: 7
+//
+// where the description "is even" is automatically calculated from the
+// matcher name IsEven.
+//
+// Argument Type
+// =============
+//
+// Note that the type of the value being matched (arg_type) is
+// determined by the context in which you use the matcher and is
+// supplied to you by the compiler, so you don't need to worry about
+// declaring it (nor can you).  This allows the matcher to be
+// polymorphic.  For example, IsEven() can be used to match any type
+// where the value of "(arg % 2) == 0" can be implicitly converted to
+// a bool.  In the "Bar(IsEven())" example above, if method Bar()
+// takes an int, 'arg_type' will be int; if it takes an unsigned long,
+// 'arg_type' will be unsigned long; and so on.
+//
+// Parameterizing Matchers
+// =======================
+//
+// Sometimes you'll want to parameterize the matcher.  For that you
+// can use another macro:
+//
+//   MATCHER_P(name, param_name, description_string) { statements; }
+//
+// For example:
+//
+//   MATCHER_P(HasAbsoluteValue, value, "") { return abs(arg) == value; }
+//
+// will allow you to write:
+//
+//   EXPECT_THAT(Blah("a"), HasAbsoluteValue(n));
+//
+// which may lead to this message (assuming n is 10):
+//
+//   Value of: Blah("a")
+//   Expected: has absolute value 10
+//     Actual: -9
+//
+// Note that both the matcher description and its parameter are
+// printed, making the message human-friendly.
+//
+// In the matcher definition body, you can write 'foo_type' to
+// reference the type of a parameter named 'foo'.  For example, in the
+// body of MATCHER_P(HasAbsoluteValue, value) above, you can write
+// 'value_type' to refer to the type of 'value'.
+//
+// We also provide MATCHER_P2, MATCHER_P3, ..., up to MATCHER_P10 to
+// support multi-parameter matchers.
+//
+// Describing Parameterized Matchers
+// =================================
+//
+// The last argument to MATCHER*() is a string-typed expression.  The
+// expression can reference all of the matcher's parameters and a
+// special bool-typed variable named 'negation'.  When 'negation' is
+// false, the expression should evaluate to the matcher's description;
+// otherwise it should evaluate to the description of the negation of
+// the matcher.  For example,
+//
+//   using testing::PrintToString;
+//
+//   MATCHER_P2(InClosedRange, low, hi,
+//       string(negation ? "is not" : "is") + " in range [" +
+//       PrintToString(low) + ", " + PrintToString(hi) + "]") {
+//     return low <= arg && arg <= hi;
+//   }
+//   ...
+//   EXPECT_THAT(3, InClosedRange(4, 6));
+//   EXPECT_THAT(3, Not(InClosedRange(2, 4)));
+//
+// would generate two failures that contain the text:
+//
+//   Expected: is in range [4, 6]
+//   ...
+//   Expected: is not in range [2, 4]
+//
+// If you specify "" as the description, the failure message will
+// contain the sequence of words in the matcher name followed by the
+// parameter values printed as a tuple.  For example,
+//
+//   MATCHER_P2(InClosedRange, low, hi, "") { ... }
+//   ...
+//   EXPECT_THAT(3, InClosedRange(4, 6));
+//   EXPECT_THAT(3, Not(InClosedRange(2, 4)));
+//
+// would generate two failures that contain the text:
+//
+//   Expected: in closed range (4, 6)
+//   ...
+//   Expected: not (in closed range (2, 4))
+//
+// Types of Matcher Parameters
+// ===========================
+//
+// For the purpose of typing, you can view
+//
+//   MATCHER_Pk(Foo, p1, ..., pk, description_string) { ... }
+//
+// as shorthand for
+//
+//   template <typename p1_type, ..., typename pk_type>
+//   FooMatcherPk<p1_type, ..., pk_type>
+//   Foo(p1_type p1, ..., pk_type pk) { ... }
+//
+// When you write Foo(v1, ..., vk), the compiler infers the types of
+// the parameters v1, ..., and vk for you.  If you are not happy with
+// the result of the type inference, you can specify the types by
+// explicitly instantiating the template, as in Foo<long, bool>(5,
+// false).  As said earlier, you don't get to (or need to) specify
+// 'arg_type' as that's determined by the context in which the matcher
+// is used.  You can assign the result of expression Foo(p1, ..., pk)
+// to a variable of type FooMatcherPk<p1_type, ..., pk_type>.  This
+// can be useful when composing matchers.
+//
+// While you can instantiate a matcher template with reference types,
+// passing the parameters by pointer usually makes your code more
+// readable.  If, however, you still want to pass a parameter by
+// reference, be aware that in the failure message generated by the
+// matcher you will see the value of the referenced object but not its
+// address.
+//
+// Explaining Match Results
+// ========================
+//
+// Sometimes the matcher description alone isn't enough to explain why
+// the match has failed or succeeded.  For example, when expecting a
+// long string, it can be very helpful to also print the diff between
+// the expected string and the actual one.  To achieve that, you can
+// optionally stream additional information to a special variable
+// named result_listener, whose type is a pointer to class
+// MatchResultListener:
+//
+//   MATCHER_P(EqualsLongString, str, "") {
+//     if (arg == str) return true;
+//
+//     *result_listener << "the difference: "
+///                     << DiffStrings(str, arg);
+//     return false;
+//   }
+//
+// Overloading Matchers
+// ====================
+//
+// You can overload matchers with different numbers of parameters:
+//
+//   MATCHER_P(Blah, a, description_string1) { ... }
+//   MATCHER_P2(Blah, a, b, description_string2) { ... }
+//
+// Caveats
+// =======
+//
+// When defining a new matcher, you should also consider implementing
+// MatcherInterface or using MakePolymorphicMatcher().  These
+// approaches require more work than the MATCHER* macros, but also
+// give you more control on the types of the value being matched and
+// the matcher parameters, which may leads to better compiler error
+// messages when the matcher is used wrong.  They also allow
+// overloading matchers based on parameter types (as opposed to just
+// based on the number of parameters).
+//
+// MATCHER*() can only be used in a namespace scope.  The reason is
+// that C++ doesn't yet allow function-local types to be used to
+// instantiate templates.  The up-coming C++0x standard will fix this.
+// Once that's done, we'll consider supporting using MATCHER*() inside
+// a function.
+//
+// More Information
+// ================
+//
+// To learn more about using these macros, please search for 'MATCHER'
+// on http://code.google.com/p/googlemock/wiki/CookBook.
+
+#define MATCHER(name, description)\
+  class name##Matcher {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl()\
+           {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<>()));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>());\
+    }\
+    name##Matcher() {\
+    }\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##Matcher);\
+  };\
+  inline name##Matcher name() {\
+    return name##Matcher();\
+  }\
+  template <typename arg_type>\
+  bool name##Matcher::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P(name, p0, description)\
+  template <typename p0##_type>\
+  class name##MatcherP {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      explicit gmock_Impl(p0##_type gmock_p0)\
+           : p0(gmock_p0) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type>(p0)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0));\
+    }\
+    explicit name##MatcherP(p0##_type gmock_p0) : p0(gmock_p0) {\
+    }\
+    p0##_type p0;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP);\
+  };\
+  template <typename p0##_type>\
+  inline name##MatcherP<p0##_type> name(p0##_type p0) {\
+    return name##MatcherP<p0##_type>(p0);\
+  }\
+  template <typename p0##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP<p0##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P2(name, p0, p1, description)\
+  template <typename p0##_type, typename p1##_type>\
+  class name##MatcherP2 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1)\
+           : p0(gmock_p0), p1(gmock_p1) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type>(p0, p1)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1));\
+    }\
+    name##MatcherP2(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+        p1(gmock_p1) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP2);\
+  };\
+  template <typename p0##_type, typename p1##_type>\
+  inline name##MatcherP2<p0##_type, p1##_type> name(p0##_type p0, \
+      p1##_type p1) {\
+    return name##MatcherP2<p0##_type, p1##_type>(p0, p1);\
+  }\
+  template <typename p0##_type, typename p1##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP2<p0##_type, \
+      p1##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P3(name, p0, p1, p2, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type>\
+  class name##MatcherP3 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type>(p0, p1, \
+                    p2)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2));\
+    }\
+    name##MatcherP3(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP3);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type>\
+  inline name##MatcherP3<p0##_type, p1##_type, p2##_type> name(p0##_type p0, \
+      p1##_type p1, p2##_type p2) {\
+    return name##MatcherP3<p0##_type, p1##_type, p2##_type>(p0, p1, p2);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP3<p0##_type, p1##_type, \
+      p2##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P4(name, p0, p1, p2, p3, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type>\
+  class name##MatcherP4 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type, \
+                    p3##_type>(p0, p1, p2, p3)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2, p3));\
+    }\
+    name##MatcherP4(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP4);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type>\
+  inline name##MatcherP4<p0##_type, p1##_type, p2##_type, \
+      p3##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+      p3##_type p3) {\
+    return name##MatcherP4<p0##_type, p1##_type, p2##_type, p3##_type>(p0, \
+        p1, p2, p3);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP4<p0##_type, p1##_type, p2##_type, \
+      p3##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P5(name, p0, p1, p2, p3, p4, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type>\
+  class name##MatcherP5 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+               p4(gmock_p4) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+                    p4##_type>(p0, p1, p2, p3, p4)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2, p3, p4));\
+    }\
+    name##MatcherP5(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, \
+        p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP5);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type>\
+  inline name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+      p4##_type p4) {\
+    return name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type>(p0, p1, p2, p3, p4);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P6(name, p0, p1, p2, p3, p4, p5, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type>\
+  class name##MatcherP6 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+               p4(gmock_p4), p5(gmock_p5) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+                    p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5));\
+    }\
+    name##MatcherP6(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP6);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type>\
+  inline name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+      p3##_type p3, p4##_type p4, p5##_type p5) {\
+    return name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+      p5##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P7(name, p0, p1, p2, p3, p4, p5, p6, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type>\
+  class name##MatcherP7 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+               p4(gmock_p4), p5(gmock_p5), p6(gmock_p6) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+                    p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, \
+                    p6)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6));\
+    }\
+    name##MatcherP7(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), \
+        p6(gmock_p6) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP7);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type>\
+  inline name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type> name(p0##_type p0, p1##_type p1, \
+      p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+      p6##_type p6) {\
+    return name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, p6);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+      p5##_type, p6##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P8(name, p0, p1, p2, p3, p4, p5, p6, p7, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type>\
+  class name##MatcherP8 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6, p7##_type gmock_p7)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+               p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+      p7##_type p7;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+                    p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, \
+                    p3, p4, p5, p6, p7)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7));\
+    }\
+    name##MatcherP8(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6, \
+        p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+        p7(gmock_p7) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+    p7##_type p7;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP8);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type>\
+  inline name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type, p7##_type> name(p0##_type p0, \
+      p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+      p6##_type p6, p7##_type p7) {\
+    return name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, p3, p4, p5, \
+        p6, p7);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+      p5##_type, p6##_type, \
+      p7##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P9(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type>\
+  class name##MatcherP9 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+               p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+               p8(gmock_p8) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+      p7##_type p7;\
+      p8##_type p8;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+                    p4##_type, p5##_type, p6##_type, p7##_type, \
+                    p8##_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8));\
+    }\
+    name##MatcherP9(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+        p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+        p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+        p8(gmock_p8) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+    p7##_type p7;\
+    p8##_type p8;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP9);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type>\
+  inline name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type, p7##_type, \
+      p8##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+      p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, \
+      p8##_type p8) {\
+    return name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type, p7##_type, p8##_type>(p0, p1, p2, \
+        p3, p4, p5, p6, p7, p8);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+      p5##_type, p6##_type, p7##_type, \
+      p8##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#define MATCHER_P10(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, description)\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type, \
+      typename p9##_type>\
+  class name##MatcherP10 {\
+   public:\
+    template <typename arg_type>\
+    class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+     public:\
+      gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+          p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+          p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+          p9##_type gmock_p9)\
+           : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+               p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+               p8(gmock_p8), p9(gmock_p9) {}\
+      virtual bool MatchAndExplain(\
+          arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+      virtual void DescribeTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(false);\
+      }\
+      virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+        *gmock_os << FormatDescription(true);\
+      }\
+      p0##_type p0;\
+      p1##_type p1;\
+      p2##_type p2;\
+      p3##_type p3;\
+      p4##_type p4;\
+      p5##_type p5;\
+      p6##_type p6;\
+      p7##_type p7;\
+      p8##_type p8;\
+      p9##_type p9;\
+     private:\
+      ::testing::internal::string FormatDescription(bool negation) const {\
+        const ::testing::internal::string gmock_description = (description);\
+        if (!gmock_description.empty())\
+          return gmock_description;\
+        return ::testing::internal::FormatMatcherDescription(\
+            negation, #name, \
+            ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+                ::testing::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+                    p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+                    p9##_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)));\
+      }\
+      GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+    };\
+    template <typename arg_type>\
+    operator ::testing::Matcher<arg_type>() const {\
+      return ::testing::Matcher<arg_type>(\
+          new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9));\
+    }\
+    name##MatcherP10(p0##_type gmock_p0, p1##_type gmock_p1, \
+        p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+        p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+        p8##_type gmock_p8, p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), \
+        p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+        p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {\
+    }\
+    p0##_type p0;\
+    p1##_type p1;\
+    p2##_type p2;\
+    p3##_type p3;\
+    p4##_type p4;\
+    p5##_type p5;\
+    p6##_type p6;\
+    p7##_type p7;\
+    p8##_type p8;\
+    p9##_type p9;\
+   private:\
+    GTEST_DISALLOW_ASSIGN_(name##MatcherP10);\
+  };\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type, \
+      typename p9##_type>\
+  inline name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+      p9##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+      p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+      p9##_type p9) {\
+    return name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+        p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, p9##_type>(p0, \
+        p1, p2, p3, p4, p5, p6, p7, p8, p9);\
+  }\
+  template <typename p0##_type, typename p1##_type, typename p2##_type, \
+      typename p3##_type, typename p4##_type, typename p5##_type, \
+      typename p6##_type, typename p7##_type, typename p8##_type, \
+      typename p9##_type>\
+  template <typename arg_type>\
+  bool name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+      p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+      p9##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+      arg_type arg, \
+      ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+          const
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some actions that depend on gmock-generated-actions.h.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+
+#include <algorithm>
+
+
+namespace testing {
+namespace internal {
+
+// Implements the Invoke(f) action.  The template argument
+// FunctionImpl is the implementation type of f, which can be either a
+// function pointer or a functor.  Invoke(f) can be used as an
+// Action<F> as long as f's type is compatible with F (i.e. f can be
+// assigned to a tr1::function<F>).
+template <typename FunctionImpl>
+class InvokeAction {
+ public:
+  // The c'tor makes a copy of function_impl (either a function
+  // pointer or a functor).
+  explicit InvokeAction(FunctionImpl function_impl)
+      : function_impl_(function_impl) {}
+
+  template <typename Result, typename ArgumentTuple>
+  Result Perform(const ArgumentTuple& args) {
+    return InvokeHelper<Result, ArgumentTuple>::Invoke(function_impl_, args);
+  }
+
+ private:
+  FunctionImpl function_impl_;
+
+  GTEST_DISALLOW_ASSIGN_(InvokeAction);
+};
+
+// Implements the Invoke(object_ptr, &Class::Method) action.
+template <class Class, typename MethodPtr>
+class InvokeMethodAction {
+ public:
+  InvokeMethodAction(Class* obj_ptr, MethodPtr method_ptr)
+      : method_ptr_(method_ptr), obj_ptr_(obj_ptr) {}
+
+  template <typename Result, typename ArgumentTuple>
+  Result Perform(const ArgumentTuple& args) const {
+    return InvokeHelper<Result, ArgumentTuple>::InvokeMethod(
+        obj_ptr_, method_ptr_, args);
+  }
+
+ private:
+  // The order of these members matters.  Reversing the order can trigger
+  // warning C4121 in MSVC (see
+  // http://computer-programming-forum.com/7-vc.net/6fbc30265f860ad1.htm ).
+  const MethodPtr method_ptr_;
+  Class* const obj_ptr_;
+
+  GTEST_DISALLOW_ASSIGN_(InvokeMethodAction);
+};
+
+// An internal replacement for std::copy which mimics its behavior. This is
+// necessary because Visual Studio deprecates ::std::copy, issuing warning 4996.
+// However Visual Studio 2010 and later do not honor #pragmas which disable that
+// warning.
+template<typename InputIterator, typename OutputIterator>
+inline OutputIterator CopyElements(InputIterator first,
+                                   InputIterator last,
+                                   OutputIterator output) {
+  for (; first != last; ++first, ++output) {
+    *output = *first;
+  }
+  return output;
+}
+
+}  // namespace internal
+
+// Various overloads for Invoke().
+
+// Creates an action that invokes 'function_impl' with the mock
+// function's arguments.
+template <typename FunctionImpl>
+PolymorphicAction<internal::InvokeAction<FunctionImpl> > Invoke(
+    FunctionImpl function_impl) {
+  return MakePolymorphicAction(
+      internal::InvokeAction<FunctionImpl>(function_impl));
+}
+
+// Creates an action that invokes the given method on the given object
+// with the mock function's arguments.
+template <class Class, typename MethodPtr>
+PolymorphicAction<internal::InvokeMethodAction<Class, MethodPtr> > Invoke(
+    Class* obj_ptr, MethodPtr method_ptr) {
+  return MakePolymorphicAction(
+      internal::InvokeMethodAction<Class, MethodPtr>(obj_ptr, method_ptr));
+}
+
+// WithoutArgs(inner_action) can be used in a mock function with a
+// non-empty argument list to perform inner_action, which takes no
+// argument.  In other words, it adapts an action accepting no
+// argument to one that accepts (and ignores) arguments.
+template <typename InnerAction>
+inline internal::WithArgsAction<InnerAction>
+WithoutArgs(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction>(action);
+}
+
+// WithArg<k>(an_action) creates an action that passes the k-th
+// (0-based) argument of the mock function to an_action and performs
+// it.  It adapts an action accepting one argument to one that accepts
+// multiple arguments.  For convenience, we also provide
+// WithArgs<k>(an_action) (defined below) as a synonym.
+template <int k, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k>
+WithArg(const InnerAction& action) {
+  return internal::WithArgsAction<InnerAction, k>(action);
+}
+
+// The ACTION*() macros trigger warning C4100 (unreferenced formal
+// parameter) in MSVC with -W4.  Unfortunately they cannot be fixed in
+// the macro definition, as the warnings are generated when the macro
+// is expanded and macro expansion cannot contain #pragma.  Therefore
+// we suppress them here.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4100)
+#endif
+
+// Action ReturnArg<k>() returns the k-th argument of the mock function.
+ACTION_TEMPLATE(ReturnArg,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_0_VALUE_PARAMS()) {
+  return ::testing::get<k>(args);
+}
+
+// Action SaveArg<k>(pointer) saves the k-th (0-based) argument of the
+// mock function to *pointer.
+ACTION_TEMPLATE(SaveArg,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_1_VALUE_PARAMS(pointer)) {
+  *pointer = ::testing::get<k>(args);
+}
+
+// Action SaveArgPointee<k>(pointer) saves the value pointed to
+// by the k-th (0-based) argument of the mock function to *pointer.
+ACTION_TEMPLATE(SaveArgPointee,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_1_VALUE_PARAMS(pointer)) {
+  *pointer = *::testing::get<k>(args);
+}
+
+// Action SetArgReferee<k>(value) assigns 'value' to the variable
+// referenced by the k-th (0-based) argument of the mock function.
+ACTION_TEMPLATE(SetArgReferee,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_1_VALUE_PARAMS(value)) {
+  typedef typename ::testing::tuple_element<k, args_type>::type argk_type;
+  // Ensures that argument #k is a reference.  If you get a compiler
+  // error on the next line, you are using SetArgReferee<k>(value) in
+  // a mock function whose k-th (0-based) argument is not a reference.
+  GTEST_COMPILE_ASSERT_(internal::is_reference<argk_type>::value,
+                        SetArgReferee_must_be_used_with_a_reference_argument);
+  ::testing::get<k>(args) = value;
+}
+
+// Action SetArrayArgument<k>(first, last) copies the elements in
+// source range [first, last) to the array pointed to by the k-th
+// (0-based) argument, which can be either a pointer or an
+// iterator. The action does not take ownership of the elements in the
+// source range.
+ACTION_TEMPLATE(SetArrayArgument,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_2_VALUE_PARAMS(first, last)) {
+  // Visual Studio deprecates ::std::copy, so we use our own copy in that case.
+#ifdef _MSC_VER
+  internal::CopyElements(first, last, ::testing::get<k>(args));
+#else
+  ::std::copy(first, last, ::testing::get<k>(args));
+#endif
+}
+
+// Action DeleteArg<k>() deletes the k-th (0-based) argument of the mock
+// function.
+ACTION_TEMPLATE(DeleteArg,
+                HAS_1_TEMPLATE_PARAMS(int, k),
+                AND_0_VALUE_PARAMS()) {
+  delete ::testing::get<k>(args);
+}
+
+// This action returns the value pointed to by 'pointer'.
+ACTION_P(ReturnPointee, pointer) { return *pointer; }
+
+// Action Throw(exception) can be used in a mock function of any type
+// to throw the given exception.  Any copyable value can be thrown.
+#if GTEST_HAS_EXCEPTIONS
+
+// Suppresses the 'unreachable code' warning that VC generates in opt modes.
+# ifdef _MSC_VER
+#  pragma warning(push)          // Saves the current warning state.
+#  pragma warning(disable:4702)  // Temporarily disables warning 4702.
+# endif
+ACTION_P(Throw, exception) { throw exception; }
+# ifdef _MSC_VER
+#  pragma warning(pop)           // Restores the warning state.
+# endif
+
+#endif  // GTEST_HAS_EXCEPTIONS
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+// Copyright 2013, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: marcus.boerger@google.com (Marcus Boerger)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some matchers that depend on gmock-generated-matchers.h.
+//
+// Note that tests are implemented in gmock-matchers_test.cc rather than
+// gmock-more-matchers-test.cc.
+
+#ifndef GMOCK_GMOCK_MORE_MATCHERS_H_
+#define GMOCK_GMOCK_MORE_MATCHERS_H_
+
+
+namespace testing {
+
+// Defines a matcher that matches an empty container. The container must
+// support both size() and empty(), which all STL-like containers provide.
+MATCHER(IsEmpty, negation ? "isn't empty" : "is empty") {
+  if (arg.empty()) {
+    return true;
+  }
+  *result_listener << "whose size is " << arg.size();
+  return false;
+}
+
+}  // namespace testing
+
+#endif  // GMOCK_GMOCK_MORE_MATCHERS_H_
+
+namespace testing {
+
+// Declares Google Mock flags that we want a user to use programmatically.
+GMOCK_DECLARE_bool_(catch_leaked_mocks);
+GMOCK_DECLARE_string_(verbose);
+
+// Initializes Google Mock.  This must be called before running the
+// tests.  In particular, it parses the command line for the flags
+// that Google Mock recognizes.  Whenever a Google Mock flag is seen,
+// it is removed from argv, and *argc is decremented.
+//
+// No value is returned.  Instead, the Google Mock flag variables are
+// updated.
+//
+// Since Google Test is needed for Google Mock to work, this function
+// also initializes Google Test and parses its flags, if that hasn't
+// been done.
+GTEST_API_ void InitGoogleMock(int* argc, char** argv);
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+GTEST_API_ void InitGoogleMock(int* argc, wchar_t** argv);
+
+}  // namespace testing
+
+#endif  // GMOCK_INCLUDE_GMOCK_GMOCK_H_
diff --git a/internal/ceres/gmock/mock-log.h b/internal/ceres/gmock/mock-log.h
new file mode 100644
index 0000000..54669b7
--- /dev/null
+++ b/internal/ceres/gmock/mock-log.h
@@ -0,0 +1,153 @@
+// Copyright (c) 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Zhanyong Wan
+//
+// Defines the ScopedMockLog class (using Google C++ Mocking
+// Framework), which is convenient for testing code that uses LOG().
+//
+// NOTE(keir): This is a fork until Google Log exports the scoped mock log
+// class; see: http://code.google.com/p/google-glog/issues/detail?id=88
+
+#ifndef GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
+#define GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
+
+#include <string>
+
+#include <gmock/gmock.h>
+
+#include "glog/logging.h"
+
+namespace testing {
+
+// A ScopedMockLog object intercepts LOG() messages issued during its
+// lifespan.  Using this together with Google C++ Mocking Framework,
+// it's very easy to test how a piece of code calls LOG().  The
+// typical usage:
+//
+//   TEST(FooTest, LogsCorrectly) {
+//     ScopedMockLog log;
+//
+//     // We expect the WARNING "Something bad!" exactly twice.
+//     EXPECT_CALL(log, Log(WARNING, _, "Something bad!"))
+//         .Times(2);
+//
+//     // We allow foo.cc to call LOG(INFO) any number of times.
+//     EXPECT_CALL(log, Log(INFO, HasSubstr("/foo.cc"), _))
+//         .Times(AnyNumber());
+//
+//     Foo();  // Exercises the code under test.
+//   }
+class ScopedMockLog : public google::LogSink {
+ public:
+  // When a ScopedMockLog object is constructed, it starts to
+  // intercept logs.
+  ScopedMockLog() { AddLogSink(this); }
+
+  // When the object is destructed, it stops intercepting logs.
+  virtual ~ScopedMockLog() { RemoveLogSink(this); }
+
+  // Implements the mock method:
+  //
+  //   void Log(LogSeverity severity, const string& file_path,
+  //            const string& message);
+  //
+  // The second argument to Send() is the full path of the source file
+  // in which the LOG() was issued.
+  //
+  // Note, that in a multi-threaded environment, all LOG() messages from a
+  // single thread will be handled in sequence, but that cannot be guaranteed
+  // for messages from different threads. In fact, if the same or multiple
+  // expectations are matched on two threads concurrently, their actions will
+  // be executed concurrently as well and may interleave.
+  MOCK_METHOD3(Log, void(google::LogSeverity severity,
+                         const std::string& file_path,
+                         const std::string& message));
+
+ private:
+  // Implements the send() virtual function in class LogSink.
+  // Whenever a LOG() statement is executed, this function will be
+  // invoked with information presented in the LOG().
+  //
+  // The method argument list is long and carries much information a
+  // test usually doesn't care about, so we trim the list before
+  // forwarding the call to Log(), which is much easier to use in
+  // tests.
+  //
+  // We still cannot call Log() directly, as it may invoke other LOG()
+  // messages, either due to Invoke, or due to an error logged in
+  // Google C++ Mocking Framework code, which would trigger a deadlock
+  // since a lock is held during send().
+  //
+  // Hence, we save the message for WaitTillSent() which will be called after
+  // the lock on send() is released, and we'll call Log() inside
+  // WaitTillSent(). Since while a single send() call may be running at a
+  // time, multiple WaitTillSent() calls (along with the one send() call) may
+  // be running simultaneously, we ensure thread-safety of the exchange between
+  // send() and WaitTillSent(), and that for each message, LOG(), send(),
+  // WaitTillSent() and Log() are executed in the same thread.
+  virtual void send(google::LogSeverity severity,
+                    const char* full_filename,
+                    const char* base_filename, int line, const tm* tm_time,
+                    const char* message, size_t message_len) {
+    // We are only interested in the log severity, full file name, and
+    // log message.
+    message_info_.severity = severity;
+    message_info_.file_path = full_filename;
+    message_info_.message = std::string(message, message_len);
+  }
+
+  // Implements the WaitTillSent() virtual function in class LogSink.
+  // It will be executed after send() and after the global logging lock is
+  // released, so calls within it (or rather within the Log() method called
+  // within) may also issue LOG() statements.
+  //
+  // LOG(), send(), WaitTillSent() and Log() will occur in the same thread for
+  // a given log message.
+  virtual void WaitTillSent() {
+    // First, and very importantly, we save a copy of the message being
+    // processed before calling Log(), since Log() may indirectly call send()
+    // and WaitTillSent() in the same thread again.
+    MessageInfo message_info = message_info_;
+    Log(message_info.severity, message_info.file_path, message_info.message);
+  }
+
+  // All relevant information about a logged message that needs to be passed
+  // from send() to WaitTillSent().
+  struct MessageInfo {
+    google::LogSeverity severity;
+    std::string file_path;
+    std::string message;
+  };
+  MessageInfo message_info_;
+};
+
+}  // namespace testing
+
+#endif  // GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
diff --git a/internal/ceres/gmock_gtest_all.cc b/internal/ceres/gmock_gtest_all.cc
new file mode 100644
index 0000000..b3d980b
--- /dev/null
+++ b/internal/ceres/gmock_gtest_all.cc
@@ -0,0 +1,12265 @@
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mheule@google.com (Markus Heule)
+//
+// Google C++ Testing Framework (Google Test)
+//
+// Sometimes it's desirable to build Google Test by compiling a single file.
+// This file serves this purpose.
+
+// This line ensures that gtest.h can be compiled on its own, even
+// when it's fused.
+#include "gtest/gtest.h"
+
+// The following lines pull in the real gtest *.cc files.
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// Utilities for testing Google Test itself and code that uses Google Test
+// (e.g. frameworks built on top of Google Test).
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+#define GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+
+
+namespace testing {
+
+// This helper class can be used to mock out Google Test failure reporting
+// so that we can test Google Test or code that builds on Google Test.
+//
+// An object of this class appends a TestPartResult object to the
+// TestPartResultArray object given in the constructor whenever a Google Test
+// failure is reported. It can either intercept only failures that are
+// generated in the same thread that created this object or it can intercept
+// all generated failures. The scope of this mock object can be controlled with
+// the second argument to the two arguments constructor.
+class GTEST_API_ ScopedFakeTestPartResultReporter
+    : public TestPartResultReporterInterface {
+ public:
+  // The two possible mocking modes of this object.
+  enum InterceptMode {
+    INTERCEPT_ONLY_CURRENT_THREAD,  // Intercepts only thread local failures.
+    INTERCEPT_ALL_THREADS           // Intercepts all failures.
+  };
+
+  // The c'tor sets this object as the test part result reporter used
+  // by Google Test.  The 'result' parameter specifies where to report the
+  // results. This reporter will only catch failures generated in the current
+  // thread. DEPRECATED
+  explicit ScopedFakeTestPartResultReporter(TestPartResultArray* result);
+
+  // Same as above, but you can choose the interception scope of this object.
+  ScopedFakeTestPartResultReporter(InterceptMode intercept_mode,
+                                   TestPartResultArray* result);
+
+  // The d'tor restores the previous test part result reporter.
+  virtual ~ScopedFakeTestPartResultReporter();
+
+  // Appends the TestPartResult object to the TestPartResultArray
+  // received in the constructor.
+  //
+  // This method is from the TestPartResultReporterInterface
+  // interface.
+  virtual void ReportTestPartResult(const TestPartResult& result);
+ private:
+  void Init();
+
+  const InterceptMode intercept_mode_;
+  TestPartResultReporterInterface* old_reporter_;
+  TestPartResultArray* const result_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedFakeTestPartResultReporter);
+};
+
+namespace internal {
+
+// A helper class for implementing EXPECT_FATAL_FAILURE() and
+// EXPECT_NONFATAL_FAILURE().  Its destructor verifies that the given
+// TestPartResultArray contains exactly one failure that has the given
+// type and contains the given substring.  If that's not the case, a
+// non-fatal failure will be generated.
+class GTEST_API_ SingleFailureChecker {
+ public:
+  // The constructor remembers the arguments.
+  SingleFailureChecker(const TestPartResultArray* results,
+                       TestPartResult::Type type,
+                       const string& substr);
+  ~SingleFailureChecker();
+ private:
+  const TestPartResultArray* const results_;
+  const TestPartResult::Type type_;
+  const string substr_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(SingleFailureChecker);
+};
+
+}  // namespace internal
+
+}  // namespace testing
+
+// A set of macros for testing Google Test assertions or code that's expected
+// to generate Google Test fatal failures.  It verifies that the given
+// statement will cause exactly one fatal Google Test failure with 'substr'
+// being part of the failure message.
+//
+// There are two different versions of this macro. EXPECT_FATAL_FAILURE only
+// affects and considers failures generated in the current thread and
+// EXPECT_FATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
+//
+// The verification of the assertion is done correctly even when the statement
+// throws an exception or aborts the current function.
+//
+// Known restrictions:
+//   - 'statement' cannot reference local non-static variables or
+//     non-static members of the current object.
+//   - 'statement' cannot return a value.
+//   - You cannot stream a failure message to this macro.
+//
+// Note that even though the implementations of the following two
+// macros are much alike, we cannot refactor them to use a common
+// helper macro, due to some peculiarity in how the preprocessor
+// works.  The AcceptsMacroThatExpandsToUnprotectedComma test in
+// gtest_unittest.cc will fail to compile if we do that.
+#define EXPECT_FATAL_FAILURE(statement, substr) \
+  do { \
+    class GTestExpectFatalFailureHelper {\
+     public:\
+      static void Execute() { statement; }\
+    };\
+    ::testing::TestPartResultArray gtest_failures;\
+    ::testing::internal::SingleFailureChecker gtest_checker(\
+        &gtest_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
+    {\
+      ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+          ::testing::ScopedFakeTestPartResultReporter:: \
+          INTERCEPT_ONLY_CURRENT_THREAD, &gtest_failures);\
+      GTestExpectFatalFailureHelper::Execute();\
+    }\
+  } while (::testing::internal::AlwaysFalse())
+
+#define EXPECT_FATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
+  do { \
+    class GTestExpectFatalFailureHelper {\
+     public:\
+      static void Execute() { statement; }\
+    };\
+    ::testing::TestPartResultArray gtest_failures;\
+    ::testing::internal::SingleFailureChecker gtest_checker(\
+        &gtest_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
+    {\
+      ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+          ::testing::ScopedFakeTestPartResultReporter:: \
+          INTERCEPT_ALL_THREADS, &gtest_failures);\
+      GTestExpectFatalFailureHelper::Execute();\
+    }\
+  } while (::testing::internal::AlwaysFalse())
+
+// A macro for testing Google Test assertions or code that's expected to
+// generate Google Test non-fatal failures.  It asserts that the given
+// statement will cause exactly one non-fatal Google Test failure with 'substr'
+// being part of the failure message.
+//
+// There are two different versions of this macro. EXPECT_NONFATAL_FAILURE only
+// affects and considers failures generated in the current thread and
+// EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
+//
+// 'statement' is allowed to reference local variables and members of
+// the current object.
+//
+// The verification of the assertion is done correctly even when the statement
+// throws an exception or aborts the current function.
+//
+// Known restrictions:
+//   - You cannot stream a failure message to this macro.
+//
+// Note that even though the implementations of the following two
+// macros are much alike, we cannot refactor them to use a common
+// helper macro, due to some peculiarity in how the preprocessor
+// works.  If we do that, the code won't compile when the user gives
+// EXPECT_NONFATAL_FAILURE() a statement that contains a macro that
+// expands to code containing an unprotected comma.  The
+// AcceptsMacroThatExpandsToUnprotectedComma test in gtest_unittest.cc
+// catches that.
+//
+// For the same reason, we have to write
+//   if (::testing::internal::AlwaysTrue()) { statement; }
+// instead of
+//   GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
+// to avoid an MSVC warning on unreachable code.
+#define EXPECT_NONFATAL_FAILURE(statement, substr) \
+  do {\
+    ::testing::TestPartResultArray gtest_failures;\
+    ::testing::internal::SingleFailureChecker gtest_checker(\
+        &gtest_failures, ::testing::TestPartResult::kNonFatalFailure, \
+        (substr));\
+    {\
+      ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+          ::testing::ScopedFakeTestPartResultReporter:: \
+          INTERCEPT_ONLY_CURRENT_THREAD, &gtest_failures);\
+      if (::testing::internal::AlwaysTrue()) { statement; }\
+    }\
+  } while (::testing::internal::AlwaysFalse())
+
+#define EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
+  do {\
+    ::testing::TestPartResultArray gtest_failures;\
+    ::testing::internal::SingleFailureChecker gtest_checker(\
+        &gtest_failures, ::testing::TestPartResult::kNonFatalFailure, \
+        (substr));\
+    {\
+      ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+          ::testing::ScopedFakeTestPartResultReporter::INTERCEPT_ALL_THREADS, \
+          &gtest_failures);\
+      if (::testing::internal::AlwaysTrue()) { statement; }\
+    }\
+  } while (::testing::internal::AlwaysFalse())
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+
+#include <ctype.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <wchar.h>
+#include <wctype.h>
+
+#include <algorithm>
+#include <iomanip>
+#include <limits>
+#include <list>
+#include <map>
+#include <ostream>  // NOLINT
+#include <sstream>
+#include <vector>
+
+#if GTEST_OS_LINUX
+
+// TODO(kenton@google.com): Use autoconf to detect availability of
+// gettimeofday().
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+
+# include <fcntl.h>  // NOLINT
+# include <limits.h>  // NOLINT
+# include <sched.h>  // NOLINT
+// Declares vsnprintf().  This header is not available on Windows.
+# include <strings.h>  // NOLINT
+# include <sys/mman.h>  // NOLINT
+# include <sys/time.h>  // NOLINT
+# include <unistd.h>  // NOLINT
+# include <string>
+
+#elif GTEST_OS_SYMBIAN
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h>  // NOLINT
+
+#elif GTEST_OS_ZOS
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h>  // NOLINT
+
+// On z/OS we additionally need strings.h for strcasecmp.
+# include <strings.h>  // NOLINT
+
+#elif GTEST_OS_WINDOWS_MOBILE  // We are on Windows CE.
+
+# include <windows.h>  // NOLINT
+# undef min
+
+#elif GTEST_OS_WINDOWS  // We are on Windows proper.
+
+# include <io.h>  // NOLINT
+# include <sys/timeb.h>  // NOLINT
+# include <sys/types.h>  // NOLINT
+# include <sys/stat.h>  // NOLINT
+
+# if GTEST_OS_WINDOWS_MINGW
+// MinGW has gettimeofday() but not _ftime64().
+// TODO(kenton@google.com): Use autoconf to detect availability of
+//   gettimeofday().
+// TODO(kenton@google.com): There are other ways to get the time on
+//   Windows, like GetTickCount() or GetSystemTimeAsFileTime().  MinGW
+//   supports these.  consider using them instead.
+#  define GTEST_HAS_GETTIMEOFDAY_ 1
+#  include <sys/time.h>  // NOLINT
+# endif  // GTEST_OS_WINDOWS_MINGW
+
+// cpplint thinks that the header is already included, so we want to
+// silence it.
+# include <windows.h>  // NOLINT
+# undef min
+
+#else
+
+// Assume other platforms have gettimeofday().
+// TODO(kenton@google.com): Use autoconf to detect availability of
+//   gettimeofday().
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+
+// cpplint thinks that the header is already included, so we want to
+// silence it.
+# include <sys/time.h>  // NOLINT
+# include <unistd.h>  // NOLINT
+
+#endif  // GTEST_OS_LINUX
+
+#if GTEST_HAS_EXCEPTIONS
+# include <stdexcept>
+#endif
+
+#if GTEST_CAN_STREAM_RESULTS_
+# include <arpa/inet.h>  // NOLINT
+# include <netdb.h>  // NOLINT
+# include <sys/socket.h>  // NOLINT
+# include <sys/types.h>  // NOLINT
+#endif
+
+// Indicates that this translation unit is part of Google Test's
+// implementation.  It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error.  This trick is to
+// prevent a user from accidentally including gtest-internal-inl.h in
+// his code.
+#define GTEST_IMPLEMENTATION_ 1
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// Utility functions and classes used by the Google C++ testing framework.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// This file contains purely Google Test's internal implementation.  Please
+// DO NOT #INCLUDE IT IN A USER PROGRAM.
+
+#ifndef GTEST_SRC_GTEST_INTERNAL_INL_H_
+#define GTEST_SRC_GTEST_INTERNAL_INL_H_
+
+// GTEST_IMPLEMENTATION_ is defined to 1 iff the current translation unit is
+// part of Google Test's implementation; otherwise it's undefined.
+#if !GTEST_IMPLEMENTATION_
+// If this file is included from the user's code, just say no.
+# error "gtest-internal-inl.h is part of Google Test's internal implementation."
+# error "It must not be included except by Google Test itself."
+#endif  // GTEST_IMPLEMENTATION_
+
+#ifndef _WIN32_WCE
+# include <errno.h>
+#endif  // !_WIN32_WCE
+#include <stddef.h>
+#include <stdlib.h>  // For strtoll/_strtoul64/malloc/free.
+#include <string.h>  // For memmove.
+
+#include <algorithm>
+#include <string>
+#include <vector>
+
+
+#if GTEST_CAN_STREAM_RESULTS_
+# include <arpa/inet.h>  // NOLINT
+# include <netdb.h>  // NOLINT
+#endif
+
+#if GTEST_OS_WINDOWS
+# include <windows.h>  // NOLINT
+#endif  // GTEST_OS_WINDOWS
+
+
+namespace testing {
+
+// Declares the flags.
+//
+// We don't want the users to modify this flag in the code, but want
+// Google Test's own unit tests to be able to access it. Therefore we
+// declare it here as opposed to in gtest.h.
+GTEST_DECLARE_bool_(death_test_use_fork);
+
+namespace internal {
+
+// The value of GetTestTypeId() as seen from within the Google Test
+// library.  This is solely for testing GetTestTypeId().
+GTEST_API_ extern const TypeId kTestTypeIdInGoogleTest;
+
+// Names of the flags (needed for parsing Google Test flags).
+const char kAlsoRunDisabledTestsFlag[] = "also_run_disabled_tests";
+const char kBreakOnFailureFlag[] = "break_on_failure";
+const char kCatchExceptionsFlag[] = "catch_exceptions";
+const char kColorFlag[] = "color";
+const char kFilterFlag[] = "filter";
+const char kListTestsFlag[] = "list_tests";
+const char kOutputFlag[] = "output";
+const char kPrintTimeFlag[] = "print_time";
+const char kRandomSeedFlag[] = "random_seed";
+const char kRepeatFlag[] = "repeat";
+const char kShuffleFlag[] = "shuffle";
+const char kStackTraceDepthFlag[] = "stack_trace_depth";
+const char kStreamResultToFlag[] = "stream_result_to";
+const char kThrowOnFailureFlag[] = "throw_on_failure";
+const char kFlagfileFlag[] = "flagfile";
+
+// A valid random seed must be in [1, kMaxRandomSeed].
+const int kMaxRandomSeed = 99999;
+
+// g_help_flag is true iff the --help flag or an equivalent form is
+// specified on the command line.
+GTEST_API_ extern bool g_help_flag;
+
+// Returns the current time in milliseconds.
+GTEST_API_ TimeInMillis GetTimeInMillis();
+
+// Returns true iff Google Test should use colors in the output.
+GTEST_API_ bool ShouldUseColor(bool stdout_is_tty);
+
+// Formats the given time in milliseconds as seconds.
+GTEST_API_ std::string FormatTimeInMillisAsSeconds(TimeInMillis ms);
+
+// Converts the given time in milliseconds to a date string in the ISO 8601
+// format, without the timezone information.  N.B.: due to the use the
+// non-reentrant localtime() function, this function is not thread safe.  Do
+// not use it in any code that can be called from multiple threads.
+GTEST_API_ std::string FormatEpochTimeInMillisAsIso8601(TimeInMillis ms);
+
+// Parses a string for an Int32 flag, in the form of "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+GTEST_API_ bool ParseInt32Flag(
+    const char* str, const char* flag, Int32* value);
+
+// Returns a random seed in range [1, kMaxRandomSeed] based on the
+// given --gtest_random_seed flag value.
+inline int GetRandomSeedFromFlag(Int32 random_seed_flag) {
+  const unsigned int raw_seed = (random_seed_flag == 0) ?
+      static_cast<unsigned int>(GetTimeInMillis()) :
+      static_cast<unsigned int>(random_seed_flag);
+
+  // Normalizes the actual seed to range [1, kMaxRandomSeed] such that
+  // it's easy to type.
+  const int normalized_seed =
+      static_cast<int>((raw_seed - 1U) %
+                       static_cast<unsigned int>(kMaxRandomSeed)) + 1;
+  return normalized_seed;
+}
+
+// Returns the first valid random seed after 'seed'.  The behavior is
+// undefined if 'seed' is invalid.  The seed after kMaxRandomSeed is
+// considered to be 1.
+inline int GetNextRandomSeed(int seed) {
+  GTEST_CHECK_(1 <= seed && seed <= kMaxRandomSeed)
+      << "Invalid random seed " << seed << " - must be in [1, "
+      << kMaxRandomSeed << "].";
+  const int next_seed = seed + 1;
+  return (next_seed > kMaxRandomSeed) ? 1 : next_seed;
+}
+
+// This class saves the values of all Google Test flags in its c'tor, and
+// restores them in its d'tor.
+class GTestFlagSaver {
+ public:
+  // The c'tor.
+  GTestFlagSaver() {
+    also_run_disabled_tests_ = GTEST_FLAG(also_run_disabled_tests);
+    break_on_failure_ = GTEST_FLAG(break_on_failure);
+    catch_exceptions_ = GTEST_FLAG(catch_exceptions);
+    color_ = GTEST_FLAG(color);
+    death_test_style_ = GTEST_FLAG(death_test_style);
+    death_test_use_fork_ = GTEST_FLAG(death_test_use_fork);
+    filter_ = GTEST_FLAG(filter);
+    internal_run_death_test_ = GTEST_FLAG(internal_run_death_test);
+    list_tests_ = GTEST_FLAG(list_tests);
+    output_ = GTEST_FLAG(output);
+    print_time_ = GTEST_FLAG(print_time);
+    random_seed_ = GTEST_FLAG(random_seed);
+    repeat_ = GTEST_FLAG(repeat);
+    shuffle_ = GTEST_FLAG(shuffle);
+    stack_trace_depth_ = GTEST_FLAG(stack_trace_depth);
+    stream_result_to_ = GTEST_FLAG(stream_result_to);
+    throw_on_failure_ = GTEST_FLAG(throw_on_failure);
+  }
+
+  // The d'tor is not virtual.  DO NOT INHERIT FROM THIS CLASS.
+  ~GTestFlagSaver() {
+    GTEST_FLAG(also_run_disabled_tests) = also_run_disabled_tests_;
+    GTEST_FLAG(break_on_failure) = break_on_failure_;
+    GTEST_FLAG(catch_exceptions) = catch_exceptions_;
+    GTEST_FLAG(color) = color_;
+    GTEST_FLAG(death_test_style) = death_test_style_;
+    GTEST_FLAG(death_test_use_fork) = death_test_use_fork_;
+    GTEST_FLAG(filter) = filter_;
+    GTEST_FLAG(internal_run_death_test) = internal_run_death_test_;
+    GTEST_FLAG(list_tests) = list_tests_;
+    GTEST_FLAG(output) = output_;
+    GTEST_FLAG(print_time) = print_time_;
+    GTEST_FLAG(random_seed) = random_seed_;
+    GTEST_FLAG(repeat) = repeat_;
+    GTEST_FLAG(shuffle) = shuffle_;
+    GTEST_FLAG(stack_trace_depth) = stack_trace_depth_;
+    GTEST_FLAG(stream_result_to) = stream_result_to_;
+    GTEST_FLAG(throw_on_failure) = throw_on_failure_;
+  }
+
+ private:
+  // Fields for saving the original values of flags.
+  bool also_run_disabled_tests_;
+  bool break_on_failure_;
+  bool catch_exceptions_;
+  std::string color_;
+  std::string death_test_style_;
+  bool death_test_use_fork_;
+  std::string filter_;
+  std::string internal_run_death_test_;
+  bool list_tests_;
+  std::string output_;
+  bool print_time_;
+  internal::Int32 random_seed_;
+  internal::Int32 repeat_;
+  bool shuffle_;
+  internal::Int32 stack_trace_depth_;
+  std::string stream_result_to_;
+  bool throw_on_failure_;
+} GTEST_ATTRIBUTE_UNUSED_;
+
+// Converts a Unicode code point to a narrow string in UTF-8 encoding.
+// code_point parameter is of type UInt32 because wchar_t may not be
+// wide enough to contain a code point.
+// If the code_point is not a valid Unicode code point
+// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be converted
+// to "(Invalid Unicode 0xXXXXXXXX)".
+GTEST_API_ std::string CodePointToUtf8(UInt32 code_point);
+
+// Converts a wide string to a narrow string in UTF-8 encoding.
+// The wide string is assumed to have the following encoding:
+//   UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
+//   UTF-32 if sizeof(wchar_t) == 4 (on Linux)
+// Parameter str points to a null-terminated wide string.
+// Parameter num_chars may additionally limit the number
+// of wchar_t characters processed. -1 is used when the entire string
+// should be processed.
+// If the string contains code points that are not valid Unicode code points
+// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
+// and contains invalid UTF-16 surrogate pairs, values in those pairs
+// will be encoded as individual Unicode characters from Basic Normal Plane.
+GTEST_API_ std::string WideStringToUtf8(const wchar_t* str, int num_chars);
+
+// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
+// if the variable is present. If a file already exists at this location, this
+// function will write over it. If the variable is present, but the file cannot
+// be created, prints an error and exits.
+void WriteToShardStatusFileIfNeeded();
+
+// Checks whether sharding is enabled by examining the relevant
+// environment variable values. If the variables are present,
+// but inconsistent (e.g., shard_index >= total_shards), prints
+// an error and exits. If in_subprocess_for_death_test, sharding is
+// disabled because it must only be applied to the original test
+// process. Otherwise, we could filter out death tests we intended to execute.
+GTEST_API_ bool ShouldShard(const char* total_shards_str,
+                            const char* shard_index_str,
+                            bool in_subprocess_for_death_test);
+
+// Parses the environment variable var as an Int32. If it is unset,
+// returns default_val. If it is not an Int32, prints an error and
+// and aborts.
+GTEST_API_ Int32 Int32FromEnvOrDie(const char* env_var, Int32 default_val);
+
+// Given the total number of shards, the shard index, and the test id,
+// returns true iff the test should be run on this shard. The test id is
+// some arbitrary but unique non-negative integer assigned to each test
+// method. Assumes that 0 <= shard_index < total_shards.
+GTEST_API_ bool ShouldRunTestOnShard(
+    int total_shards, int shard_index, int test_id);
+
+// STL container utilities.
+
+// Returns the number of elements in the given container that satisfy
+// the given predicate.
+template <class Container, typename Predicate>
+inline int CountIf(const Container& c, Predicate predicate) {
+  // Implemented as an explicit loop since std::count_if() in libCstd on
+  // Solaris has a non-standard signature.
+  int count = 0;
+  for (typename Container::const_iterator it = c.begin(); it != c.end(); ++it) {
+    if (predicate(*it))
+      ++count;
+  }
+  return count;
+}
+
+// Applies a function/functor to each element in the container.
+template <class Container, typename Functor>
+void ForEach(const Container& c, Functor functor) {
+  std::for_each(c.begin(), c.end(), functor);
+}
+
+// Returns the i-th element of the vector, or default_value if i is not
+// in range [0, v.size()).
+template <typename E>
+inline E GetElementOr(const std::vector<E>& v, int i, E default_value) {
+  return (i < 0 || i >= static_cast<int>(v.size())) ? default_value : v[i];
+}
+
+// Performs an in-place shuffle of a range of the vector's elements.
+// 'begin' and 'end' are element indices as an STL-style range;
+// i.e. [begin, end) are shuffled, where 'end' == size() means to
+// shuffle to the end of the vector.
+template <typename E>
+void ShuffleRange(internal::Random* random, int begin, int end,
+                  std::vector<E>* v) {
+  const int size = static_cast<int>(v->size());
+  GTEST_CHECK_(0 <= begin && begin <= size)
+      << "Invalid shuffle range start " << begin << ": must be in range [0, "
+      << size << "].";
+  GTEST_CHECK_(begin <= end && end <= size)
+      << "Invalid shuffle range finish " << end << ": must be in range ["
+      << begin << ", " << size << "].";
+
+  // Fisher-Yates shuffle, from
+  // http://en.wikipedia.org/wiki/Fisher-Yates_shuffle
+  for (int range_width = end - begin; range_width >= 2; range_width--) {
+    const int last_in_range = begin + range_width - 1;
+    const int selected = begin + random->Generate(range_width);
+    std::swap((*v)[selected], (*v)[last_in_range]);
+  }
+}
+
+// Performs an in-place shuffle of the vector's elements.
+template <typename E>
+inline void Shuffle(internal::Random* random, std::vector<E>* v) {
+  ShuffleRange(random, 0, static_cast<int>(v->size()), v);
+}
+
+// A function for deleting an object.  Handy for being used as a
+// functor.
+template <typename T>
+static void Delete(T* x) {
+  delete x;
+}
+
+// A predicate that checks the key of a TestProperty against a known key.
+//
+// TestPropertyKeyIs is copyable.
+class TestPropertyKeyIs {
+ public:
+  // Constructor.
+  //
+  // TestPropertyKeyIs has NO default constructor.
+  explicit TestPropertyKeyIs(const std::string& key) : key_(key) {}
+
+  // Returns true iff the test name of test property matches on key_.
+  bool operator()(const TestProperty& test_property) const {
+    return test_property.key() == key_;
+  }
+
+ private:
+  std::string key_;
+};
+
+// Class UnitTestOptions.
+//
+// This class contains functions for processing options the user
+// specifies when running the tests.  It has only static members.
+//
+// In most cases, the user can specify an option using either an
+// environment variable or a command line flag.  E.g. you can set the
+// test filter using either GTEST_FILTER or --gtest_filter.  If both
+// the variable and the flag are present, the latter overrides the
+// former.
+class GTEST_API_ UnitTestOptions {
+ public:
+  // Functions for processing the gtest_output flag.
+
+  // Returns the output format, or "" for normal printed output.
+  static std::string GetOutputFormat();
+
+  // Returns the absolute path of the requested output file, or the
+  // default (test_detail.xml in the original working directory) if
+  // none was explicitly specified.
+  static std::string GetAbsolutePathToOutputFile();
+
+  // Functions for processing the gtest_filter flag.
+
+  // Returns true iff the wildcard pattern matches the string.  The
+  // first ':' or '\0' character in pattern marks the end of it.
+  //
+  // This recursive algorithm isn't very efficient, but is clear and
+  // works well enough for matching test names, which are short.
+  static bool PatternMatchesString(const char *pattern, const char *str);
+
+  // Returns true iff the user-specified filter matches the test case
+  // name and the test name.
+  static bool FilterMatchesTest(const std::string &test_case_name,
+                                const std::string &test_name);
+
+#if GTEST_OS_WINDOWS
+  // Function for supporting the gtest_catch_exception flag.
+
+  // Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
+  // given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
+  // This function is useful as an __except condition.
+  static int GTestShouldProcessSEH(DWORD exception_code);
+#endif  // GTEST_OS_WINDOWS
+
+  // Returns true if "name" matches the ':' separated list of glob-style
+  // filters in "filter".
+  static bool MatchesFilter(const std::string& name, const char* filter);
+};
+
+// Returns the current application's name, removing directory path if that
+// is present.  Used by UnitTestOptions::GetOutputFile.
+GTEST_API_ FilePath GetCurrentExecutableName();
+
+// The role interface for getting the OS stack trace as a string.
+class OsStackTraceGetterInterface {
+ public:
+  OsStackTraceGetterInterface() {}
+  virtual ~OsStackTraceGetterInterface() {}
+
+  // Returns the current OS stack trace as an std::string.  Parameters:
+  //
+  //   max_depth  - the maximum number of stack frames to be included
+  //                in the trace.
+  //   skip_count - the number of top frames to be skipped; doesn't count
+  //                against max_depth.
+  virtual string CurrentStackTrace(int max_depth, int skip_count) = 0;
+
+  // UponLeavingGTest() should be called immediately before Google Test calls
+  // user code. It saves some information about the current stack that
+  // CurrentStackTrace() will use to find and hide Google Test stack frames.
+  virtual void UponLeavingGTest() = 0;
+
+  // This string is inserted in place of stack frames that are part of
+  // Google Test's implementation.
+  static const char* const kElidedFramesMarker;
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetterInterface);
+};
+
+// A working implementation of the OsStackTraceGetterInterface interface.
+class OsStackTraceGetter : public OsStackTraceGetterInterface {
+ public:
+  OsStackTraceGetter() {}
+
+  virtual string CurrentStackTrace(int max_depth, int skip_count);
+  virtual void UponLeavingGTest();
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetter);
+};
+
+// Information about a Google Test trace point.
+struct TraceInfo {
+  const char* file;
+  int line;
+  std::string message;
+};
+
+// This is the default global test part result reporter used in UnitTestImpl.
+// This class should only be used by UnitTestImpl.
+class DefaultGlobalTestPartResultReporter
+  : public TestPartResultReporterInterface {
+ public:
+  explicit DefaultGlobalTestPartResultReporter(UnitTestImpl* unit_test);
+  // Implements the TestPartResultReporterInterface. Reports the test part
+  // result in the current test.
+  virtual void ReportTestPartResult(const TestPartResult& result);
+
+ private:
+  UnitTestImpl* const unit_test_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultGlobalTestPartResultReporter);
+};
+
+// This is the default per thread test part result reporter used in
+// UnitTestImpl. This class should only be used by UnitTestImpl.
+class DefaultPerThreadTestPartResultReporter
+    : public TestPartResultReporterInterface {
+ public:
+  explicit DefaultPerThreadTestPartResultReporter(UnitTestImpl* unit_test);
+  // Implements the TestPartResultReporterInterface. The implementation just
+  // delegates to the current global test part result reporter of *unit_test_.
+  virtual void ReportTestPartResult(const TestPartResult& result);
+
+ private:
+  UnitTestImpl* const unit_test_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultPerThreadTestPartResultReporter);
+};
+
+// The private implementation of the UnitTest class.  We don't protect
+// the methods under a mutex, as this class is not accessible by a
+// user and the UnitTest class that delegates work to this class does
+// proper locking.
+class GTEST_API_ UnitTestImpl {
+ public:
+  explicit UnitTestImpl(UnitTest* parent);
+  virtual ~UnitTestImpl();
+
+  // There are two different ways to register your own TestPartResultReporter.
+  // You can register your own repoter to listen either only for test results
+  // from the current thread or for results from all threads.
+  // By default, each per-thread test result repoter just passes a new
+  // TestPartResult to the global test result reporter, which registers the
+  // test part result for the currently running test.
+
+  // Returns the global test part result reporter.
+  TestPartResultReporterInterface* GetGlobalTestPartResultReporter();
+
+  // Sets the global test part result reporter.
+  void SetGlobalTestPartResultReporter(
+      TestPartResultReporterInterface* reporter);
+
+  // Returns the test part result reporter for the current thread.
+  TestPartResultReporterInterface* GetTestPartResultReporterForCurrentThread();
+
+  // Sets the test part result reporter for the current thread.
+  void SetTestPartResultReporterForCurrentThread(
+      TestPartResultReporterInterface* reporter);
+
+  // Gets the number of successful test cases.
+  int successful_test_case_count() const;
+
+  // Gets the number of failed test cases.
+  int failed_test_case_count() const;
+
+  // Gets the number of all test cases.
+  int total_test_case_count() const;
+
+  // Gets the number of all test cases that contain at least one test
+  // that should run.
+  int test_case_to_run_count() const;
+
+  // Gets the number of successful tests.
+  int successful_test_count() const;
+
+  // Gets the number of failed tests.
+  int failed_test_count() const;
+
+  // Gets the number of disabled tests that will be reported in the XML report.
+  int reportable_disabled_test_count() const;
+
+  // Gets the number of disabled tests.
+  int disabled_test_count() const;
+
+  // Gets the number of tests to be printed in the XML report.
+  int reportable_test_count() const;
+
+  // Gets the number of all tests.
+  int total_test_count() const;
+
+  // Gets the number of tests that should run.
+  int test_to_run_count() const;
+
+  // Gets the time of the test program start, in ms from the start of the
+  // UNIX epoch.
+  TimeInMillis start_timestamp() const { return start_timestamp_; }
+
+  // Gets the elapsed time, in milliseconds.
+  TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+  // Returns true iff the unit test passed (i.e. all test cases passed).
+  bool Passed() const { return !Failed(); }
+
+  // Returns true iff the unit test failed (i.e. some test case failed
+  // or something outside of all tests failed).
+  bool Failed() const {
+    return failed_test_case_count() > 0 || ad_hoc_test_result()->Failed();
+  }
+
+  // Gets the i-th test case among all the test cases. i can range from 0 to
+  // total_test_case_count() - 1. If i is not in that range, returns NULL.
+  const TestCase* GetTestCase(int i) const {
+    const int index = GetElementOr(test_case_indices_, i, -1);
+    return index < 0 ? NULL : test_cases_[i];
+  }
+
+  // Gets the i-th test case among all the test cases. i can range from 0 to
+  // total_test_case_count() - 1. If i is not in that range, returns NULL.
+  TestCase* GetMutableTestCase(int i) {
+    const int index = GetElementOr(test_case_indices_, i, -1);
+    return index < 0 ? NULL : test_cases_[index];
+  }
+
+  // Provides access to the event listener list.
+  TestEventListeners* listeners() { return &listeners_; }
+
+  // Returns the TestResult for the test that's currently running, or
+  // the TestResult for the ad hoc test if no test is running.
+  TestResult* current_test_result();
+
+  // Returns the TestResult for the ad hoc test.
+  const TestResult* ad_hoc_test_result() const { return &ad_hoc_test_result_; }
+
+  // Sets the OS stack trace getter.
+  //
+  // Does nothing if the input and the current OS stack trace getter
+  // are the same; otherwise, deletes the old getter and makes the
+  // input the current getter.
+  void set_os_stack_trace_getter(OsStackTraceGetterInterface* getter);
+
+  // Returns the current OS stack trace getter if it is not NULL;
+  // otherwise, creates an OsStackTraceGetter, makes it the current
+  // getter, and returns it.
+  OsStackTraceGetterInterface* os_stack_trace_getter();
+
+  // Returns the current OS stack trace as an std::string.
+  //
+  // The maximum number of stack frames to be included is specified by
+  // the gtest_stack_trace_depth flag.  The skip_count parameter
+  // specifies the number of top frames to be skipped, which doesn't
+  // count against the number of frames to be included.
+  //
+  // For example, if Foo() calls Bar(), which in turn calls
+  // CurrentOsStackTraceExceptTop(1), Foo() will be included in the
+  // trace but Bar() and CurrentOsStackTraceExceptTop() won't.
+  std::string CurrentOsStackTraceExceptTop(int skip_count) GTEST_NO_INLINE_;
+
+  // Finds and returns a TestCase with the given name.  If one doesn't
+  // exist, creates one and returns it.
+  //
+  // Arguments:
+  //
+  //   test_case_name: name of the test case
+  //   type_param:     the name of the test's type parameter, or NULL if
+  //                   this is not a typed or a type-parameterized test.
+  //   set_up_tc:      pointer to the function that sets up the test case
+  //   tear_down_tc:   pointer to the function that tears down the test case
+  TestCase* GetTestCase(const char* test_case_name,
+                        const char* type_param,
+                        Test::SetUpTestCaseFunc set_up_tc,
+                        Test::TearDownTestCaseFunc tear_down_tc);
+
+  // Adds a TestInfo to the unit test.
+  //
+  // Arguments:
+  //
+  //   set_up_tc:    pointer to the function that sets up the test case
+  //   tear_down_tc: pointer to the function that tears down the test case
+  //   test_info:    the TestInfo object
+  void AddTestInfo(Test::SetUpTestCaseFunc set_up_tc,
+                   Test::TearDownTestCaseFunc tear_down_tc,
+                   TestInfo* test_info) {
+    // In order to support thread-safe death tests, we need to
+    // remember the original working directory when the test program
+    // was first invoked.  We cannot do this in RUN_ALL_TESTS(), as
+    // the user may have changed the current directory before calling
+    // RUN_ALL_TESTS().  Therefore we capture the current directory in
+    // AddTestInfo(), which is called to register a TEST or TEST_F
+    // before main() is reached.
+    if (original_working_dir_.IsEmpty()) {
+      original_working_dir_.Set(FilePath::GetCurrentDir());
+      GTEST_CHECK_(!original_working_dir_.IsEmpty())
+          << "Failed to get the current working directory.";
+    }
+
+    GetTestCase(test_info->test_case_name(),
+                test_info->type_param(),
+                set_up_tc,
+                tear_down_tc)->AddTestInfo(test_info);
+  }
+
+#if GTEST_HAS_PARAM_TEST
+  // Returns ParameterizedTestCaseRegistry object used to keep track of
+  // value-parameterized tests and instantiate and register them.
+  internal::ParameterizedTestCaseRegistry& parameterized_test_registry() {
+    return parameterized_test_registry_;
+  }
+#endif  // GTEST_HAS_PARAM_TEST
+
+  // Sets the TestCase object for the test that's currently running.
+  void set_current_test_case(TestCase* a_current_test_case) {
+    current_test_case_ = a_current_test_case;
+  }
+
+  // Sets the TestInfo object for the test that's currently running.  If
+  // current_test_info is NULL, the assertion results will be stored in
+  // ad_hoc_test_result_.
+  void set_current_test_info(TestInfo* a_current_test_info) {
+    current_test_info_ = a_current_test_info;
+  }
+
+  // Registers all parameterized tests defined using TEST_P and
+  // INSTANTIATE_TEST_CASE_P, creating regular tests for each test/parameter
+  // combination. This method can be called more then once; it has guards
+  // protecting from registering the tests more then once.  If
+  // value-parameterized tests are disabled, RegisterParameterizedTests is
+  // present but does nothing.
+  void RegisterParameterizedTests();
+
+  // Runs all tests in this UnitTest object, prints the result, and
+  // returns true if all tests are successful.  If any exception is
+  // thrown during a test, this test is considered to be failed, but
+  // the rest of the tests will still be run.
+  bool RunAllTests();
+
+  // Clears the results of all tests, except the ad hoc tests.
+  void ClearNonAdHocTestResult() {
+    ForEach(test_cases_, TestCase::ClearTestCaseResult);
+  }
+
+  // Clears the results of ad-hoc test assertions.
+  void ClearAdHocTestResult() {
+    ad_hoc_test_result_.Clear();
+  }
+
+  // Adds a TestProperty to the current TestResult object when invoked in a
+  // context of a test or a test case, or to the global property set. If the
+  // result already contains a property with the same key, the value will be
+  // updated.
+  void RecordProperty(const TestProperty& test_property);
+
+  enum ReactionToSharding {
+    HONOR_SHARDING_PROTOCOL,
+    IGNORE_SHARDING_PROTOCOL
+  };
+
+  // Matches the full name of each test against the user-specified
+  // filter to decide whether the test should run, then records the
+  // result in each TestCase and TestInfo object.
+  // If shard_tests == HONOR_SHARDING_PROTOCOL, further filters tests
+  // based on sharding variables in the environment.
+  // Returns the number of tests that should run.
+  int FilterTests(ReactionToSharding shard_tests);
+
+  // Prints the names of the tests matching the user-specified filter flag.
+  void ListTestsMatchingFilter();
+
+  const TestCase* current_test_case() const { return current_test_case_; }
+  TestInfo* current_test_info() { return current_test_info_; }
+  const TestInfo* current_test_info() const { return current_test_info_; }
+
+  // Returns the vector of environments that need to be set-up/torn-down
+  // before/after the tests are run.
+  std::vector<Environment*>& environments() { return environments_; }
+
+  // Getters for the per-thread Google Test trace stack.
+  std::vector<TraceInfo>& gtest_trace_stack() {
+    return *(gtest_trace_stack_.pointer());
+  }
+  const std::vector<TraceInfo>& gtest_trace_stack() const {
+    return gtest_trace_stack_.get();
+  }
+
+#if GTEST_HAS_DEATH_TEST
+  void InitDeathTestSubprocessControlInfo() {
+    internal_run_death_test_flag_.reset(ParseInternalRunDeathTestFlag());
+  }
+  // Returns a pointer to the parsed --gtest_internal_run_death_test
+  // flag, or NULL if that flag was not specified.
+  // This information is useful only in a death test child process.
+  // Must not be called before a call to InitGoogleTest.
+  const InternalRunDeathTestFlag* internal_run_death_test_flag() const {
+    return internal_run_death_test_flag_.get();
+  }
+
+  // Returns a pointer to the current death test factory.
+  internal::DeathTestFactory* death_test_factory() {
+    return death_test_factory_.get();
+  }
+
+  void SuppressTestEventsIfInSubprocess();
+
+  friend class ReplaceDeathTestFactory;
+#endif  // GTEST_HAS_DEATH_TEST
+
+  // Initializes the event listener performing XML output as specified by
+  // UnitTestOptions. Must not be called before InitGoogleTest.
+  void ConfigureXmlOutput();
+
+#if GTEST_CAN_STREAM_RESULTS_
+  // Initializes the event listener for streaming test results to a socket.
+  // Must not be called before InitGoogleTest.
+  void ConfigureStreamingOutput();
+#endif
+
+  // Performs initialization dependent upon flag values obtained in
+  // ParseGoogleTestFlagsOnly.  Is called from InitGoogleTest after the call to
+  // ParseGoogleTestFlagsOnly.  In case a user neglects to call InitGoogleTest
+  // this function is also called from RunAllTests.  Since this function can be
+  // called more than once, it has to be idempotent.
+  void PostFlagParsingInit();
+
+  // Gets the random seed used at the start of the current test iteration.
+  int random_seed() const { return random_seed_; }
+
+  // Gets the random number generator.
+  internal::Random* random() { return &random_; }
+
+  // Shuffles all test cases, and the tests within each test case,
+  // making sure that death tests are still run first.
+  void ShuffleTests();
+
+  // Restores the test cases and tests to their order before the first shuffle.
+  void UnshuffleTests();
+
+  // Returns the value of GTEST_FLAG(catch_exceptions) at the moment
+  // UnitTest::Run() starts.
+  bool catch_exceptions() const { return catch_exceptions_; }
+
+ private:
+  friend class ::testing::UnitTest;
+
+  // Used by UnitTest::Run() to capture the state of
+  // GTEST_FLAG(catch_exceptions) at the moment it starts.
+  void set_catch_exceptions(bool value) { catch_exceptions_ = value; }
+
+  // The UnitTest object that owns this implementation object.
+  UnitTest* const parent_;
+
+  // The working directory when the first TEST() or TEST_F() was
+  // executed.
+  internal::FilePath original_working_dir_;
+
+  // The default test part result reporters.
+  DefaultGlobalTestPartResultReporter default_global_test_part_result_reporter_;
+  DefaultPerThreadTestPartResultReporter
+      default_per_thread_test_part_result_reporter_;
+
+  // Points to (but doesn't own) the global test part result reporter.
+  TestPartResultReporterInterface* global_test_part_result_repoter_;
+
+  // Protects read and write access to global_test_part_result_reporter_.
+  internal::Mutex global_test_part_result_reporter_mutex_;
+
+  // Points to (but doesn't own) the per-thread test part result reporter.
+  internal::ThreadLocal<TestPartResultReporterInterface*>
+      per_thread_test_part_result_reporter_;
+
+  // The vector of environments that need to be set-up/torn-down
+  // before/after the tests are run.
+  std::vector<Environment*> environments_;
+
+  // The vector of TestCases in their original order.  It owns the
+  // elements in the vector.
+  std::vector<TestCase*> test_cases_;
+
+  // Provides a level of indirection for the test case list to allow
+  // easy shuffling and restoring the test case order.  The i-th
+  // element of this vector is the index of the i-th test case in the
+  // shuffled order.
+  std::vector<int> test_case_indices_;
+
+#if GTEST_HAS_PARAM_TEST
+  // ParameterizedTestRegistry object used to register value-parameterized
+  // tests.
+  internal::ParameterizedTestCaseRegistry parameterized_test_registry_;
+
+  // Indicates whether RegisterParameterizedTests() has been called already.
+  bool parameterized_tests_registered_;
+#endif  // GTEST_HAS_PARAM_TEST
+
+  // Index of the last death test case registered.  Initially -1.
+  int last_death_test_case_;
+
+  // This points to the TestCase for the currently running test.  It
+  // changes as Google Test goes through one test case after another.
+  // When no test is running, this is set to NULL and Google Test
+  // stores assertion results in ad_hoc_test_result_.  Initially NULL.
+  TestCase* current_test_case_;
+
+  // This points to the TestInfo for the currently running test.  It
+  // changes as Google Test goes through one test after another.  When
+  // no test is running, this is set to NULL and Google Test stores
+  // assertion results in ad_hoc_test_result_.  Initially NULL.
+  TestInfo* current_test_info_;
+
+  // Normally, a user only writes assertions inside a TEST or TEST_F,
+  // or inside a function called by a TEST or TEST_F.  Since Google
+  // Test keeps track of which test is current running, it can
+  // associate such an assertion with the test it belongs to.
+  //
+  // If an assertion is encountered when no TEST or TEST_F is running,
+  // Google Test attributes the assertion result to an imaginary "ad hoc"
+  // test, and records the result in ad_hoc_test_result_.
+  TestResult ad_hoc_test_result_;
+
+  // The list of event listeners that can be used to track events inside
+  // Google Test.
+  TestEventListeners listeners_;
+
+  // The OS stack trace getter.  Will be deleted when the UnitTest
+  // object is destructed.  By default, an OsStackTraceGetter is used,
+  // but the user can set this field to use a custom getter if that is
+  // desired.
+  OsStackTraceGetterInterface* os_stack_trace_getter_;
+
+  // True iff PostFlagParsingInit() has been called.
+  bool post_flag_parse_init_performed_;
+
+  // The random number seed used at the beginning of the test run.
+  int random_seed_;
+
+  // Our random number generator.
+  internal::Random random_;
+
+  // The time of the test program start, in ms from the start of the
+  // UNIX epoch.
+  TimeInMillis start_timestamp_;
+
+  // How long the test took to run, in milliseconds.
+  TimeInMillis elapsed_time_;
+
+#if GTEST_HAS_DEATH_TEST
+  // The decomposed components of the gtest_internal_run_death_test flag,
+  // parsed when RUN_ALL_TESTS is called.
+  internal::scoped_ptr<InternalRunDeathTestFlag> internal_run_death_test_flag_;
+  internal::scoped_ptr<internal::DeathTestFactory> death_test_factory_;
+#endif  // GTEST_HAS_DEATH_TEST
+
+  // A per-thread stack of traces created by the SCOPED_TRACE() macro.
+  internal::ThreadLocal<std::vector<TraceInfo> > gtest_trace_stack_;
+
+  // The value of GTEST_FLAG(catch_exceptions) at the moment RunAllTests()
+  // starts.
+  bool catch_exceptions_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTestImpl);
+};  // class UnitTestImpl
+
+// Convenience function for accessing the global UnitTest
+// implementation object.
+inline UnitTestImpl* GetUnitTestImpl() {
+  return UnitTest::GetInstance()->impl();
+}
+
+#if GTEST_USES_SIMPLE_RE
+
+// Internal helper functions for implementing the simple regular
+// expression matcher.
+GTEST_API_ bool IsInSet(char ch, const char* str);
+GTEST_API_ bool IsAsciiDigit(char ch);
+GTEST_API_ bool IsAsciiPunct(char ch);
+GTEST_API_ bool IsRepeat(char ch);
+GTEST_API_ bool IsAsciiWhiteSpace(char ch);
+GTEST_API_ bool IsAsciiWordChar(char ch);
+GTEST_API_ bool IsValidEscape(char ch);
+GTEST_API_ bool AtomMatchesChar(bool escaped, char pattern, char ch);
+GTEST_API_ bool ValidateRegex(const char* regex);
+GTEST_API_ bool MatchRegexAtHead(const char* regex, const char* str);
+GTEST_API_ bool MatchRepetitionAndRegexAtHead(
+    bool escaped, char ch, char repeat, const char* regex, const char* str);
+GTEST_API_ bool MatchRegexAnywhere(const char* regex, const char* str);
+
+#endif  // GTEST_USES_SIMPLE_RE
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test.
+GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, char** argv);
+GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv);
+
+#if GTEST_HAS_DEATH_TEST
+
+// Returns the message describing the last system error, regardless of the
+// platform.
+GTEST_API_ std::string GetLastErrnoDescription();
+
+// Attempts to parse a string into a positive integer pointed to by the
+// number parameter.  Returns true if that is possible.
+// GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we can use
+// it here.
+template <typename Integer>
+bool ParseNaturalNumber(const ::std::string& str, Integer* number) {
+  // Fail fast if the given string does not begin with a digit;
+  // this bypasses strtoXXX's "optional leading whitespace and plus
+  // or minus sign" semantics, which are undesirable here.
+  if (str.empty() || !IsDigit(str[0])) {
+    return false;
+  }
+  errno = 0;
+
+  char* end;
+  // BiggestConvertible is the largest integer type that system-provided
+  // string-to-number conversion routines can return.
+
+# if GTEST_OS_WINDOWS && !defined(__GNUC__)
+
+  // MSVC and C++ Builder define __int64 instead of the standard long long.
+  typedef unsigned __int64 BiggestConvertible;
+  const BiggestConvertible parsed = _strtoui64(str.c_str(), &end, 10);
+
+# else
+
+  typedef unsigned long long BiggestConvertible;  // NOLINT
+  const BiggestConvertible parsed = strtoull(str.c_str(), &end, 10);
+
+# endif  // GTEST_OS_WINDOWS && !defined(__GNUC__)
+
+  const bool parse_success = *end == '\0' && errno == 0;
+
+  // TODO(vladl@google.com): Convert this to compile time assertion when it is
+  // available.
+  GTEST_CHECK_(sizeof(Integer) <= sizeof(parsed));
+
+  const Integer result = static_cast<Integer>(parsed);
+  if (parse_success && static_cast<BiggestConvertible>(result) == parsed) {
+    *number = result;
+    return true;
+  }
+  return false;
+}
+#endif  // GTEST_HAS_DEATH_TEST
+
+// TestResult contains some private methods that should be hidden from
+// Google Test user but are required for testing. This class allow our tests
+// to access them.
+//
+// This class is supplied only for the purpose of testing Google Test's own
+// constructs. Do not use it in user tests, either directly or indirectly.
+class TestResultAccessor {
+ public:
+  static void RecordProperty(TestResult* test_result,
+                             const std::string& xml_element,
+                             const TestProperty& property) {
+    test_result->RecordProperty(xml_element, property);
+  }
+
+  static void ClearTestPartResults(TestResult* test_result) {
+    test_result->ClearTestPartResults();
+  }
+
+  static const std::vector<testing::TestPartResult>& test_part_results(
+      const TestResult& test_result) {
+    return test_result.test_part_results();
+  }
+};
+
+#if GTEST_CAN_STREAM_RESULTS_
+
+// Streams test results to the given port on the given host machine.
+class GTEST_API_ StreamingListener : public EmptyTestEventListener {
+ public:
+  // Abstract base class for writing strings to a socket.
+  class AbstractSocketWriter {
+   public:
+    virtual ~AbstractSocketWriter() {}
+
+    // Sends a string to the socket.
+    virtual void Send(const string& message) = 0;
+
+    // Closes the socket.
+    virtual void CloseConnection() {}
+
+    // Sends a string and a newline to the socket.
+    void SendLn(const string& message) {
+      Send(message + "\n");
+    }
+  };
+
+  // Concrete class for actually writing strings to a socket.
+  class SocketWriter : public AbstractSocketWriter {
+   public:
+    SocketWriter(const string& host, const string& port)
+        : sockfd_(-1), host_name_(host), port_num_(port) {
+      MakeConnection();
+    }
+
+    virtual ~SocketWriter() {
+      if (sockfd_ != -1)
+        CloseConnection();
+    }
+
+    // Sends a string to the socket.
+    virtual void Send(const string& message) {
+      GTEST_CHECK_(sockfd_ != -1)
+          << "Send() can be called only when there is a connection.";
+
+      const int len = static_cast<int>(message.length());
+      if (write(sockfd_, message.c_str(), len) != len) {
+        GTEST_LOG_(WARNING)
+            << "stream_result_to: failed to stream to "
+            << host_name_ << ":" << port_num_;
+      }
+    }
+
+   private:
+    // Creates a client socket and connects to the server.
+    void MakeConnection();
+
+    // Closes the socket.
+    void CloseConnection() {
+      GTEST_CHECK_(sockfd_ != -1)
+          << "CloseConnection() can be called only when there is a connection.";
+
+      close(sockfd_);
+      sockfd_ = -1;
+    }
+
+    int sockfd_;  // socket file descriptor
+    const string host_name_;
+    const string port_num_;
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(SocketWriter);
+  };  // class SocketWriter
+
+  // Escapes '=', '&', '%', and '\n' characters in str as "%xx".
+  static string UrlEncode(const char* str);
+
+  StreamingListener(const string& host, const string& port)
+      : socket_writer_(new SocketWriter(host, port)) { Start(); }
+
+  explicit StreamingListener(AbstractSocketWriter* socket_writer)
+      : socket_writer_(socket_writer) { Start(); }
+
+  void OnTestProgramStart(const UnitTest& /* unit_test */) {
+    SendLn("event=TestProgramStart");
+  }
+
+  void OnTestProgramEnd(const UnitTest& unit_test) {
+    // Note that Google Test current only report elapsed time for each
+    // test iteration, not for the entire test program.
+    SendLn("event=TestProgramEnd&passed=" + FormatBool(unit_test.Passed()));
+
+    // Notify the streaming server to stop.
+    socket_writer_->CloseConnection();
+  }
+
+  void OnTestIterationStart(const UnitTest& /* unit_test */, int iteration) {
+    SendLn("event=TestIterationStart&iteration=" +
+           StreamableToString(iteration));
+  }
+
+  void OnTestIterationEnd(const UnitTest& unit_test, int /* iteration */) {
+    SendLn("event=TestIterationEnd&passed=" +
+           FormatBool(unit_test.Passed()) + "&elapsed_time=" +
+           StreamableToString(unit_test.elapsed_time()) + "ms");
+  }
+
+  void OnTestCaseStart(const TestCase& test_case) {
+    SendLn(std::string("event=TestCaseStart&name=") + test_case.name());
+  }
+
+  void OnTestCaseEnd(const TestCase& test_case) {
+    SendLn("event=TestCaseEnd&passed=" + FormatBool(test_case.Passed())
+           + "&elapsed_time=" + StreamableToString(test_case.elapsed_time())
+           + "ms");
+  }
+
+  void OnTestStart(const TestInfo& test_info) {
+    SendLn(std::string("event=TestStart&name=") + test_info.name());
+  }
+
+  void OnTestEnd(const TestInfo& test_info) {
+    SendLn("event=TestEnd&passed=" +
+           FormatBool((test_info.result())->Passed()) +
+           "&elapsed_time=" +
+           StreamableToString((test_info.result())->elapsed_time()) + "ms");
+  }
+
+  void OnTestPartResult(const TestPartResult& test_part_result) {
+    const char* file_name = test_part_result.file_name();
+    if (file_name == NULL)
+      file_name = "";
+    SendLn("event=TestPartResult&file=" + UrlEncode(file_name) +
+           "&line=" + StreamableToString(test_part_result.line_number()) +
+           "&message=" + UrlEncode(test_part_result.message()));
+  }
+
+ private:
+  // Sends the given message and a newline to the socket.
+  void SendLn(const string& message) { socket_writer_->SendLn(message); }
+
+  // Called at the start of streaming to notify the receiver what
+  // protocol we are using.
+  void Start() { SendLn("gtest_streaming_protocol_version=1.0"); }
+
+  string FormatBool(bool value) { return value ? "1" : "0"; }
+
+  const scoped_ptr<AbstractSocketWriter> socket_writer_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(StreamingListener);
+};  // class StreamingListener
+
+#endif  // GTEST_CAN_STREAM_RESULTS_
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_SRC_GTEST_INTERNAL_INL_H_
+#undef GTEST_IMPLEMENTATION_
+
+#if GTEST_OS_WINDOWS
+# define vsnprintf _vsnprintf
+#endif  // GTEST_OS_WINDOWS
+
+namespace testing {
+
+using internal::CountIf;
+using internal::ForEach;
+using internal::GetElementOr;
+using internal::Shuffle;
+
+// Constants.
+
+// A test whose test case name or test name matches this filter is
+// disabled and not run.
+static const char kDisableTestFilter[] = "DISABLED_*:*/DISABLED_*";
+
+// A test case whose name matches this filter is considered a death
+// test case and will be run before test cases whose name doesn't
+// match this filter.
+static const char kDeathTestCaseFilter[] = "*DeathTest:*DeathTest/*";
+
+// A test filter that matches everything.
+static const char kUniversalFilter[] = "*";
+
+// The default output file for XML output.
+static const char kDefaultOutputFile[] = "test_detail.xml";
+
+// The environment variable name for the test shard index.
+static const char kTestShardIndex[] = "GTEST_SHARD_INDEX";
+// The environment variable name for the total number of test shards.
+static const char kTestTotalShards[] = "GTEST_TOTAL_SHARDS";
+// The environment variable name for the test shard status file.
+static const char kTestShardStatusFile[] = "GTEST_SHARD_STATUS_FILE";
+
+namespace internal {
+
+// The text used in failure messages to indicate the start of the
+// stack trace.
+const char kStackTraceMarker[] = "\nStack trace:\n";
+
+// g_help_flag is true iff the --help flag or an equivalent form is
+// specified on the command line.
+bool g_help_flag = false;
+
+}  // namespace internal
+
+static const char* GetDefaultFilter() {
+#ifdef GTEST_TEST_FILTER_ENV_VAR_
+  const char* const testbridge_test_only = getenv(GTEST_TEST_FILTER_ENV_VAR_);
+  if (testbridge_test_only != NULL) {
+    return testbridge_test_only;
+  }
+#endif  // GTEST_TEST_FILTER_ENV_VAR_
+  return kUniversalFilter;
+}
+
+GTEST_DEFINE_bool_(
+    also_run_disabled_tests,
+    internal::BoolFromGTestEnv("also_run_disabled_tests", false),
+    "Run disabled tests too, in addition to the tests normally being run.");
+
+GTEST_DEFINE_bool_(
+    break_on_failure,
+    internal::BoolFromGTestEnv("break_on_failure", false),
+    "True iff a failed assertion should be a debugger break-point.");
+
+GTEST_DEFINE_bool_(
+    catch_exceptions,
+    internal::BoolFromGTestEnv("catch_exceptions", true),
+    "True iff " GTEST_NAME_
+    " should catch exceptions and treat them as test failures.");
+
+GTEST_DEFINE_string_(
+    color,
+    internal::StringFromGTestEnv("color", "auto"),
+    "Whether to use colors in the output.  Valid values: yes, no, "
+    "and auto.  'auto' means to use colors if the output is "
+    "being sent to a terminal and the TERM environment variable "
+    "is set to a terminal type that supports colors.");
+
+GTEST_DEFINE_string_(
+    filter,
+    internal::StringFromGTestEnv("filter", GetDefaultFilter()),
+    "A colon-separated list of glob (not regex) patterns "
+    "for filtering the tests to run, optionally followed by a "
+    "'-' and a : separated list of negative patterns (tests to "
+    "exclude).  A test is run if it matches one of the positive "
+    "patterns and does not match any of the negative patterns.");
+
+GTEST_DEFINE_bool_(list_tests, false,
+                   "List all tests without running them.");
+
+GTEST_DEFINE_string_(
+    output,
+    internal::StringFromGTestEnv("output", ""),
+    "A format (currently must be \"xml\"), optionally followed "
+    "by a colon and an output file name or directory. A directory "
+    "is indicated by a trailing pathname separator. "
+    "Examples: \"xml:filename.xml\", \"xml::directoryname/\". "
+    "If a directory is specified, output files will be created "
+    "within that directory, with file-names based on the test "
+    "executable's name and, if necessary, made unique by adding "
+    "digits.");
+
+GTEST_DEFINE_bool_(
+    print_time,
+    internal::BoolFromGTestEnv("print_time", true),
+    "True iff " GTEST_NAME_
+    " should display elapsed time in text output.");
+
+GTEST_DEFINE_int32_(
+    random_seed,
+    internal::Int32FromGTestEnv("random_seed", 0),
+    "Random number seed to use when shuffling test orders.  Must be in range "
+    "[1, 99999], or 0 to use a seed based on the current time.");
+
+GTEST_DEFINE_int32_(
+    repeat,
+    internal::Int32FromGTestEnv("repeat", 1),
+    "How many times to repeat each test.  Specify a negative number "
+    "for repeating forever.  Useful for shaking out flaky tests.");
+
+GTEST_DEFINE_bool_(
+    show_internal_stack_frames, false,
+    "True iff " GTEST_NAME_ " should include internal stack frames when "
+    "printing test failure stack traces.");
+
+GTEST_DEFINE_bool_(
+    shuffle,
+    internal::BoolFromGTestEnv("shuffle", false),
+    "True iff " GTEST_NAME_
+    " should randomize tests' order on every run.");
+
+GTEST_DEFINE_int32_(
+    stack_trace_depth,
+    internal::Int32FromGTestEnv("stack_trace_depth", kMaxStackTraceDepth),
+    "The maximum number of stack frames to print when an "
+    "assertion fails.  The valid range is 0 through 100, inclusive.");
+
+GTEST_DEFINE_string_(
+    stream_result_to,
+    internal::StringFromGTestEnv("stream_result_to", ""),
+    "This flag specifies the host name and the port number on which to stream "
+    "test results. Example: \"localhost:555\". The flag is effective only on "
+    "Linux.");
+
+GTEST_DEFINE_bool_(
+    throw_on_failure,
+    internal::BoolFromGTestEnv("throw_on_failure", false),
+    "When this flag is specified, a failed assertion will throw an exception "
+    "if exceptions are enabled or exit the program with a non-zero code "
+    "otherwise.");
+
+#if GTEST_USE_OWN_FLAGFILE_FLAG_
+GTEST_DEFINE_string_(
+    flagfile,
+    internal::StringFromGTestEnv("flagfile", ""),
+    "This flag specifies the flagfile to read command-line flags from.");
+#endif  // GTEST_USE_OWN_FLAGFILE_FLAG_
+
+namespace internal {
+
+// Generates a random number from [0, range), using a Linear
+// Congruential Generator (LCG).  Crashes if 'range' is 0 or greater
+// than kMaxRange.
+UInt32 Random::Generate(UInt32 range) {
+  // These constants are the same as are used in glibc's rand(3).
+  state_ = (1103515245U*state_ + 12345U) % kMaxRange;
+
+  GTEST_CHECK_(range > 0)
+      << "Cannot generate a number in the range [0, 0).";
+  GTEST_CHECK_(range <= kMaxRange)
+      << "Generation of a number in [0, " << range << ") was requested, "
+      << "but this can only generate numbers in [0, " << kMaxRange << ").";
+
+  // Converting via modulus introduces a bit of downward bias, but
+  // it's simple, and a linear congruential generator isn't too good
+  // to begin with.
+  return state_ % range;
+}
+
+// GTestIsInitialized() returns true iff the user has initialized
+// Google Test.  Useful for catching the user mistake of not initializing
+// Google Test before calling RUN_ALL_TESTS().
+static bool GTestIsInitialized() { return GetArgvs().size() > 0; }
+
+// Iterates over a vector of TestCases, keeping a running sum of the
+// results of calling a given int-returning method on each.
+// Returns the sum.
+static int SumOverTestCaseList(const std::vector<TestCase*>& case_list,
+                               int (TestCase::*method)() const) {
+  int sum = 0;
+  for (size_t i = 0; i < case_list.size(); i++) {
+    sum += (case_list[i]->*method)();
+  }
+  return sum;
+}
+
+// Returns true iff the test case passed.
+static bool TestCasePassed(const TestCase* test_case) {
+  return test_case->should_run() && test_case->Passed();
+}
+
+// Returns true iff the test case failed.
+static bool TestCaseFailed(const TestCase* test_case) {
+  return test_case->should_run() && test_case->Failed();
+}
+
+// Returns true iff test_case contains at least one test that should
+// run.
+static bool ShouldRunTestCase(const TestCase* test_case) {
+  return test_case->should_run();
+}
+
+// AssertHelper constructor.
+AssertHelper::AssertHelper(TestPartResult::Type type,
+                           const char* file,
+                           int line,
+                           const char* message)
+    : data_(new AssertHelperData(type, file, line, message)) {
+}
+
+AssertHelper::~AssertHelper() {
+  delete data_;
+}
+
+// Message assignment, for assertion streaming support.
+void AssertHelper::operator=(const Message& message) const {
+  UnitTest::GetInstance()->
+    AddTestPartResult(data_->type, data_->file, data_->line,
+                      AppendUserMessage(data_->message, message),
+                      UnitTest::GetInstance()->impl()
+                      ->CurrentOsStackTraceExceptTop(1)
+                      // Skips the stack frame for this function itself.
+                      );  // NOLINT
+}
+
+// Mutex for linked pointers.
+GTEST_API_ GTEST_DEFINE_STATIC_MUTEX_(g_linked_ptr_mutex);
+
+// A copy of all command line arguments.  Set by InitGoogleTest().
+::std::vector<testing::internal::string> g_argvs;
+
+const ::std::vector<testing::internal::string>& GetArgvs() {
+#if defined(GTEST_CUSTOM_GET_ARGVS_)
+  return GTEST_CUSTOM_GET_ARGVS_();
+#else  // defined(GTEST_CUSTOM_GET_ARGVS_)
+  return g_argvs;
+#endif  // defined(GTEST_CUSTOM_GET_ARGVS_)
+}
+
+// Returns the current application's name, removing directory path if that
+// is present.
+FilePath GetCurrentExecutableName() {
+  FilePath result;
+
+#if GTEST_OS_WINDOWS
+  result.Set(FilePath(GetArgvs()[0]).RemoveExtension("exe"));
+#else
+  result.Set(FilePath(GetArgvs()[0]));
+#endif  // GTEST_OS_WINDOWS
+
+  return result.RemoveDirectoryName();
+}
+
+// Functions for processing the gtest_output flag.
+
+// Returns the output format, or "" for normal printed output.
+std::string UnitTestOptions::GetOutputFormat() {
+  const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
+  if (gtest_output_flag == NULL) return std::string("");
+
+  const char* const colon = strchr(gtest_output_flag, ':');
+  return (colon == NULL) ?
+      std::string(gtest_output_flag) :
+      std::string(gtest_output_flag, colon - gtest_output_flag);
+}
+
+// Returns the name of the requested output file, or the default if none
+// was explicitly specified.
+std::string UnitTestOptions::GetAbsolutePathToOutputFile() {
+  const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
+  if (gtest_output_flag == NULL)
+    return "";
+
+  const char* const colon = strchr(gtest_output_flag, ':');
+  if (colon == NULL)
+    return internal::FilePath::ConcatPaths(
+        internal::FilePath(
+            UnitTest::GetInstance()->original_working_dir()),
+        internal::FilePath(kDefaultOutputFile)).string();
+
+  internal::FilePath output_name(colon + 1);
+  if (!output_name.IsAbsolutePath())
+    // TODO(wan@google.com): on Windows \some\path is not an absolute
+    // path (as its meaning depends on the current drive), yet the
+    // following logic for turning it into an absolute path is wrong.
+    // Fix it.
+    output_name = internal::FilePath::ConcatPaths(
+        internal::FilePath(UnitTest::GetInstance()->original_working_dir()),
+        internal::FilePath(colon + 1));
+
+  if (!output_name.IsDirectory())
+    return output_name.string();
+
+  internal::FilePath result(internal::FilePath::GenerateUniqueFileName(
+      output_name, internal::GetCurrentExecutableName(),
+      GetOutputFormat().c_str()));
+  return result.string();
+}
+
+// Returns true iff the wildcard pattern matches the string.  The
+// first ':' or '\0' character in pattern marks the end of it.
+//
+// This recursive algorithm isn't very efficient, but is clear and
+// works well enough for matching test names, which are short.
+bool UnitTestOptions::PatternMatchesString(const char *pattern,
+                                           const char *str) {
+  switch (*pattern) {
+    case '\0':
+    case ':':  // Either ':' or '\0' marks the end of the pattern.
+      return *str == '\0';
+    case '?':  // Matches any single character.
+      return *str != '\0' && PatternMatchesString(pattern + 1, str + 1);
+    case '*':  // Matches any string (possibly empty) of characters.
+      return (*str != '\0' && PatternMatchesString(pattern, str + 1)) ||
+          PatternMatchesString(pattern + 1, str);
+    default:  // Non-special character.  Matches itself.
+      return *pattern == *str &&
+          PatternMatchesString(pattern + 1, str + 1);
+  }
+}
+
+bool UnitTestOptions::MatchesFilter(
+    const std::string& name, const char* filter) {
+  const char *cur_pattern = filter;
+  for (;;) {
+    if (PatternMatchesString(cur_pattern, name.c_str())) {
+      return true;
+    }
+
+    // Finds the next pattern in the filter.
+    cur_pattern = strchr(cur_pattern, ':');
+
+    // Returns if no more pattern can be found.
+    if (cur_pattern == NULL) {
+      return false;
+    }
+
+    // Skips the pattern separater (the ':' character).
+    cur_pattern++;
+  }
+}
+
+// Returns true iff the user-specified filter matches the test case
+// name and the test name.
+bool UnitTestOptions::FilterMatchesTest(const std::string &test_case_name,
+                                        const std::string &test_name) {
+  const std::string& full_name = test_case_name + "." + test_name.c_str();
+
+  // Split --gtest_filter at '-', if there is one, to separate into
+  // positive filter and negative filter portions
+  const char* const p = GTEST_FLAG(filter).c_str();
+  const char* const dash = strchr(p, '-');
+  std::string positive;
+  std::string negative;
+  if (dash == NULL) {
+    positive = GTEST_FLAG(filter).c_str();  // Whole string is a positive filter
+    negative = "";
+  } else {
+    positive = std::string(p, dash);   // Everything up to the dash
+    negative = std::string(dash + 1);  // Everything after the dash
+    if (positive.empty()) {
+      // Treat '-test1' as the same as '*-test1'
+      positive = kUniversalFilter;
+    }
+  }
+
+  // A filter is a colon-separated list of patterns.  It matches a
+  // test if any pattern in it matches the test.
+  return (MatchesFilter(full_name, positive.c_str()) &&
+          !MatchesFilter(full_name, negative.c_str()));
+}
+
+#if GTEST_HAS_SEH
+// Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
+// given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
+// This function is useful as an __except condition.
+int UnitTestOptions::GTestShouldProcessSEH(DWORD exception_code) {
+  // Google Test should handle a SEH exception if:
+  //   1. the user wants it to, AND
+  //   2. this is not a breakpoint exception, AND
+  //   3. this is not a C++ exception (VC++ implements them via SEH,
+  //      apparently).
+  //
+  // SEH exception code for C++ exceptions.
+  // (see http://support.microsoft.com/kb/185294 for more information).
+  const DWORD kCxxExceptionCode = 0xe06d7363;
+
+  bool should_handle = true;
+
+  if (!GTEST_FLAG(catch_exceptions))
+    should_handle = false;
+  else if (exception_code == EXCEPTION_BREAKPOINT)
+    should_handle = false;
+  else if (exception_code == kCxxExceptionCode)
+    should_handle = false;
+
+  return should_handle ? EXCEPTION_EXECUTE_HANDLER : EXCEPTION_CONTINUE_SEARCH;
+}
+#endif  // GTEST_HAS_SEH
+
+}  // namespace internal
+
+// The c'tor sets this object as the test part result reporter used by
+// Google Test.  The 'result' parameter specifies where to report the
+// results. Intercepts only failures from the current thread.
+ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
+    TestPartResultArray* result)
+    : intercept_mode_(INTERCEPT_ONLY_CURRENT_THREAD),
+      result_(result) {
+  Init();
+}
+
+// The c'tor sets this object as the test part result reporter used by
+// Google Test.  The 'result' parameter specifies where to report the
+// results.
+ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
+    InterceptMode intercept_mode, TestPartResultArray* result)
+    : intercept_mode_(intercept_mode),
+      result_(result) {
+  Init();
+}
+
+void ScopedFakeTestPartResultReporter::Init() {
+  internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+  if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
+    old_reporter_ = impl->GetGlobalTestPartResultReporter();
+    impl->SetGlobalTestPartResultReporter(this);
+  } else {
+    old_reporter_ = impl->GetTestPartResultReporterForCurrentThread();
+    impl->SetTestPartResultReporterForCurrentThread(this);
+  }
+}
+
+// The d'tor restores the test part result reporter used by Google Test
+// before.
+ScopedFakeTestPartResultReporter::~ScopedFakeTestPartResultReporter() {
+  internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+  if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
+    impl->SetGlobalTestPartResultReporter(old_reporter_);
+  } else {
+    impl->SetTestPartResultReporterForCurrentThread(old_reporter_);
+  }
+}
+
+// Increments the test part result count and remembers the result.
+// This method is from the TestPartResultReporterInterface interface.
+void ScopedFakeTestPartResultReporter::ReportTestPartResult(
+    const TestPartResult& result) {
+  result_->Append(result);
+}
+
+namespace internal {
+
+// Returns the type ID of ::testing::Test.  We should always call this
+// instead of GetTypeId< ::testing::Test>() to get the type ID of
+// testing::Test.  This is to work around a suspected linker bug when
+// using Google Test as a framework on Mac OS X.  The bug causes
+// GetTypeId< ::testing::Test>() to return different values depending
+// on whether the call is from the Google Test framework itself or
+// from user test code.  GetTestTypeId() is guaranteed to always
+// return the same value, as it always calls GetTypeId<>() from the
+// gtest.cc, which is within the Google Test framework.
+TypeId GetTestTypeId() {
+  return GetTypeId<Test>();
+}
+
+// The value of GetTestTypeId() as seen from within the Google Test
+// library.  This is solely for testing GetTestTypeId().
+extern const TypeId kTestTypeIdInGoogleTest = GetTestTypeId();
+
+// This predicate-formatter checks that 'results' contains a test part
+// failure of the given type and that the failure message contains the
+// given substring.
+AssertionResult HasOneFailure(const char* /* results_expr */,
+                              const char* /* type_expr */,
+                              const char* /* substr_expr */,
+                              const TestPartResultArray& results,
+                              TestPartResult::Type type,
+                              const string& substr) {
+  const std::string expected(type == TestPartResult::kFatalFailure ?
+                        "1 fatal failure" :
+                        "1 non-fatal failure");
+  Message msg;
+  if (results.size() != 1) {
+    msg << "Expected: " << expected << "\n"
+        << "  Actual: " << results.size() << " failures";
+    for (int i = 0; i < results.size(); i++) {
+      msg << "\n" << results.GetTestPartResult(i);
+    }
+    return AssertionFailure() << msg;
+  }
+
+  const TestPartResult& r = results.GetTestPartResult(0);
+  if (r.type() != type) {
+    return AssertionFailure() << "Expected: " << expected << "\n"
+                              << "  Actual:\n"
+                              << r;
+  }
+
+  if (strstr(r.message(), substr.c_str()) == NULL) {
+    return AssertionFailure() << "Expected: " << expected << " containing \""
+                              << substr << "\"\n"
+                              << "  Actual:\n"
+                              << r;
+  }
+
+  return AssertionSuccess();
+}
+
+// The constructor of SingleFailureChecker remembers where to look up
+// test part results, what type of failure we expect, and what
+// substring the failure message should contain.
+SingleFailureChecker:: SingleFailureChecker(
+    const TestPartResultArray* results,
+    TestPartResult::Type type,
+    const string& substr)
+    : results_(results),
+      type_(type),
+      substr_(substr) {}
+
+// The destructor of SingleFailureChecker verifies that the given
+// TestPartResultArray contains exactly one failure that has the given
+// type and contains the given substring.  If that's not the case, a
+// non-fatal failure will be generated.
+SingleFailureChecker::~SingleFailureChecker() {
+  EXPECT_PRED_FORMAT3(HasOneFailure, *results_, type_, substr_);
+}
+
+DefaultGlobalTestPartResultReporter::DefaultGlobalTestPartResultReporter(
+    UnitTestImpl* unit_test) : unit_test_(unit_test) {}
+
+void DefaultGlobalTestPartResultReporter::ReportTestPartResult(
+    const TestPartResult& result) {
+  unit_test_->current_test_result()->AddTestPartResult(result);
+  unit_test_->listeners()->repeater()->OnTestPartResult(result);
+}
+
+DefaultPerThreadTestPartResultReporter::DefaultPerThreadTestPartResultReporter(
+    UnitTestImpl* unit_test) : unit_test_(unit_test) {}
+
+void DefaultPerThreadTestPartResultReporter::ReportTestPartResult(
+    const TestPartResult& result) {
+  unit_test_->GetGlobalTestPartResultReporter()->ReportTestPartResult(result);
+}
+
+// Returns the global test part result reporter.
+TestPartResultReporterInterface*
+UnitTestImpl::GetGlobalTestPartResultReporter() {
+  internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+  return global_test_part_result_repoter_;
+}
+
+// Sets the global test part result reporter.
+void UnitTestImpl::SetGlobalTestPartResultReporter(
+    TestPartResultReporterInterface* reporter) {
+  internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+  global_test_part_result_repoter_ = reporter;
+}
+
+// Returns the test part result reporter for the current thread.
+TestPartResultReporterInterface*
+UnitTestImpl::GetTestPartResultReporterForCurrentThread() {
+  return per_thread_test_part_result_reporter_.get();
+}
+
+// Sets the test part result reporter for the current thread.
+void UnitTestImpl::SetTestPartResultReporterForCurrentThread(
+    TestPartResultReporterInterface* reporter) {
+  per_thread_test_part_result_reporter_.set(reporter);
+}
+
+// Gets the number of successful test cases.
+int UnitTestImpl::successful_test_case_count() const {
+  return CountIf(test_cases_, TestCasePassed);
+}
+
+// Gets the number of failed test cases.
+int UnitTestImpl::failed_test_case_count() const {
+  return CountIf(test_cases_, TestCaseFailed);
+}
+
+// Gets the number of all test cases.
+int UnitTestImpl::total_test_case_count() const {
+  return static_cast<int>(test_cases_.size());
+}
+
+// Gets the number of all test cases that contain at least one test
+// that should run.
+int UnitTestImpl::test_case_to_run_count() const {
+  return CountIf(test_cases_, ShouldRunTestCase);
+}
+
+// Gets the number of successful tests.
+int UnitTestImpl::successful_test_count() const {
+  return SumOverTestCaseList(test_cases_, &TestCase::successful_test_count);
+}
+
+// Gets the number of failed tests.
+int UnitTestImpl::failed_test_count() const {
+  return SumOverTestCaseList(test_cases_, &TestCase::failed_test_count);
+}
+
+// Gets the number of disabled tests that will be reported in the XML report.
+int UnitTestImpl::reportable_disabled_test_count() const {
+  return SumOverTestCaseList(test_cases_,
+                             &TestCase::reportable_disabled_test_count);
+}
+
+// Gets the number of disabled tests.
+int UnitTestImpl::disabled_test_count() const {
+  return SumOverTestCaseList(test_cases_, &TestCase::disabled_test_count);
+}
+
+// Gets the number of tests to be printed in the XML report.
+int UnitTestImpl::reportable_test_count() const {
+  return SumOverTestCaseList(test_cases_, &TestCase::reportable_test_count);
+}
+
+// Gets the number of all tests.
+int UnitTestImpl::total_test_count() const {
+  return SumOverTestCaseList(test_cases_, &TestCase::total_test_count);
+}
+
+// Gets the number of tests that should run.
+int UnitTestImpl::test_to_run_count() const {
+  return SumOverTestCaseList(test_cases_, &TestCase::test_to_run_count);
+}
+
+// Returns the current OS stack trace as an std::string.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag.  The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// CurrentOsStackTraceExceptTop(1), Foo() will be included in the
+// trace but Bar() and CurrentOsStackTraceExceptTop() won't.
+std::string UnitTestImpl::CurrentOsStackTraceExceptTop(int skip_count) {
+  return os_stack_trace_getter()->CurrentStackTrace(
+      static_cast<int>(GTEST_FLAG(stack_trace_depth)),
+      skip_count + 1
+      // Skips the user-specified number of frames plus this function
+      // itself.
+      );  // NOLINT
+}
+
+// Returns the current time in milliseconds.
+TimeInMillis GetTimeInMillis() {
+#if GTEST_OS_WINDOWS_MOBILE || defined(__BORLANDC__)
+  // Difference between 1970-01-01 and 1601-01-01 in milliseconds.
+  // http://analogous.blogspot.com/2005/04/epoch.html
+  const TimeInMillis kJavaEpochToWinFileTimeDelta =
+    static_cast<TimeInMillis>(116444736UL) * 100000UL;
+  const DWORD kTenthMicrosInMilliSecond = 10000;
+
+  SYSTEMTIME now_systime;
+  FILETIME now_filetime;
+  ULARGE_INTEGER now_int64;
+  // TODO(kenton@google.com): Shouldn't this just use
+  //   GetSystemTimeAsFileTime()?
+  GetSystemTime(&now_systime);
+  if (SystemTimeToFileTime(&now_systime, &now_filetime)) {
+    now_int64.LowPart = now_filetime.dwLowDateTime;
+    now_int64.HighPart = now_filetime.dwHighDateTime;
+    now_int64.QuadPart = (now_int64.QuadPart / kTenthMicrosInMilliSecond) -
+      kJavaEpochToWinFileTimeDelta;
+    return now_int64.QuadPart;
+  }
+  return 0;
+#elif GTEST_OS_WINDOWS && !GTEST_HAS_GETTIMEOFDAY_
+  __timeb64 now;
+
+  // MSVC 8 deprecates _ftime64(), so we want to suppress warning 4996
+  // (deprecated function) there.
+  // TODO(kenton@google.com): Use GetTickCount()?  Or use
+  //   SystemTimeToFileTime()
+  GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996)
+  _ftime64(&now);
+  GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+  return static_cast<TimeInMillis>(now.time) * 1000 + now.millitm;
+#elif GTEST_HAS_GETTIMEOFDAY_
+  struct timeval now;
+  gettimeofday(&now, NULL);
+  return static_cast<TimeInMillis>(now.tv_sec) * 1000 + now.tv_usec / 1000;
+#else
+# error "Don't know how to get the current time on your system."
+#endif
+}
+
+// Utilities
+
+// class String.
+
+#if GTEST_OS_WINDOWS_MOBILE
+// Creates a UTF-16 wide string from the given ANSI string, allocating
+// memory using new. The caller is responsible for deleting the return
+// value using delete[]. Returns the wide string, or NULL if the
+// input is NULL.
+LPCWSTR String::AnsiToUtf16(const char* ansi) {
+  if (!ansi) return NULL;
+  const int length = strlen(ansi);
+  const int unicode_length =
+      MultiByteToWideChar(CP_ACP, 0, ansi, length,
+                          NULL, 0);
+  WCHAR* unicode = new WCHAR[unicode_length + 1];
+  MultiByteToWideChar(CP_ACP, 0, ansi, length,
+                      unicode, unicode_length);
+  unicode[unicode_length] = 0;
+  return unicode;
+}
+
+// Creates an ANSI string from the given wide string, allocating
+// memory using new. The caller is responsible for deleting the return
+// value using delete[]. Returns the ANSI string, or NULL if the
+// input is NULL.
+const char* String::Utf16ToAnsi(LPCWSTR utf16_str)  {
+  if (!utf16_str) return NULL;
+  const int ansi_length =
+      WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
+                          NULL, 0, NULL, NULL);
+  char* ansi = new char[ansi_length + 1];
+  WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
+                      ansi, ansi_length, NULL, NULL);
+  ansi[ansi_length] = 0;
+  return ansi;
+}
+
+#endif  // GTEST_OS_WINDOWS_MOBILE
+
+// Compares two C strings.  Returns true iff they have the same content.
+//
+// Unlike strcmp(), this function can handle NULL argument(s).  A NULL
+// C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::CStringEquals(const char * lhs, const char * rhs) {
+  if ( lhs == NULL ) return rhs == NULL;
+
+  if ( rhs == NULL ) return false;
+
+  return strcmp(lhs, rhs) == 0;
+}
+
+#if GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
+
+// Converts an array of wide chars to a narrow string using the UTF-8
+// encoding, and streams the result to the given Message object.
+static void StreamWideCharsToMessage(const wchar_t* wstr, size_t length,
+                                     Message* msg) {
+  for (size_t i = 0; i != length; ) {  // NOLINT
+    if (wstr[i] != L'\0') {
+      *msg << WideStringToUtf8(wstr + i, static_cast<int>(length - i));
+      while (i != length && wstr[i] != L'\0')
+        i++;
+    } else {
+      *msg << '\0';
+      i++;
+    }
+  }
+}
+
+#endif  // GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
+
+void SplitString(const ::std::string& str, char delimiter,
+                 ::std::vector< ::std::string>* dest) {
+  ::std::vector< ::std::string> parsed;
+  ::std::string::size_type pos = 0;
+  while (::testing::internal::AlwaysTrue()) {
+    const ::std::string::size_type colon = str.find(delimiter, pos);
+    if (colon == ::std::string::npos) {
+      parsed.push_back(str.substr(pos));
+      break;
+    } else {
+      parsed.push_back(str.substr(pos, colon - pos));
+      pos = colon + 1;
+    }
+  }
+  dest->swap(parsed);
+}
+
+}  // namespace internal
+
+// Constructs an empty Message.
+// We allocate the stringstream separately because otherwise each use of
+// ASSERT/EXPECT in a procedure adds over 200 bytes to the procedure's
+// stack frame leading to huge stack frames in some cases; gcc does not reuse
+// the stack space.
+Message::Message() : ss_(new ::std::stringstream) {
+  // By default, we want there to be enough precision when printing
+  // a double to a Message.
+  *ss_ << std::setprecision(std::numeric_limits<double>::digits10 + 2);
+}
+
+// These two overloads allow streaming a wide C string to a Message
+// using the UTF-8 encoding.
+Message& Message::operator <<(const wchar_t* wide_c_str) {
+  return *this << internal::String::ShowWideCString(wide_c_str);
+}
+Message& Message::operator <<(wchar_t* wide_c_str) {
+  return *this << internal::String::ShowWideCString(wide_c_str);
+}
+
+#if GTEST_HAS_STD_WSTRING
+// Converts the given wide string to a narrow string using the UTF-8
+// encoding, and streams the result to this Message object.
+Message& Message::operator <<(const ::std::wstring& wstr) {
+  internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
+  return *this;
+}
+#endif  // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+// Converts the given wide string to a narrow string using the UTF-8
+// encoding, and streams the result to this Message object.
+Message& Message::operator <<(const ::wstring& wstr) {
+  internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
+  return *this;
+}
+#endif  // GTEST_HAS_GLOBAL_WSTRING
+
+// Gets the text streamed to this object so far as an std::string.
+// Each '\0' character in the buffer is replaced with "\\0".
+std::string Message::GetString() const {
+  return internal::StringStreamToString(ss_.get());
+}
+
+// AssertionResult constructors.
+// Used in EXPECT_TRUE/FALSE(assertion_result).
+AssertionResult::AssertionResult(const AssertionResult& other)
+    : success_(other.success_),
+      message_(other.message_.get() != NULL ?
+               new ::std::string(*other.message_) :
+               static_cast< ::std::string*>(NULL)) {
+}
+
+// Swaps two AssertionResults.
+void AssertionResult::swap(AssertionResult& other) {
+  using std::swap;
+  swap(success_, other.success_);
+  swap(message_, other.message_);
+}
+
+// Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
+AssertionResult AssertionResult::operator!() const {
+  AssertionResult negation(!success_);
+  if (message_.get() != NULL)
+    negation << *message_;
+  return negation;
+}
+
+// Makes a successful assertion result.
+AssertionResult AssertionSuccess() {
+  return AssertionResult(true);
+}
+
+// Makes a failed assertion result.
+AssertionResult AssertionFailure() {
+  return AssertionResult(false);
+}
+
+// Makes a failed assertion result with the given failure message.
+// Deprecated; use AssertionFailure() << message.
+AssertionResult AssertionFailure(const Message& message) {
+  return AssertionFailure() << message;
+}
+
+namespace internal {
+
+namespace edit_distance {
+std::vector<EditType> CalculateOptimalEdits(const std::vector<size_t>& left,
+                                            const std::vector<size_t>& right) {
+  std::vector<std::vector<double> > costs(
+      left.size() + 1, std::vector<double>(right.size() + 1));
+  std::vector<std::vector<EditType> > best_move(
+      left.size() + 1, std::vector<EditType>(right.size() + 1));
+
+  // Populate for empty right.
+  for (size_t l_i = 0; l_i < costs.size(); ++l_i) {
+    costs[l_i][0] = static_cast<double>(l_i);
+    best_move[l_i][0] = kRemove;
+  }
+  // Populate for empty left.
+  for (size_t r_i = 1; r_i < costs[0].size(); ++r_i) {
+    costs[0][r_i] = static_cast<double>(r_i);
+    best_move[0][r_i] = kAdd;
+  }
+
+  for (size_t l_i = 0; l_i < left.size(); ++l_i) {
+    for (size_t r_i = 0; r_i < right.size(); ++r_i) {
+      if (left[l_i] == right[r_i]) {
+        // Found a match. Consume it.
+        costs[l_i + 1][r_i + 1] = costs[l_i][r_i];
+        best_move[l_i + 1][r_i + 1] = kMatch;
+        continue;
+      }
+
+      const double add = costs[l_i + 1][r_i];
+      const double remove = costs[l_i][r_i + 1];
+      const double replace = costs[l_i][r_i];
+      if (add < remove && add < replace) {
+        costs[l_i + 1][r_i + 1] = add + 1;
+        best_move[l_i + 1][r_i + 1] = kAdd;
+      } else if (remove < add && remove < replace) {
+        costs[l_i + 1][r_i + 1] = remove + 1;
+        best_move[l_i + 1][r_i + 1] = kRemove;
+      } else {
+        // We make replace a little more expensive than add/remove to lower
+        // their priority.
+        costs[l_i + 1][r_i + 1] = replace + 1.00001;
+        best_move[l_i + 1][r_i + 1] = kReplace;
+      }
+    }
+  }
+
+  // Reconstruct the best path. We do it in reverse order.
+  std::vector<EditType> best_path;
+  for (size_t l_i = left.size(), r_i = right.size(); l_i > 0 || r_i > 0;) {
+    EditType move = best_move[l_i][r_i];
+    best_path.push_back(move);
+    l_i -= move != kAdd;
+    r_i -= move != kRemove;
+  }
+  std::reverse(best_path.begin(), best_path.end());
+  return best_path;
+}
+
+namespace {
+
+// Helper class to convert string into ids with deduplication.
+class InternalStrings {
+ public:
+  size_t GetId(const std::string& str) {
+    IdMap::iterator it = ids_.find(str);
+    if (it != ids_.end()) return it->second;
+    size_t id = ids_.size();
+    return ids_[str] = id;
+  }
+
+ private:
+  typedef std::map<std::string, size_t> IdMap;
+  IdMap ids_;
+};
+
+}  // namespace
+
+std::vector<EditType> CalculateOptimalEdits(
+    const std::vector<std::string>& left,
+    const std::vector<std::string>& right) {
+  std::vector<size_t> left_ids, right_ids;
+  {
+    InternalStrings intern_table;
+    for (size_t i = 0; i < left.size(); ++i) {
+      left_ids.push_back(intern_table.GetId(left[i]));
+    }
+    for (size_t i = 0; i < right.size(); ++i) {
+      right_ids.push_back(intern_table.GetId(right[i]));
+    }
+  }
+  return CalculateOptimalEdits(left_ids, right_ids);
+}
+
+namespace {
+
+// Helper class that holds the state for one hunk and prints it out to the
+// stream.
+// It reorders adds/removes when possible to group all removes before all
+// adds. It also adds the hunk header before printint into the stream.
+class Hunk {
+ public:
+  Hunk(size_t left_start, size_t right_start)
+      : left_start_(left_start),
+        right_start_(right_start),
+        adds_(),
+        removes_(),
+        common_() {}
+
+  void PushLine(char edit, const char* line) {
+    switch (edit) {
+      case ' ':
+        ++common_;
+        FlushEdits();
+        hunk_.push_back(std::make_pair(' ', line));
+        break;
+      case '-':
+        ++removes_;
+        hunk_removes_.push_back(std::make_pair('-', line));
+        break;
+      case '+':
+        ++adds_;
+        hunk_adds_.push_back(std::make_pair('+', line));
+        break;
+    }
+  }
+
+  void PrintTo(std::ostream* os) {
+    PrintHeader(os);
+    FlushEdits();
+    for (std::list<std::pair<char, const char*> >::const_iterator it =
+             hunk_.begin();
+         it != hunk_.end(); ++it) {
+      *os << it->first << it->second << "\n";
+    }
+  }
+
+  bool has_edits() const { return adds_ || removes_; }
+
+ private:
+  void FlushEdits() {
+    hunk_.splice(hunk_.end(), hunk_removes_);
+    hunk_.splice(hunk_.end(), hunk_adds_);
+  }
+
+  // Print a unified diff header for one hunk.
+  // The format is
+  //   "@@ -<left_start>,<left_length> +<right_start>,<right_length> @@"
+  // where the left/right parts are ommitted if unnecessary.
+  void PrintHeader(std::ostream* ss) const {
+    *ss << "@@ ";
+    if (removes_) {
+      *ss << "-" << left_start_ << "," << (removes_ + common_);
+    }
+    if (removes_ && adds_) {
+      *ss << " ";
+    }
+    if (adds_) {
+      *ss << "+" << right_start_ << "," << (adds_ + common_);
+    }
+    *ss << " @@\n";
+  }
+
+  size_t left_start_, right_start_;
+  size_t adds_, removes_, common_;
+  std::list<std::pair<char, const char*> > hunk_, hunk_adds_, hunk_removes_;
+};
+
+}  // namespace
+
+// Create a list of diff hunks in Unified diff format.
+// Each hunk has a header generated by PrintHeader above plus a body with
+// lines prefixed with ' ' for no change, '-' for deletion and '+' for
+// addition.
+// 'context' represents the desired unchanged prefix/suffix around the diff.
+// If two hunks are close enough that their contexts overlap, then they are
+// joined into one hunk.
+std::string CreateUnifiedDiff(const std::vector<std::string>& left,
+                              const std::vector<std::string>& right,
+                              size_t context) {
+  const std::vector<EditType> edits = CalculateOptimalEdits(left, right);
+
+  size_t l_i = 0, r_i = 0, edit_i = 0;
+  std::stringstream ss;
+  while (edit_i < edits.size()) {
+    // Find first edit.
+    while (edit_i < edits.size() && edits[edit_i] == kMatch) {
+      ++l_i;
+      ++r_i;
+      ++edit_i;
+    }
+
+    // Find the first line to include in the hunk.
+    const size_t prefix_context = std::min(l_i, context);
+    Hunk hunk(l_i - prefix_context + 1, r_i - prefix_context + 1);
+    for (size_t i = prefix_context; i > 0; --i) {
+      hunk.PushLine(' ', left[l_i - i].c_str());
+    }
+
+    // Iterate the edits until we found enough suffix for the hunk or the input
+    // is over.
+    size_t n_suffix = 0;
+    for (; edit_i < edits.size(); ++edit_i) {
+      if (n_suffix >= context) {
+        // Continue only if the next hunk is very close.
+        std::vector<EditType>::const_iterator it = edits.begin() + edit_i;
+        while (it != edits.end() && *it == kMatch) ++it;
+        if (it == edits.end() || (it - edits.begin()) - edit_i >= context) {
+          // There is no next edit or it is too far away.
+          break;
+        }
+      }
+
+      EditType edit = edits[edit_i];
+      // Reset count when a non match is found.
+      n_suffix = edit == kMatch ? n_suffix + 1 : 0;
+
+      if (edit == kMatch || edit == kRemove || edit == kReplace) {
+        hunk.PushLine(edit == kMatch ? ' ' : '-', left[l_i].c_str());
+      }
+      if (edit == kAdd || edit == kReplace) {
+        hunk.PushLine('+', right[r_i].c_str());
+      }
+
+      // Advance indices, depending on edit type.
+      l_i += edit != kAdd;
+      r_i += edit != kRemove;
+    }
+
+    if (!hunk.has_edits()) {
+      // We are done. We don't want this hunk.
+      break;
+    }
+
+    hunk.PrintTo(&ss);
+  }
+  return ss.str();
+}
+
+}  // namespace edit_distance
+
+namespace {
+
+// The string representation of the values received in EqFailure() are already
+// escaped. Split them on escaped '\n' boundaries. Leave all other escaped
+// characters the same.
+std::vector<std::string> SplitEscapedString(const std::string& str) {
+  std::vector<std::string> lines;
+  size_t start = 0, end = str.size();
+  if (end > 2 && str[0] == '"' && str[end - 1] == '"') {
+    ++start;
+    --end;
+  }
+  bool escaped = false;
+  for (size_t i = start; i + 1 < end; ++i) {
+    if (escaped) {
+      escaped = false;
+      if (str[i] == 'n') {
+        lines.push_back(str.substr(start, i - start - 1));
+        start = i + 1;
+      }
+    } else {
+      escaped = str[i] == '\\';
+    }
+  }
+  lines.push_back(str.substr(start, end - start));
+  return lines;
+}
+
+}  // namespace
+
+// Constructs and returns the message for an equality assertion
+// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
+//
+// The first four parameters are the expressions used in the assertion
+// and their values, as strings.  For example, for ASSERT_EQ(foo, bar)
+// where foo is 5 and bar is 6, we have:
+//
+//   lhs_expression: "foo"
+//   rhs_expression: "bar"
+//   lhs_value:      "5"
+//   rhs_value:      "6"
+//
+// The ignoring_case parameter is true iff the assertion is a
+// *_STRCASEEQ*.  When it's true, the string "Ignoring case" will
+// be inserted into the message.
+AssertionResult EqFailure(const char* lhs_expression,
+                          const char* rhs_expression,
+                          const std::string& lhs_value,
+                          const std::string& rhs_value,
+                          bool ignoring_case) {
+  Message msg;
+  msg << "      Expected: " << lhs_expression;
+  if (lhs_value != lhs_expression) {
+    msg << "\n      Which is: " << lhs_value;
+  }
+  msg << "\nTo be equal to: " << rhs_expression;
+  if (rhs_value != rhs_expression) {
+    msg << "\n      Which is: " << rhs_value;
+  }
+
+  if (ignoring_case) {
+    msg << "\nIgnoring case";
+  }
+
+  if (!lhs_value.empty() && !rhs_value.empty()) {
+    const std::vector<std::string> lhs_lines =
+        SplitEscapedString(lhs_value);
+    const std::vector<std::string> rhs_lines =
+        SplitEscapedString(rhs_value);
+    if (lhs_lines.size() > 1 || rhs_lines.size() > 1) {
+      msg << "\nWith diff:\n"
+          << edit_distance::CreateUnifiedDiff(lhs_lines, rhs_lines);
+    }
+  }
+
+  return AssertionFailure() << msg;
+}
+
+// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
+std::string GetBoolAssertionFailureMessage(
+    const AssertionResult& assertion_result,
+    const char* expression_text,
+    const char* actual_predicate_value,
+    const char* expected_predicate_value) {
+  const char* actual_message = assertion_result.message();
+  Message msg;
+  msg << "Value of: " << expression_text
+      << "\n  Actual: " << actual_predicate_value;
+  if (actual_message[0] != '\0')
+    msg << " (" << actual_message << ")";
+  msg << "\nExpected: " << expected_predicate_value;
+  return msg.GetString();
+}
+
+// Helper function for implementing ASSERT_NEAR.
+AssertionResult DoubleNearPredFormat(const char* expr1,
+                                     const char* expr2,
+                                     const char* abs_error_expr,
+                                     double val1,
+                                     double val2,
+                                     double abs_error) {
+  const double diff = fabs(val1 - val2);
+  if (diff <= abs_error) return AssertionSuccess();
+
+  // TODO(wan): do not print the value of an expression if it's
+  // already a literal.
+  return AssertionFailure()
+      << "The difference between " << expr1 << " and " << expr2
+      << " is " << diff << ", which exceeds " << abs_error_expr << ", where\n"
+      << expr1 << " evaluates to " << val1 << ",\n"
+      << expr2 << " evaluates to " << val2 << ", and\n"
+      << abs_error_expr << " evaluates to " << abs_error << ".";
+}
+
+
+// Helper template for implementing FloatLE() and DoubleLE().
+template <typename RawType>
+AssertionResult FloatingPointLE(const char* expr1,
+                                const char* expr2,
+                                RawType val1,
+                                RawType val2) {
+  // Returns success if val1 is less than val2,
+  if (val1 < val2) {
+    return AssertionSuccess();
+  }
+
+  // or if val1 is almost equal to val2.
+  const FloatingPoint<RawType> lhs(val1), rhs(val2);
+  if (lhs.AlmostEquals(rhs)) {
+    return AssertionSuccess();
+  }
+
+  // Note that the above two checks will both fail if either val1 or
+  // val2 is NaN, as the IEEE floating-point standard requires that
+  // any predicate involving a NaN must return false.
+
+  ::std::stringstream val1_ss;
+  val1_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+          << val1;
+
+  ::std::stringstream val2_ss;
+  val2_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+          << val2;
+
+  return AssertionFailure()
+      << "Expected: (" << expr1 << ") <= (" << expr2 << ")\n"
+      << "  Actual: " << StringStreamToString(&val1_ss) << " vs "
+      << StringStreamToString(&val2_ss);
+}
+
+}  // namespace internal
+
+// Asserts that val1 is less than, or almost equal to, val2.  Fails
+// otherwise.  In particular, it fails if either val1 or val2 is NaN.
+AssertionResult FloatLE(const char* expr1, const char* expr2,
+                        float val1, float val2) {
+  return internal::FloatingPointLE<float>(expr1, expr2, val1, val2);
+}
+
+// Asserts that val1 is less than, or almost equal to, val2.  Fails
+// otherwise.  In particular, it fails if either val1 or val2 is NaN.
+AssertionResult DoubleLE(const char* expr1, const char* expr2,
+                         double val1, double val2) {
+  return internal::FloatingPointLE<double>(expr1, expr2, val1, val2);
+}
+
+namespace internal {
+
+// The helper function for {ASSERT|EXPECT}_EQ with int or enum
+// arguments.
+AssertionResult CmpHelperEQ(const char* lhs_expression,
+                            const char* rhs_expression,
+                            BiggestInt lhs,
+                            BiggestInt rhs) {
+  if (lhs == rhs) {
+    return AssertionSuccess();
+  }
+
+  return EqFailure(lhs_expression,
+                   rhs_expression,
+                   FormatForComparisonFailureMessage(lhs, rhs),
+                   FormatForComparisonFailureMessage(rhs, lhs),
+                   false);
+}
+
+// A macro for implementing the helper functions needed to implement
+// ASSERT_?? and EXPECT_?? with integer or enum arguments.  It is here
+// just to avoid copy-and-paste of similar code.
+#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
+AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
+                                   BiggestInt val1, BiggestInt val2) {\
+  if (val1 op val2) {\
+    return AssertionSuccess();\
+  } else {\
+    return AssertionFailure() \
+        << "Expected: (" << expr1 << ") " #op " (" << expr2\
+        << "), actual: " << FormatForComparisonFailureMessage(val1, val2)\
+        << " vs " << FormatForComparisonFailureMessage(val2, val1);\
+  }\
+}
+
+// Implements the helper function for {ASSERT|EXPECT}_NE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(NE, !=)
+// Implements the helper function for {ASSERT|EXPECT}_LE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(LE, <=)
+// Implements the helper function for {ASSERT|EXPECT}_LT with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(LT, < )
+// Implements the helper function for {ASSERT|EXPECT}_GE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(GE, >=)
+// Implements the helper function for {ASSERT|EXPECT}_GT with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(GT, > )
+
+#undef GTEST_IMPL_CMP_HELPER_
+
+// The helper function for {ASSERT|EXPECT}_STREQ.
+AssertionResult CmpHelperSTREQ(const char* lhs_expression,
+                               const char* rhs_expression,
+                               const char* lhs,
+                               const char* rhs) {
+  if (String::CStringEquals(lhs, rhs)) {
+    return AssertionSuccess();
+  }
+
+  return EqFailure(lhs_expression,
+                   rhs_expression,
+                   PrintToString(lhs),
+                   PrintToString(rhs),
+                   false);
+}
+
+// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
+AssertionResult CmpHelperSTRCASEEQ(const char* lhs_expression,
+                                   const char* rhs_expression,
+                                   const char* lhs,
+                                   const char* rhs) {
+  if (String::CaseInsensitiveCStringEquals(lhs, rhs)) {
+    return AssertionSuccess();
+  }
+
+  return EqFailure(lhs_expression,
+                   rhs_expression,
+                   PrintToString(lhs),
+                   PrintToString(rhs),
+                   true);
+}
+
+// The helper function for {ASSERT|EXPECT}_STRNE.
+AssertionResult CmpHelperSTRNE(const char* s1_expression,
+                               const char* s2_expression,
+                               const char* s1,
+                               const char* s2) {
+  if (!String::CStringEquals(s1, s2)) {
+    return AssertionSuccess();
+  } else {
+    return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
+                              << s2_expression << "), actual: \""
+                              << s1 << "\" vs \"" << s2 << "\"";
+  }
+}
+
+// The helper function for {ASSERT|EXPECT}_STRCASENE.
+AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
+                                   const char* s2_expression,
+                                   const char* s1,
+                                   const char* s2) {
+  if (!String::CaseInsensitiveCStringEquals(s1, s2)) {
+    return AssertionSuccess();
+  } else {
+    return AssertionFailure()
+        << "Expected: (" << s1_expression << ") != ("
+        << s2_expression << ") (ignoring case), actual: \""
+        << s1 << "\" vs \"" << s2 << "\"";
+  }
+}
+
+}  // namespace internal
+
+namespace {
+
+// Helper functions for implementing IsSubString() and IsNotSubstring().
+
+// This group of overloaded functions return true iff needle is a
+// substring of haystack.  NULL is considered a substring of itself
+// only.
+
+bool IsSubstringPred(const char* needle, const char* haystack) {
+  if (needle == NULL || haystack == NULL)
+    return needle == haystack;
+
+  return strstr(haystack, needle) != NULL;
+}
+
+bool IsSubstringPred(const wchar_t* needle, const wchar_t* haystack) {
+  if (needle == NULL || haystack == NULL)
+    return needle == haystack;
+
+  return wcsstr(haystack, needle) != NULL;
+}
+
+// StringType here can be either ::std::string or ::std::wstring.
+template <typename StringType>
+bool IsSubstringPred(const StringType& needle,
+                     const StringType& haystack) {
+  return haystack.find(needle) != StringType::npos;
+}
+
+// This function implements either IsSubstring() or IsNotSubstring(),
+// depending on the value of the expected_to_be_substring parameter.
+// StringType here can be const char*, const wchar_t*, ::std::string,
+// or ::std::wstring.
+template <typename StringType>
+AssertionResult IsSubstringImpl(
+    bool expected_to_be_substring,
+    const char* needle_expr, const char* haystack_expr,
+    const StringType& needle, const StringType& haystack) {
+  if (IsSubstringPred(needle, haystack) == expected_to_be_substring)
+    return AssertionSuccess();
+
+  const bool is_wide_string = sizeof(needle[0]) > 1;
+  const char* const begin_string_quote = is_wide_string ? "L\"" : "\"";
+  return AssertionFailure()
+      << "Value of: " << needle_expr << "\n"
+      << "  Actual: " << begin_string_quote << needle << "\"\n"
+      << "Expected: " << (expected_to_be_substring ? "" : "not ")
+      << "a substring of " << haystack_expr << "\n"
+      << "Which is: " << begin_string_quote << haystack << "\"";
+}
+
+}  // namespace
+
+// IsSubstring() and IsNotSubstring() check whether needle is a
+// substring of haystack (NULL is considered a substring of itself
+// only), and return an appropriate error message when they fail.
+
+AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const char* needle, const char* haystack) {
+  return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const wchar_t* needle, const wchar_t* haystack) {
+  return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const char* needle, const char* haystack) {
+  return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const wchar_t* needle, const wchar_t* haystack) {
+  return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::string& needle, const ::std::string& haystack) {
+  return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::string& needle, const ::std::string& haystack) {
+  return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+#if GTEST_HAS_STD_WSTRING
+AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::wstring& needle, const ::std::wstring& haystack) {
+  return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::wstring& needle, const ::std::wstring& haystack) {
+  return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+#endif  // GTEST_HAS_STD_WSTRING
+
+namespace internal {
+
+#if GTEST_OS_WINDOWS
+
+namespace {
+
+// Helper function for IsHRESULT{SuccessFailure} predicates
+AssertionResult HRESULTFailureHelper(const char* expr,
+                                     const char* expected,
+                                     long hr) {  // NOLINT
+# if GTEST_OS_WINDOWS_MOBILE
+
+  // Windows CE doesn't support FormatMessage.
+  const char error_text[] = "";
+
+# else
+
+  // Looks up the human-readable system message for the HRESULT code
+  // and since we're not passing any params to FormatMessage, we don't
+  // want inserts expanded.
+  const DWORD kFlags = FORMAT_MESSAGE_FROM_SYSTEM |
+                       FORMAT_MESSAGE_IGNORE_INSERTS;
+  const DWORD kBufSize = 4096;
+  // Gets the system's human readable message string for this HRESULT.
+  char error_text[kBufSize] = { '\0' };
+  DWORD message_length = ::FormatMessageA(kFlags,
+                                          0,  // no source, we're asking system
+                                          hr,  // the error
+                                          0,  // no line width restrictions
+                                          error_text,  // output buffer
+                                          kBufSize,  // buf size
+                                          NULL);  // no arguments for inserts
+  // Trims tailing white space (FormatMessage leaves a trailing CR-LF)
+  for (; message_length && IsSpace(error_text[message_length - 1]);
+          --message_length) {
+    error_text[message_length - 1] = '\0';
+  }
+
+# endif  // GTEST_OS_WINDOWS_MOBILE
+
+  const std::string error_hex("0x" + String::FormatHexInt(hr));
+  return ::testing::AssertionFailure()
+      << "Expected: " << expr << " " << expected << ".\n"
+      << "  Actual: " << error_hex << " " << error_text << "\n";
+}
+
+}  // namespace
+
+AssertionResult IsHRESULTSuccess(const char* expr, long hr) {  // NOLINT
+  if (SUCCEEDED(hr)) {
+    return AssertionSuccess();
+  }
+  return HRESULTFailureHelper(expr, "succeeds", hr);
+}
+
+AssertionResult IsHRESULTFailure(const char* expr, long hr) {  // NOLINT
+  if (FAILED(hr)) {
+    return AssertionSuccess();
+  }
+  return HRESULTFailureHelper(expr, "fails", hr);
+}
+
+#endif  // GTEST_OS_WINDOWS
+
+// Utility functions for encoding Unicode text (wide strings) in
+// UTF-8.
+
+// A Unicode code-point can have upto 21 bits, and is encoded in UTF-8
+// like this:
+//
+// Code-point length   Encoding
+//   0 -  7 bits       0xxxxxxx
+//   8 - 11 bits       110xxxxx 10xxxxxx
+//  12 - 16 bits       1110xxxx 10xxxxxx 10xxxxxx
+//  17 - 21 bits       11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+
+// The maximum code-point a one-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint1 = (static_cast<UInt32>(1) <<  7) - 1;
+
+// The maximum code-point a two-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint2 = (static_cast<UInt32>(1) << (5 + 6)) - 1;
+
+// The maximum code-point a three-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint3 = (static_cast<UInt32>(1) << (4 + 2*6)) - 1;
+
+// The maximum code-point a four-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint4 = (static_cast<UInt32>(1) << (3 + 3*6)) - 1;
+
+// Chops off the n lowest bits from a bit pattern.  Returns the n
+// lowest bits.  As a side effect, the original bit pattern will be
+// shifted to the right by n bits.
+inline UInt32 ChopLowBits(UInt32* bits, int n) {
+  const UInt32 low_bits = *bits & ((static_cast<UInt32>(1) << n) - 1);
+  *bits >>= n;
+  return low_bits;
+}
+
+// Converts a Unicode code point to a narrow string in UTF-8 encoding.
+// code_point parameter is of type UInt32 because wchar_t may not be
+// wide enough to contain a code point.
+// If the code_point is not a valid Unicode code point
+// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be converted
+// to "(Invalid Unicode 0xXXXXXXXX)".
+std::string CodePointToUtf8(UInt32 code_point) {
+  if (code_point > kMaxCodePoint4) {
+    return "(Invalid Unicode 0x" + String::FormatHexInt(code_point) + ")";
+  }
+
+  char str[5];  // Big enough for the largest valid code point.
+  if (code_point <= kMaxCodePoint1) {
+    str[1] = '\0';
+    str[0] = static_cast<char>(code_point);                          // 0xxxxxxx
+  } else if (code_point <= kMaxCodePoint2) {
+    str[2] = '\0';
+    str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6));  // 10xxxxxx
+    str[0] = static_cast<char>(0xC0 | code_point);                   // 110xxxxx
+  } else if (code_point <= kMaxCodePoint3) {
+    str[3] = '\0';
+    str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6));  // 10xxxxxx
+    str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6));  // 10xxxxxx
+    str[0] = static_cast<char>(0xE0 | code_point);                   // 1110xxxx
+  } else {  // code_point <= kMaxCodePoint4
+    str[4] = '\0';
+    str[3] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6));  // 10xxxxxx
+    str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6));  // 10xxxxxx
+    str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6));  // 10xxxxxx
+    str[0] = static_cast<char>(0xF0 | code_point);                   // 11110xxx
+  }
+  return str;
+}
+
+// The following two functions only make sense if the the system
+// uses UTF-16 for wide string encoding. All supported systems
+// with 16 bit wchar_t (Windows, Cygwin, Symbian OS) do use UTF-16.
+
+// Determines if the arguments constitute UTF-16 surrogate pair
+// and thus should be combined into a single Unicode code point
+// using CreateCodePointFromUtf16SurrogatePair.
+inline bool IsUtf16SurrogatePair(wchar_t first, wchar_t second) {
+  return sizeof(wchar_t) == 2 &&
+      (first & 0xFC00) == 0xD800 && (second & 0xFC00) == 0xDC00;
+}
+
+// Creates a Unicode code point from UTF16 surrogate pair.
+inline UInt32 CreateCodePointFromUtf16SurrogatePair(wchar_t first,
+                                                    wchar_t second) {
+  const UInt32 mask = (1 << 10) - 1;
+  return (sizeof(wchar_t) == 2) ?
+      (((first & mask) << 10) | (second & mask)) + 0x10000 :
+      // This function should not be called when the condition is
+      // false, but we provide a sensible default in case it is.
+      static_cast<UInt32>(first);
+}
+
+// Converts a wide string to a narrow string in UTF-8 encoding.
+// The wide string is assumed to have the following encoding:
+//   UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
+//   UTF-32 if sizeof(wchar_t) == 4 (on Linux)
+// Parameter str points to a null-terminated wide string.
+// Parameter num_chars may additionally limit the number
+// of wchar_t characters processed. -1 is used when the entire string
+// should be processed.
+// If the string contains code points that are not valid Unicode code points
+// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
+// and contains invalid UTF-16 surrogate pairs, values in those pairs
+// will be encoded as individual Unicode characters from Basic Normal Plane.
+std::string WideStringToUtf8(const wchar_t* str, int num_chars) {
+  if (num_chars == -1)
+    num_chars = static_cast<int>(wcslen(str));
+
+  ::std::stringstream stream;
+  for (int i = 0; i < num_chars; ++i) {
+    UInt32 unicode_code_point;
+
+    if (str[i] == L'\0') {
+      break;
+    } else if (i + 1 < num_chars && IsUtf16SurrogatePair(str[i], str[i + 1])) {
+      unicode_code_point = CreateCodePointFromUtf16SurrogatePair(str[i],
+                                                                 str[i + 1]);
+      i++;
+    } else {
+      unicode_code_point = static_cast<UInt32>(str[i]);
+    }
+
+    stream << CodePointToUtf8(unicode_code_point);
+  }
+  return StringStreamToString(&stream);
+}
+
+// Converts a wide C string to an std::string using the UTF-8 encoding.
+// NULL will be converted to "(null)".
+std::string String::ShowWideCString(const wchar_t * wide_c_str) {
+  if (wide_c_str == NULL)  return "(null)";
+
+  return internal::WideStringToUtf8(wide_c_str, -1);
+}
+
+// Compares two wide C strings.  Returns true iff they have the same
+// content.
+//
+// Unlike wcscmp(), this function can handle NULL argument(s).  A NULL
+// C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::WideCStringEquals(const wchar_t * lhs, const wchar_t * rhs) {
+  if (lhs == NULL) return rhs == NULL;
+
+  if (rhs == NULL) return false;
+
+  return wcscmp(lhs, rhs) == 0;
+}
+
+// Helper function for *_STREQ on wide strings.
+AssertionResult CmpHelperSTREQ(const char* lhs_expression,
+                               const char* rhs_expression,
+                               const wchar_t* lhs,
+                               const wchar_t* rhs) {
+  if (String::WideCStringEquals(lhs, rhs)) {
+    return AssertionSuccess();
+  }
+
+  return EqFailure(lhs_expression,
+                   rhs_expression,
+                   PrintToString(lhs),
+                   PrintToString(rhs),
+                   false);
+}
+
+// Helper function for *_STRNE on wide strings.
+AssertionResult CmpHelperSTRNE(const char* s1_expression,
+                               const char* s2_expression,
+                               const wchar_t* s1,
+                               const wchar_t* s2) {
+  if (!String::WideCStringEquals(s1, s2)) {
+    return AssertionSuccess();
+  }
+
+  return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
+                            << s2_expression << "), actual: "
+                            << PrintToString(s1)
+                            << " vs " << PrintToString(s2);
+}
+
+// Compares two C strings, ignoring case.  Returns true iff they have
+// the same content.
+//
+// Unlike strcasecmp(), this function can handle NULL argument(s).  A
+// NULL C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::CaseInsensitiveCStringEquals(const char * lhs, const char * rhs) {
+  if (lhs == NULL)
+    return rhs == NULL;
+  if (rhs == NULL)
+    return false;
+  return posix::StrCaseCmp(lhs, rhs) == 0;
+}
+
+  // Compares two wide C strings, ignoring case.  Returns true iff they
+  // have the same content.
+  //
+  // Unlike wcscasecmp(), this function can handle NULL argument(s).
+  // A NULL C string is considered different to any non-NULL wide C string,
+  // including the empty string.
+  // NB: The implementations on different platforms slightly differ.
+  // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
+  // environment variable. On GNU platform this method uses wcscasecmp
+  // which compares according to LC_CTYPE category of the current locale.
+  // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
+  // current locale.
+bool String::CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
+                                              const wchar_t* rhs) {
+  if (lhs == NULL) return rhs == NULL;
+
+  if (rhs == NULL) return false;
+
+#if GTEST_OS_WINDOWS
+  return _wcsicmp(lhs, rhs) == 0;
+#elif GTEST_OS_LINUX && !GTEST_OS_LINUX_ANDROID
+  return wcscasecmp(lhs, rhs) == 0;
+#else
+  // Android, Mac OS X and Cygwin don't define wcscasecmp.
+  // Other unknown OSes may not define it either.
+  wint_t left, right;
+  do {
+    left = towlower(*lhs++);
+    right = towlower(*rhs++);
+  } while (left && left == right);
+  return left == right;
+#endif  // OS selector
+}
+
+// Returns true iff str ends with the given suffix, ignoring case.
+// Any string is considered to end with an empty suffix.
+bool String::EndsWithCaseInsensitive(
+    const std::string& str, const std::string& suffix) {
+  const size_t str_len = str.length();
+  const size_t suffix_len = suffix.length();
+  return (str_len >= suffix_len) &&
+         CaseInsensitiveCStringEquals(str.c_str() + str_len - suffix_len,
+                                      suffix.c_str());
+}
+
+// Formats an int value as "%02d".
+std::string String::FormatIntWidth2(int value) {
+  std::stringstream ss;
+  ss << std::setfill('0') << std::setw(2) << value;
+  return ss.str();
+}
+
+// Formats an int value as "%X".
+std::string String::FormatHexInt(int value) {
+  std::stringstream ss;
+  ss << std::hex << std::uppercase << value;
+  return ss.str();
+}
+
+// Formats a byte as "%02X".
+std::string String::FormatByte(unsigned char value) {
+  std::stringstream ss;
+  ss << std::setfill('0') << std::setw(2) << std::hex << std::uppercase
+     << static_cast<unsigned int>(value);
+  return ss.str();
+}
+
+// Converts the buffer in a stringstream to an std::string, converting NUL
+// bytes to "\\0" along the way.
+std::string StringStreamToString(::std::stringstream* ss) {
+  const ::std::string& str = ss->str();
+  const char* const start = str.c_str();
+  const char* const end = start + str.length();
+
+  std::string result;
+  result.reserve(2 * (end - start));
+  for (const char* ch = start; ch != end; ++ch) {
+    if (*ch == '\0') {
+      result += "\\0";  // Replaces NUL with "\\0";
+    } else {
+      result += *ch;
+    }
+  }
+
+  return result;
+}
+
+// Appends the user-supplied message to the Google-Test-generated message.
+std::string AppendUserMessage(const std::string& gtest_msg,
+                              const Message& user_msg) {
+  // Appends the user message if it's non-empty.
+  const std::string user_msg_string = user_msg.GetString();
+  if (user_msg_string.empty()) {
+    return gtest_msg;
+  }
+
+  return gtest_msg + "\n" + user_msg_string;
+}
+
+}  // namespace internal
+
+// class TestResult
+
+// Creates an empty TestResult.
+TestResult::TestResult()
+    : death_test_count_(0),
+      elapsed_time_(0) {
+}
+
+// D'tor.
+TestResult::~TestResult() {
+}
+
+// Returns the i-th test part result among all the results. i can
+// range from 0 to total_part_count() - 1. If i is not in that range,
+// aborts the program.
+const TestPartResult& TestResult::GetTestPartResult(int i) const {
+  if (i < 0 || i >= total_part_count())
+    internal::posix::Abort();
+  return test_part_results_.at(i);
+}
+
+// Returns the i-th test property. i can range from 0 to
+// test_property_count() - 1. If i is not in that range, aborts the
+// program.
+const TestProperty& TestResult::GetTestProperty(int i) const {
+  if (i < 0 || i >= test_property_count())
+    internal::posix::Abort();
+  return test_properties_.at(i);
+}
+
+// Clears the test part results.
+void TestResult::ClearTestPartResults() {
+  test_part_results_.clear();
+}
+
+// Adds a test part result to the list.
+void TestResult::AddTestPartResult(const TestPartResult& test_part_result) {
+  test_part_results_.push_back(test_part_result);
+}
+
+// Adds a test property to the list. If a property with the same key as the
+// supplied property is already represented, the value of this test_property
+// replaces the old value for that key.
+void TestResult::RecordProperty(const std::string& xml_element,
+                                const TestProperty& test_property) {
+  if (!ValidateTestProperty(xml_element, test_property)) {
+    return;
+  }
+  internal::MutexLock lock(&test_properites_mutex_);
+  const std::vector<TestProperty>::iterator property_with_matching_key =
+      std::find_if(test_properties_.begin(), test_properties_.end(),
+                   internal::TestPropertyKeyIs(test_property.key()));
+  if (property_with_matching_key == test_properties_.end()) {
+    test_properties_.push_back(test_property);
+    return;
+  }
+  property_with_matching_key->SetValue(test_property.value());
+}
+
+// The list of reserved attributes used in the <testsuites> element of XML
+// output.
+static const char* const kReservedTestSuitesAttributes[] = {
+  "disabled",
+  "errors",
+  "failures",
+  "name",
+  "random_seed",
+  "tests",
+  "time",
+  "timestamp"
+};
+
+// The list of reserved attributes used in the <testsuite> element of XML
+// output.
+static const char* const kReservedTestSuiteAttributes[] = {
+  "disabled",
+  "errors",
+  "failures",
+  "name",
+  "tests",
+  "time"
+};
+
+// The list of reserved attributes used in the <testcase> element of XML output.
+static const char* const kReservedTestCaseAttributes[] = {
+  "classname",
+  "name",
+  "status",
+  "time",
+  "type_param",
+  "value_param"
+};
+
+template <int kSize>
+std::vector<std::string> ArrayAsVector(const char* const (&array)[kSize]) {
+  return std::vector<std::string>(array, array + kSize);
+}
+
+static std::vector<std::string> GetReservedAttributesForElement(
+    const std::string& xml_element) {
+  if (xml_element == "testsuites") {
+    return ArrayAsVector(kReservedTestSuitesAttributes);
+  } else if (xml_element == "testsuite") {
+    return ArrayAsVector(kReservedTestSuiteAttributes);
+  } else if (xml_element == "testcase") {
+    return ArrayAsVector(kReservedTestCaseAttributes);
+  } else {
+    GTEST_CHECK_(false) << "Unrecognized xml_element provided: " << xml_element;
+  }
+  // This code is unreachable but some compilers may not realizes that.
+  return std::vector<std::string>();
+}
+
+static std::string FormatWordList(const std::vector<std::string>& words) {
+  Message word_list;
+  for (size_t i = 0; i < words.size(); ++i) {
+    if (i > 0 && words.size() > 2) {
+      word_list << ", ";
+    }
+    if (i == words.size() - 1) {
+      word_list << "and ";
+    }
+    word_list << "'" << words[i] << "'";
+  }
+  return word_list.GetString();
+}
+
+bool ValidateTestPropertyName(const std::string& property_name,
+                              const std::vector<std::string>& reserved_names) {
+  if (std::find(reserved_names.begin(), reserved_names.end(), property_name) !=
+          reserved_names.end()) {
+    ADD_FAILURE() << "Reserved key used in RecordProperty(): " << property_name
+                  << " (" << FormatWordList(reserved_names)
+                  << " are reserved by " << GTEST_NAME_ << ")";
+    return false;
+  }
+  return true;
+}
+
+// Adds a failure if the key is a reserved attribute of the element named
+// xml_element.  Returns true if the property is valid.
+bool TestResult::ValidateTestProperty(const std::string& xml_element,
+                                      const TestProperty& test_property) {
+  return ValidateTestPropertyName(test_property.key(),
+                                  GetReservedAttributesForElement(xml_element));
+}
+
+// Clears the object.
+void TestResult::Clear() {
+  test_part_results_.clear();
+  test_properties_.clear();
+  death_test_count_ = 0;
+  elapsed_time_ = 0;
+}
+
+// Returns true iff the test failed.
+bool TestResult::Failed() const {
+  for (int i = 0; i < total_part_count(); ++i) {
+    if (GetTestPartResult(i).failed())
+      return true;
+  }
+  return false;
+}
+
+// Returns true iff the test part fatally failed.
+static bool TestPartFatallyFailed(const TestPartResult& result) {
+  return result.fatally_failed();
+}
+
+// Returns true iff the test fatally failed.
+bool TestResult::HasFatalFailure() const {
+  return CountIf(test_part_results_, TestPartFatallyFailed) > 0;
+}
+
+// Returns true iff the test part non-fatally failed.
+static bool TestPartNonfatallyFailed(const TestPartResult& result) {
+  return result.nonfatally_failed();
+}
+
+// Returns true iff the test has a non-fatal failure.
+bool TestResult::HasNonfatalFailure() const {
+  return CountIf(test_part_results_, TestPartNonfatallyFailed) > 0;
+}
+
+// Gets the number of all test parts.  This is the sum of the number
+// of successful test parts and the number of failed test parts.
+int TestResult::total_part_count() const {
+  return static_cast<int>(test_part_results_.size());
+}
+
+// Returns the number of the test properties.
+int TestResult::test_property_count() const {
+  return static_cast<int>(test_properties_.size());
+}
+
+// class Test
+
+// Creates a Test object.
+
+// The c'tor saves the states of all flags.
+Test::Test()
+    : gtest_flag_saver_(new GTEST_FLAG_SAVER_) {
+}
+
+// The d'tor restores the states of all flags.  The actual work is
+// done by the d'tor of the gtest_flag_saver_ field, and thus not
+// visible here.
+Test::~Test() {
+}
+
+// Sets up the test fixture.
+//
+// A sub-class may override this.
+void Test::SetUp() {
+}
+
+// Tears down the test fixture.
+//
+// A sub-class may override this.
+void Test::TearDown() {
+}
+
+// Allows user supplied key value pairs to be recorded for later output.
+void Test::RecordProperty(const std::string& key, const std::string& value) {
+  UnitTest::GetInstance()->RecordProperty(key, value);
+}
+
+// Allows user supplied key value pairs to be recorded for later output.
+void Test::RecordProperty(const std::string& key, int value) {
+  Message value_message;
+  value_message << value;
+  RecordProperty(key, value_message.GetString().c_str());
+}
+
+namespace internal {
+
+void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
+                                    const std::string& message) {
+  // This function is a friend of UnitTest and as such has access to
+  // AddTestPartResult.
+  UnitTest::GetInstance()->AddTestPartResult(
+      result_type,
+      NULL,  // No info about the source file where the exception occurred.
+      -1,    // We have no info on which line caused the exception.
+      message,
+      "");   // No stack trace, either.
+}
+
+}  // namespace internal
+
+// Google Test requires all tests in the same test case to use the same test
+// fixture class.  This function checks if the current test has the
+// same fixture class as the first test in the current test case.  If
+// yes, it returns true; otherwise it generates a Google Test failure and
+// returns false.
+bool Test::HasSameFixtureClass() {
+  internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+  const TestCase* const test_case = impl->current_test_case();
+
+  // Info about the first test in the current test case.
+  const TestInfo* const first_test_info = test_case->test_info_list()[0];
+  const internal::TypeId first_fixture_id = first_test_info->fixture_class_id_;
+  const char* const first_test_name = first_test_info->name();
+
+  // Info about the current test.
+  const TestInfo* const this_test_info = impl->current_test_info();
+  const internal::TypeId this_fixture_id = this_test_info->fixture_class_id_;
+  const char* const this_test_name = this_test_info->name();
+
+  if (this_fixture_id != first_fixture_id) {
+    // Is the first test defined using TEST?
+    const bool first_is_TEST = first_fixture_id == internal::GetTestTypeId();
+    // Is this test defined using TEST?
+    const bool this_is_TEST = this_fixture_id == internal::GetTestTypeId();
+
+    if (first_is_TEST || this_is_TEST) {
+      // Both TEST and TEST_F appear in same test case, which is incorrect.
+      // Tell the user how to fix this.
+
+      // Gets the name of the TEST and the name of the TEST_F.  Note
+      // that first_is_TEST and this_is_TEST cannot both be true, as
+      // the fixture IDs are different for the two tests.
+      const char* const TEST_name =
+          first_is_TEST ? first_test_name : this_test_name;
+      const char* const TEST_F_name =
+          first_is_TEST ? this_test_name : first_test_name;
+
+      ADD_FAILURE()
+          << "All tests in the same test case must use the same test fixture\n"
+          << "class, so mixing TEST_F and TEST in the same test case is\n"
+          << "illegal.  In test case " << this_test_info->test_case_name()
+          << ",\n"
+          << "test " << TEST_F_name << " is defined using TEST_F but\n"
+          << "test " << TEST_name << " is defined using TEST.  You probably\n"
+          << "want to change the TEST to TEST_F or move it to another test\n"
+          << "case.";
+    } else {
+      // Two fixture classes with the same name appear in two different
+      // namespaces, which is not allowed. Tell the user how to fix this.
+      ADD_FAILURE()
+          << "All tests in the same test case must use the same test fixture\n"
+          << "class.  However, in test case "
+          << this_test_info->test_case_name() << ",\n"
+          << "you defined test " << first_test_name
+          << " and test " << this_test_name << "\n"
+          << "using two different test fixture classes.  This can happen if\n"
+          << "the two classes are from different namespaces or translation\n"
+          << "units and have the same name.  You should probably rename one\n"
+          << "of the classes to put the tests into different test cases.";
+    }
+    return false;
+  }
+
+  return true;
+}
+
+#if GTEST_HAS_SEH
+
+// Adds an "exception thrown" fatal failure to the current test.  This
+// function returns its result via an output parameter pointer because VC++
+// prohibits creation of objects with destructors on stack in functions
+// using __try (see error C2712).
+static std::string* FormatSehExceptionMessage(DWORD exception_code,
+                                              const char* location) {
+  Message message;
+  message << "SEH exception with code 0x" << std::setbase(16) <<
+    exception_code << std::setbase(10) << " thrown in " << location << ".";
+
+  return new std::string(message.GetString());
+}
+
+#endif  // GTEST_HAS_SEH
+
+namespace internal {
+
+#if GTEST_HAS_EXCEPTIONS
+
+// Adds an "exception thrown" fatal failure to the current test.
+static std::string FormatCxxExceptionMessage(const char* description,
+                                             const char* location) {
+  Message message;
+  if (description != NULL) {
+    message << "C++ exception with description \"" << description << "\"";
+  } else {
+    message << "Unknown C++ exception";
+  }
+  message << " thrown in " << location << ".";
+
+  return message.GetString();
+}
+
+static std::string PrintTestPartResultToString(
+    const TestPartResult& test_part_result);
+
+GoogleTestFailureException::GoogleTestFailureException(
+    const TestPartResult& failure)
+    : ::std::runtime_error(PrintTestPartResultToString(failure).c_str()) {}
+
+#endif  // GTEST_HAS_EXCEPTIONS
+
+// We put these helper functions in the internal namespace as IBM's xlC
+// compiler rejects the code if they were declared static.
+
+// Runs the given method and handles SEH exceptions it throws, when
+// SEH is supported; returns the 0-value for type Result in case of an
+// SEH exception.  (Microsoft compilers cannot handle SEH and C++
+// exceptions in the same function.  Therefore, we provide a separate
+// wrapper function for handling SEH exceptions.)
+template <class T, typename Result>
+Result HandleSehExceptionsInMethodIfSupported(
+    T* object, Result (T::*method)(), const char* location) {
+#if GTEST_HAS_SEH
+  __try {
+    return (object->*method)();
+  } __except (internal::UnitTestOptions::GTestShouldProcessSEH(  // NOLINT
+      GetExceptionCode())) {
+    // We create the exception message on the heap because VC++ prohibits
+    // creation of objects with destructors on stack in functions using __try
+    // (see error C2712).
+    std::string* exception_message = FormatSehExceptionMessage(
+        GetExceptionCode(), location);
+    internal::ReportFailureInUnknownLocation(TestPartResult::kFatalFailure,
+                                             *exception_message);
+    delete exception_message;
+    return static_cast<Result>(0);
+  }
+#else
+  (void)location;
+  return (object->*method)();
+#endif  // GTEST_HAS_SEH
+}
+
+// Runs the given method and catches and reports C++ and/or SEH-style
+// exceptions, if they are supported; returns the 0-value for type
+// Result in case of an SEH exception.
+template <class T, typename Result>
+Result HandleExceptionsInMethodIfSupported(
+    T* object, Result (T::*method)(), const char* location) {
+  // NOTE: The user code can affect the way in which Google Test handles
+  // exceptions by setting GTEST_FLAG(catch_exceptions), but only before
+  // RUN_ALL_TESTS() starts. It is technically possible to check the flag
+  // after the exception is caught and either report or re-throw the
+  // exception based on the flag's value:
+  //
+  // try {
+  //   // Perform the test method.
+  // } catch (...) {
+  //   if (GTEST_FLAG(catch_exceptions))
+  //     // Report the exception as failure.
+  //   else
+  //     throw;  // Re-throws the original exception.
+  // }
+  //
+  // However, the purpose of this flag is to allow the program to drop into
+  // the debugger when the exception is thrown. On most platforms, once the
+  // control enters the catch block, the exception origin information is
+  // lost and the debugger will stop the program at the point of the
+  // re-throw in this function -- instead of at the point of the original
+  // throw statement in the code under test.  For this reason, we perform
+  // the check early, sacrificing the ability to affect Google Test's
+  // exception handling in the method where the exception is thrown.
+  if (internal::GetUnitTestImpl()->catch_exceptions()) {
+#if GTEST_HAS_EXCEPTIONS
+    try {
+      return HandleSehExceptionsInMethodIfSupported(object, method, location);
+    } catch (const internal::GoogleTestFailureException&) {  // NOLINT
+      // This exception type can only be thrown by a failed Google
+      // Test assertion with the intention of letting another testing
+      // framework catch it.  Therefore we just re-throw it.
+      throw;
+    } catch (const std::exception& e) {  // NOLINT
+      internal::ReportFailureInUnknownLocation(
+          TestPartResult::kFatalFailure,
+          FormatCxxExceptionMessage(e.what(), location));
+    } catch (...) {  // NOLINT
+      internal::ReportFailureInUnknownLocation(
+          TestPartResult::kFatalFailure,
+          FormatCxxExceptionMessage(NULL, location));
+    }
+    return static_cast<Result>(0);
+#else
+    return HandleSehExceptionsInMethodIfSupported(object, method, location);
+#endif  // GTEST_HAS_EXCEPTIONS
+  } else {
+    return (object->*method)();
+  }
+}
+
+}  // namespace internal
+
+// Runs the test and updates the test result.
+void Test::Run() {
+  if (!HasSameFixtureClass()) return;
+
+  internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+  impl->os_stack_trace_getter()->UponLeavingGTest();
+  internal::HandleExceptionsInMethodIfSupported(this, &Test::SetUp, "SetUp()");
+  // We will run the test only if SetUp() was successful.
+  if (!HasFatalFailure()) {
+    impl->os_stack_trace_getter()->UponLeavingGTest();
+    internal::HandleExceptionsInMethodIfSupported(
+        this, &Test::TestBody, "the test body");
+  }
+
+  // However, we want to clean up as much as possible.  Hence we will
+  // always call TearDown(), even if SetUp() or the test body has
+  // failed.
+  impl->os_stack_trace_getter()->UponLeavingGTest();
+  internal::HandleExceptionsInMethodIfSupported(
+      this, &Test::TearDown, "TearDown()");
+}
+
+// Returns true iff the current test has a fatal failure.
+bool Test::HasFatalFailure() {
+  return internal::GetUnitTestImpl()->current_test_result()->HasFatalFailure();
+}
+
+// Returns true iff the current test has a non-fatal failure.
+bool Test::HasNonfatalFailure() {
+  return internal::GetUnitTestImpl()->current_test_result()->
+      HasNonfatalFailure();
+}
+
+// class TestInfo
+
+// Constructs a TestInfo object. It assumes ownership of the test factory
+// object.
+TestInfo::TestInfo(const std::string& a_test_case_name,
+                   const std::string& a_name,
+                   const char* a_type_param,
+                   const char* a_value_param,
+                   internal::CodeLocation a_code_location,
+                   internal::TypeId fixture_class_id,
+                   internal::TestFactoryBase* factory)
+    : test_case_name_(a_test_case_name),
+      name_(a_name),
+      type_param_(a_type_param ? new std::string(a_type_param) : NULL),
+      value_param_(a_value_param ? new std::string(a_value_param) : NULL),
+      location_(a_code_location),
+      fixture_class_id_(fixture_class_id),
+      should_run_(false),
+      is_disabled_(false),
+      matches_filter_(false),
+      factory_(factory),
+      result_() {}
+
+// Destructs a TestInfo object.
+TestInfo::~TestInfo() { delete factory_; }
+
+namespace internal {
+
+// Creates a new TestInfo object and registers it with Google Test;
+// returns the created object.
+//
+// Arguments:
+//
+//   test_case_name:   name of the test case
+//   name:             name of the test
+//   type_param:       the name of the test's type parameter, or NULL if
+//                     this is not a typed or a type-parameterized test.
+//   value_param:      text representation of the test's value parameter,
+//                     or NULL if this is not a value-parameterized test.
+//   code_location:    code location where the test is defined
+//   fixture_class_id: ID of the test fixture class
+//   set_up_tc:        pointer to the function that sets up the test case
+//   tear_down_tc:     pointer to the function that tears down the test case
+//   factory:          pointer to the factory that creates a test object.
+//                     The newly created TestInfo instance will assume
+//                     ownership of the factory object.
+TestInfo* MakeAndRegisterTestInfo(
+    const char* test_case_name,
+    const char* name,
+    const char* type_param,
+    const char* value_param,
+    CodeLocation code_location,
+    TypeId fixture_class_id,
+    SetUpTestCaseFunc set_up_tc,
+    TearDownTestCaseFunc tear_down_tc,
+    TestFactoryBase* factory) {
+  TestInfo* const test_info =
+      new TestInfo(test_case_name, name, type_param, value_param,
+                   code_location, fixture_class_id, factory);
+  GetUnitTestImpl()->AddTestInfo(set_up_tc, tear_down_tc, test_info);
+  return test_info;
+}
+
+#if GTEST_HAS_PARAM_TEST
+void ReportInvalidTestCaseType(const char* test_case_name,
+                               CodeLocation code_location) {
+  Message errors;
+  errors
+      << "Attempted redefinition of test case " << test_case_name << ".\n"
+      << "All tests in the same test case must use the same test fixture\n"
+      << "class.  However, in test case " << test_case_name << ", you tried\n"
+      << "to define a test using a fixture class different from the one\n"
+      << "used earlier. This can happen if the two fixture classes are\n"
+      << "from different namespaces and have the same name. You should\n"
+      << "probably rename one of the classes to put the tests into different\n"
+      << "test cases.";
+
+  fprintf(stderr, "%s %s",
+          FormatFileLocation(code_location.file.c_str(),
+                             code_location.line).c_str(),
+          errors.GetString().c_str());
+}
+#endif  // GTEST_HAS_PARAM_TEST
+
+}  // namespace internal
+
+namespace {
+
+// A predicate that checks the test name of a TestInfo against a known
+// value.
+//
+// This is used for implementation of the TestCase class only.  We put
+// it in the anonymous namespace to prevent polluting the outer
+// namespace.
+//
+// TestNameIs is copyable.
+class TestNameIs {
+ public:
+  // Constructor.
+  //
+  // TestNameIs has NO default constructor.
+  explicit TestNameIs(const char* name)
+      : name_(name) {}
+
+  // Returns true iff the test name of test_info matches name_.
+  bool operator()(const TestInfo * test_info) const {
+    return test_info && test_info->name() == name_;
+  }
+
+ private:
+  std::string name_;
+};
+
+}  // namespace
+
+namespace internal {
+
+// This method expands all parameterized tests registered with macros TEST_P
+// and INSTANTIATE_TEST_CASE_P into regular tests and registers those.
+// This will be done just once during the program runtime.
+void UnitTestImpl::RegisterParameterizedTests() {
+#if GTEST_HAS_PARAM_TEST
+  if (!parameterized_tests_registered_) {
+    parameterized_test_registry_.RegisterTests();
+    parameterized_tests_registered_ = true;
+  }
+#endif
+}
+
+}  // namespace internal
+
+// Creates the test object, runs it, records its result, and then
+// deletes it.
+void TestInfo::Run() {
+  if (!should_run_) return;
+
+  // Tells UnitTest where to store test result.
+  internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+  impl->set_current_test_info(this);
+
+  TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
+
+  // Notifies the unit test event listeners that a test is about to start.
+  repeater->OnTestStart(*this);
+
+  const TimeInMillis start = internal::GetTimeInMillis();
+
+  impl->os_stack_trace_getter()->UponLeavingGTest();
+
+  // Creates the test object.
+  Test* const test = internal::HandleExceptionsInMethodIfSupported(
+      factory_, &internal::TestFactoryBase::CreateTest,
+      "the test fixture's constructor");
+
+  // Runs the test only if the test object was created and its
+  // constructor didn't generate a fatal failure.
+  if ((test != NULL) && !Test::HasFatalFailure()) {
+    // This doesn't throw as all user code that can throw are wrapped into
+    // exception handling code.
+    test->Run();
+  }
+
+  // Deletes the test object.
+  impl->os_stack_trace_getter()->UponLeavingGTest();
+  internal::HandleExceptionsInMethodIfSupported(
+      test, &Test::DeleteSelf_, "the test fixture's destructor");
+
+  result_.set_elapsed_time(internal::GetTimeInMillis() - start);
+
+  // Notifies the unit test event listener that a test has just finished.
+  repeater->OnTestEnd(*this);
+
+  // Tells UnitTest to stop associating assertion results to this
+  // test.
+  impl->set_current_test_info(NULL);
+}
+
+// class TestCase
+
+// Gets the number of successful tests in this test case.
+int TestCase::successful_test_count() const {
+  return CountIf(test_info_list_, TestPassed);
+}
+
+// Gets the number of failed tests in this test case.
+int TestCase::failed_test_count() const {
+  return CountIf(test_info_list_, TestFailed);
+}
+
+// Gets the number of disabled tests that will be reported in the XML report.
+int TestCase::reportable_disabled_test_count() const {
+  return CountIf(test_info_list_, TestReportableDisabled);
+}
+
+// Gets the number of disabled tests in this test case.
+int TestCase::disabled_test_count() const {
+  return CountIf(test_info_list_, TestDisabled);
+}
+
+// Gets the number of tests to be printed in the XML report.
+int TestCase::reportable_test_count() const {
+  return CountIf(test_info_list_, TestReportable);
+}
+
+// Get the number of tests in this test case that should run.
+int TestCase::test_to_run_count() const {
+  return CountIf(test_info_list_, ShouldRunTest);
+}
+
+// Gets the number of all tests.
+int TestCase::total_test_count() const {
+  return static_cast<int>(test_info_list_.size());
+}
+
+// Creates a TestCase with the given name.
+//
+// Arguments:
+//
+//   name:         name of the test case
+//   a_type_param: the name of the test case's type parameter, or NULL if
+//                 this is not a typed or a type-parameterized test case.
+//   set_up_tc:    pointer to the function that sets up the test case
+//   tear_down_tc: pointer to the function that tears down the test case
+TestCase::TestCase(const char* a_name, const char* a_type_param,
+                   Test::SetUpTestCaseFunc set_up_tc,
+                   Test::TearDownTestCaseFunc tear_down_tc)
+    : name_(a_name),
+      type_param_(a_type_param ? new std::string(a_type_param) : NULL),
+      set_up_tc_(set_up_tc),
+      tear_down_tc_(tear_down_tc),
+      should_run_(false),
+      elapsed_time_(0) {
+}
+
+// Destructor of TestCase.
+TestCase::~TestCase() {
+  // Deletes every Test in the collection.
+  ForEach(test_info_list_, internal::Delete<TestInfo>);
+}
+
+// Returns the i-th test among all the tests. i can range from 0 to
+// total_test_count() - 1. If i is not in that range, returns NULL.
+const TestInfo* TestCase::GetTestInfo(int i) const {
+  const int index = GetElementOr(test_indices_, i, -1);
+  return index < 0 ? NULL : test_info_list_[index];
+}
+
+// Returns the i-th test among all the tests. i can range from 0 to
+// total_test_count() - 1. If i is not in that range, returns NULL.
+TestInfo* TestCase::GetMutableTestInfo(int i) {
+  const int index = GetElementOr(test_indices_, i, -1);
+  return index < 0 ? NULL : test_info_list_[index];
+}
+
+// Adds a test to this test case.  Will delete the test upon
+// destruction of the TestCase object.
+void TestCase::AddTestInfo(TestInfo * test_info) {
+  test_info_list_.push_back(test_info);
+  test_indices_.push_back(static_cast<int>(test_indices_.size()));
+}
+
+// Runs every test in this TestCase.
+void TestCase::Run() {
+  if (!should_run_) return;
+
+  internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+  impl->set_current_test_case(this);
+
+  TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
+
+  repeater->OnTestCaseStart(*this);
+  impl->os_stack_trace_getter()->UponLeavingGTest();
+  internal::HandleExceptionsInMethodIfSupported(
+      this, &TestCase::RunSetUpTestCase, "SetUpTestCase()");
+
+  const internal::TimeInMillis start = internal::GetTimeInMillis();
+  for (int i = 0; i < total_test_count(); i++) {
+    GetMutableTestInfo(i)->Run();
+  }
+  elapsed_time_ = internal::GetTimeInMillis() - start;
+
+  impl->os_stack_trace_getter()->UponLeavingGTest();
+  internal::HandleExceptionsInMethodIfSupported(
+      this, &TestCase::RunTearDownTestCase, "TearDownTestCase()");
+
+  repeater->OnTestCaseEnd(*this);
+  impl->set_current_test_case(NULL);
+}
+
+// Clears the results of all tests in this test case.
+void TestCase::ClearResult() {
+  ad_hoc_test_result_.Clear();
+  ForEach(test_info_list_, TestInfo::ClearTestResult);
+}
+
+// Shuffles the tests in this test case.
+void TestCase::ShuffleTests(internal::Random* random) {
+  Shuffle(random, &test_indices_);
+}
+
+// Restores the test order to before the first shuffle.
+void TestCase::UnshuffleTests() {
+  for (size_t i = 0; i < test_indices_.size(); i++) {
+    test_indices_[i] = static_cast<int>(i);
+  }
+}
+
+// Formats a countable noun.  Depending on its quantity, either the
+// singular form or the plural form is used. e.g.
+//
+// FormatCountableNoun(1, "formula", "formuli") returns "1 formula".
+// FormatCountableNoun(5, "book", "books") returns "5 books".
+static std::string FormatCountableNoun(int count,
+                                       const char * singular_form,
+                                       const char * plural_form) {
+  return internal::StreamableToString(count) + " " +
+      (count == 1 ? singular_form : plural_form);
+}
+
+// Formats the count of tests.
+static std::string FormatTestCount(int test_count) {
+  return FormatCountableNoun(test_count, "test", "tests");
+}
+
+// Formats the count of test cases.
+static std::string FormatTestCaseCount(int test_case_count) {
+  return FormatCountableNoun(test_case_count, "test case", "test cases");
+}
+
+// Converts a TestPartResult::Type enum to human-friendly string
+// representation.  Both kNonFatalFailure and kFatalFailure are translated
+// to "Failure", as the user usually doesn't care about the difference
+// between the two when viewing the test result.
+static const char * TestPartResultTypeToString(TestPartResult::Type type) {
+  switch (type) {
+    case TestPartResult::kSuccess:
+      return "Success";
+
+    case TestPartResult::kNonFatalFailure:
+    case TestPartResult::kFatalFailure:
+#ifdef _MSC_VER
+      return "error: ";
+#else
+      return "Failure\n";
+#endif
+    default:
+      return "Unknown result type";
+  }
+}
+
+namespace internal {
+
+// Prints a TestPartResult to an std::string.
+static std::string PrintTestPartResultToString(
+    const TestPartResult& test_part_result) {
+  return (Message()
+          << internal::FormatFileLocation(test_part_result.file_name(),
+                                          test_part_result.line_number())
+          << " " << TestPartResultTypeToString(test_part_result.type())
+          << test_part_result.message()).GetString();
+}
+
+// Prints a TestPartResult.
+static void PrintTestPartResult(const TestPartResult& test_part_result) {
+  const std::string& result =
+      PrintTestPartResultToString(test_part_result);
+  printf("%s\n", result.c_str());
+  fflush(stdout);
+  // If the test program runs in Visual Studio or a debugger, the
+  // following statements add the test part result message to the Output
+  // window such that the user can double-click on it to jump to the
+  // corresponding source code location; otherwise they do nothing.
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+  // We don't call OutputDebugString*() on Windows Mobile, as printing
+  // to stdout is done by OutputDebugString() there already - we don't
+  // want the same message printed twice.
+  ::OutputDebugStringA(result.c_str());
+  ::OutputDebugStringA("\n");
+#endif
+}
+
+// class PrettyUnitTestResultPrinter
+
+enum GTestColor {
+  COLOR_DEFAULT,
+  COLOR_RED,
+  COLOR_GREEN,
+  COLOR_YELLOW
+};
+
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE && \
+    !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+
+// Returns the character attribute for the given color.
+WORD GetColorAttribute(GTestColor color) {
+  switch (color) {
+    case COLOR_RED:    return FOREGROUND_RED;
+    case COLOR_GREEN:  return FOREGROUND_GREEN;
+    case COLOR_YELLOW: return FOREGROUND_RED | FOREGROUND_GREEN;
+    default:           return 0;
+  }
+}
+
+#else
+
+// Returns the ANSI color code for the given color.  COLOR_DEFAULT is
+// an invalid input.
+const char* GetAnsiColorCode(GTestColor color) {
+  switch (color) {
+    case COLOR_RED:     return "1";
+    case COLOR_GREEN:   return "2";
+    case COLOR_YELLOW:  return "3";
+    default:            return NULL;
+  };
+}
+
+#endif  // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+
+// Returns true iff Google Test should use colors in the output.
+bool ShouldUseColor(bool stdout_is_tty) {
+  const char* const gtest_color = GTEST_FLAG(color).c_str();
+
+  if (String::CaseInsensitiveCStringEquals(gtest_color, "auto")) {
+#if GTEST_OS_WINDOWS
+    // On Windows the TERM variable is usually not set, but the
+    // console there does support colors.
+    return stdout_is_tty;
+#else
+    // On non-Windows platforms, we rely on the TERM variable.
+    const char* const term = posix::GetEnv("TERM");
+    const bool term_supports_color =
+        String::CStringEquals(term, "xterm") ||
+        String::CStringEquals(term, "xterm-color") ||
+        String::CStringEquals(term, "xterm-256color") ||
+        String::CStringEquals(term, "screen") ||
+        String::CStringEquals(term, "screen-256color") ||
+        String::CStringEquals(term, "tmux") ||
+        String::CStringEquals(term, "tmux-256color") ||
+        String::CStringEquals(term, "rxvt-unicode") ||
+        String::CStringEquals(term, "rxvt-unicode-256color") ||
+        String::CStringEquals(term, "linux") ||
+        String::CStringEquals(term, "cygwin");
+    return stdout_is_tty && term_supports_color;
+#endif  // GTEST_OS_WINDOWS
+  }
+
+  return String::CaseInsensitiveCStringEquals(gtest_color, "yes") ||
+      String::CaseInsensitiveCStringEquals(gtest_color, "true") ||
+      String::CaseInsensitiveCStringEquals(gtest_color, "t") ||
+      String::CStringEquals(gtest_color, "1");
+  // We take "yes", "true", "t", and "1" as meaning "yes".  If the
+  // value is neither one of these nor "auto", we treat it as "no" to
+  // be conservative.
+}
+
+// Helpers for printing colored strings to stdout. Note that on Windows, we
+// cannot simply emit special characters and have the terminal change colors.
+// This routine must actually emit the characters rather than return a string
+// that would be colored when printed, as can be done on Linux.
+void ColoredPrintf(GTestColor color, const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+
+#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS || \
+    GTEST_OS_IOS || GTEST_OS_WINDOWS_PHONE || GTEST_OS_WINDOWS_RT
+  const bool use_color = AlwaysFalse();
+#else
+  static const bool in_color_mode =
+      ShouldUseColor(posix::IsATTY(posix::FileNo(stdout)) != 0);
+  const bool use_color = in_color_mode && (color != COLOR_DEFAULT);
+#endif  // GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS
+  // The '!= 0' comparison is necessary to satisfy MSVC 7.1.
+
+  if (!use_color) {
+    vprintf(fmt, args);
+    va_end(args);
+    return;
+  }
+
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE && \
+    !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+  const HANDLE stdout_handle = GetStdHandle(STD_OUTPUT_HANDLE);
+
+  // Gets the current text color.
+  CONSOLE_SCREEN_BUFFER_INFO buffer_info;
+  GetConsoleScreenBufferInfo(stdout_handle, &buffer_info);
+  const WORD old_color_attrs = buffer_info.wAttributes;
+
+  // We need to flush the stream buffers into the console before each
+  // SetConsoleTextAttribute call lest it affect the text that is already
+  // printed but has not yet reached the console.
+  fflush(stdout);
+  SetConsoleTextAttribute(stdout_handle,
+                          GetColorAttribute(color) | FOREGROUND_INTENSITY);
+  vprintf(fmt, args);
+
+  fflush(stdout);
+  // Restores the text color.
+  SetConsoleTextAttribute(stdout_handle, old_color_attrs);
+#else
+  printf("\033[0;3%sm", GetAnsiColorCode(color));
+  vprintf(fmt, args);
+  printf("\033[m");  // Resets the terminal to default.
+#endif  // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+  va_end(args);
+}
+
+// Text printed in Google Test's text output and --gunit_list_tests
+// output to label the type parameter and value parameter for a test.
+static const char kTypeParamLabel[] = "TypeParam";
+static const char kValueParamLabel[] = "GetParam()";
+
+void PrintFullTestCommentIfPresent(const TestInfo& test_info) {
+  const char* const type_param = test_info.type_param();
+  const char* const value_param = test_info.value_param();
+
+  if (type_param != NULL || value_param != NULL) {
+    printf(", where ");
+    if (type_param != NULL) {
+      printf("%s = %s", kTypeParamLabel, type_param);
+      if (value_param != NULL)
+        printf(" and ");
+    }
+    if (value_param != NULL) {
+      printf("%s = %s", kValueParamLabel, value_param);
+    }
+  }
+}
+
+// This class implements the TestEventListener interface.
+//
+// Class PrettyUnitTestResultPrinter is copyable.
+class PrettyUnitTestResultPrinter : public TestEventListener {
+ public:
+  PrettyUnitTestResultPrinter() {}
+  static void PrintTestName(const char * test_case, const char * test) {
+    printf("%s.%s", test_case, test);
+  }
+
+  // The following methods override what's in the TestEventListener class.
+  virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
+  virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
+  virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
+  virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
+  virtual void OnTestCaseStart(const TestCase& test_case);
+  virtual void OnTestStart(const TestInfo& test_info);
+  virtual void OnTestPartResult(const TestPartResult& result);
+  virtual void OnTestEnd(const TestInfo& test_info);
+  virtual void OnTestCaseEnd(const TestCase& test_case);
+  virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
+  virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
+  virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+  virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
+
+ private:
+  static void PrintFailedTests(const UnitTest& unit_test);
+};
+
+  // Fired before each iteration of tests starts.
+void PrettyUnitTestResultPrinter::OnTestIterationStart(
+    const UnitTest& unit_test, int iteration) {
+  if (GTEST_FLAG(repeat) != 1)
+    printf("\nRepeating all tests (iteration %d) . . .\n\n", iteration + 1);
+
+  const char* const filter = GTEST_FLAG(filter).c_str();
+
+  // Prints the filter if it's not *.  This reminds the user that some
+  // tests may be skipped.
+  if (!String::CStringEquals(filter, kUniversalFilter)) {
+    ColoredPrintf(COLOR_YELLOW,
+                  "Note: %s filter = %s\n", GTEST_NAME_, filter);
+  }
+
+  if (internal::ShouldShard(kTestTotalShards, kTestShardIndex, false)) {
+    const Int32 shard_index = Int32FromEnvOrDie(kTestShardIndex, -1);
+    ColoredPrintf(COLOR_YELLOW,
+                  "Note: This is test shard %d of %s.\n",
+                  static_cast<int>(shard_index) + 1,
+                  internal::posix::GetEnv(kTestTotalShards));
+  }
+
+  if (GTEST_FLAG(shuffle)) {
+    ColoredPrintf(COLOR_YELLOW,
+                  "Note: Randomizing tests' orders with a seed of %d .\n",
+                  unit_test.random_seed());
+  }
+
+  ColoredPrintf(COLOR_GREEN,  "[==========] ");
+  printf("Running %s from %s.\n",
+         FormatTestCount(unit_test.test_to_run_count()).c_str(),
+         FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
+  fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnEnvironmentsSetUpStart(
+    const UnitTest& /*unit_test*/) {
+  ColoredPrintf(COLOR_GREEN,  "[----------] ");
+  printf("Global test environment set-up.\n");
+  fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestCaseStart(const TestCase& test_case) {
+  const std::string counts =
+      FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
+  ColoredPrintf(COLOR_GREEN, "[----------] ");
+  printf("%s from %s", counts.c_str(), test_case.name());
+  if (test_case.type_param() == NULL) {
+    printf("\n");
+  } else {
+    printf(", where %s = %s\n", kTypeParamLabel, test_case.type_param());
+  }
+  fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestStart(const TestInfo& test_info) {
+  ColoredPrintf(COLOR_GREEN,  "[ RUN      ] ");
+  PrintTestName(test_info.test_case_name(), test_info.name());
+  printf("\n");
+  fflush(stdout);
+}
+
+// Called after an assertion failure.
+void PrettyUnitTestResultPrinter::OnTestPartResult(
+    const TestPartResult& result) {
+  // If the test part succeeded, we don't need to do anything.
+  if (result.type() == TestPartResult::kSuccess)
+    return;
+
+  // Print failure message from the assertion (e.g. expected this and got that).
+  PrintTestPartResult(result);
+  fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestEnd(const TestInfo& test_info) {
+  if (test_info.result()->Passed()) {
+    ColoredPrintf(COLOR_GREEN, "[       OK ] ");
+  } else {
+    ColoredPrintf(COLOR_RED, "[  FAILED  ] ");
+  }
+  PrintTestName(test_info.test_case_name(), test_info.name());
+  if (test_info.result()->Failed())
+    PrintFullTestCommentIfPresent(test_info);
+
+  if (GTEST_FLAG(print_time)) {
+    printf(" (%s ms)\n", internal::StreamableToString(
+           test_info.result()->elapsed_time()).c_str());
+  } else {
+    printf("\n");
+  }
+  fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestCaseEnd(const TestCase& test_case) {
+  if (!GTEST_FLAG(print_time)) return;
+
+  const std::string counts =
+      FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
+  ColoredPrintf(COLOR_GREEN, "[----------] ");
+  printf("%s from %s (%s ms total)\n\n",
+         counts.c_str(), test_case.name(),
+         internal::StreamableToString(test_case.elapsed_time()).c_str());
+  fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnEnvironmentsTearDownStart(
+    const UnitTest& /*unit_test*/) {
+  ColoredPrintf(COLOR_GREEN,  "[----------] ");
+  printf("Global test environment tear-down\n");
+  fflush(stdout);
+}
+
+// Internal helper for printing the list of failed tests.
+void PrettyUnitTestResultPrinter::PrintFailedTests(const UnitTest& unit_test) {
+  const int failed_test_count = unit_test.failed_test_count();
+  if (failed_test_count == 0) {
+    return;
+  }
+
+  for (int i = 0; i < unit_test.total_test_case_count(); ++i) {
+    const TestCase& test_case = *unit_test.GetTestCase(i);
+    if (!test_case.should_run() || (test_case.failed_test_count() == 0)) {
+      continue;
+    }
+    for (int j = 0; j < test_case.total_test_count(); ++j) {
+      const TestInfo& test_info = *test_case.GetTestInfo(j);
+      if (!test_info.should_run() || test_info.result()->Passed()) {
+        continue;
+      }
+      ColoredPrintf(COLOR_RED, "[  FAILED  ] ");
+      printf("%s.%s", test_case.name(), test_info.name());
+      PrintFullTestCommentIfPresent(test_info);
+      printf("\n");
+    }
+  }
+}
+
+void PrettyUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
+                                                     int /*iteration*/) {
+  ColoredPrintf(COLOR_GREEN,  "[==========] ");
+  printf("%s from %s ran.",
+         FormatTestCount(unit_test.test_to_run_count()).c_str(),
+         FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
+  if (GTEST_FLAG(print_time)) {
+    printf(" (%s ms total)",
+           internal::StreamableToString(unit_test.elapsed_time()).c_str());
+  }
+  printf("\n");
+  ColoredPrintf(COLOR_GREEN,  "[  PASSED  ] ");
+  printf("%s.\n", FormatTestCount(unit_test.successful_test_count()).c_str());
+
+  int num_failures = unit_test.failed_test_count();
+  if (!unit_test.Passed()) {
+    const int failed_test_count = unit_test.failed_test_count();
+    ColoredPrintf(COLOR_RED,  "[  FAILED  ] ");
+    printf("%s, listed below:\n", FormatTestCount(failed_test_count).c_str());
+    PrintFailedTests(unit_test);
+    printf("\n%2d FAILED %s\n", num_failures,
+                        num_failures == 1 ? "TEST" : "TESTS");
+  }
+
+  int num_disabled = unit_test.reportable_disabled_test_count();
+  if (num_disabled && !GTEST_FLAG(also_run_disabled_tests)) {
+    if (!num_failures) {
+      printf("\n");  // Add a spacer if no FAILURE banner is displayed.
+    }
+    ColoredPrintf(COLOR_YELLOW,
+                  "  YOU HAVE %d DISABLED %s\n\n",
+                  num_disabled,
+                  num_disabled == 1 ? "TEST" : "TESTS");
+  }
+  // Ensure that Google Test output is printed before, e.g., heapchecker output.
+  fflush(stdout);
+}
+
+// End PrettyUnitTestResultPrinter
+
+// class TestEventRepeater
+//
+// This class forwards events to other event listeners.
+class TestEventRepeater : public TestEventListener {
+ public:
+  TestEventRepeater() : forwarding_enabled_(true) {}
+  virtual ~TestEventRepeater();
+  void Append(TestEventListener *listener);
+  TestEventListener* Release(TestEventListener* listener);
+
+  // Controls whether events will be forwarded to listeners_. Set to false
+  // in death test child processes.
+  bool forwarding_enabled() const { return forwarding_enabled_; }
+  void set_forwarding_enabled(bool enable) { forwarding_enabled_ = enable; }
+
+  virtual void OnTestProgramStart(const UnitTest& unit_test);
+  virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
+  virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
+  virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test);
+  virtual void OnTestCaseStart(const TestCase& test_case);
+  virtual void OnTestStart(const TestInfo& test_info);
+  virtual void OnTestPartResult(const TestPartResult& result);
+  virtual void OnTestEnd(const TestInfo& test_info);
+  virtual void OnTestCaseEnd(const TestCase& test_case);
+  virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
+  virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test);
+  virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+  virtual void OnTestProgramEnd(const UnitTest& unit_test);
+
+ private:
+  // Controls whether events will be forwarded to listeners_. Set to false
+  // in death test child processes.
+  bool forwarding_enabled_;
+  // The list of listeners that receive events.
+  std::vector<TestEventListener*> listeners_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventRepeater);
+};
+
+TestEventRepeater::~TestEventRepeater() {
+  ForEach(listeners_, Delete<TestEventListener>);
+}
+
+void TestEventRepeater::Append(TestEventListener *listener) {
+  listeners_.push_back(listener);
+}
+
+// TODO(vladl@google.com): Factor the search functionality into Vector::Find.
+TestEventListener* TestEventRepeater::Release(TestEventListener *listener) {
+  for (size_t i = 0; i < listeners_.size(); ++i) {
+    if (listeners_[i] == listener) {
+      listeners_.erase(listeners_.begin() + i);
+      return listener;
+    }
+  }
+
+  return NULL;
+}
+
+// Since most methods are very similar, use macros to reduce boilerplate.
+// This defines a member that forwards the call to all listeners.
+#define GTEST_REPEATER_METHOD_(Name, Type) \
+void TestEventRepeater::Name(const Type& parameter) { \
+  if (forwarding_enabled_) { \
+    for (size_t i = 0; i < listeners_.size(); i++) { \
+      listeners_[i]->Name(parameter); \
+    } \
+  } \
+}
+// This defines a member that forwards the call to all listeners in reverse
+// order.
+#define GTEST_REVERSE_REPEATER_METHOD_(Name, Type) \
+void TestEventRepeater::Name(const Type& parameter) { \
+  if (forwarding_enabled_) { \
+    for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) { \
+      listeners_[i]->Name(parameter); \
+    } \
+  } \
+}
+
+GTEST_REPEATER_METHOD_(OnTestProgramStart, UnitTest)
+GTEST_REPEATER_METHOD_(OnEnvironmentsSetUpStart, UnitTest)
+GTEST_REPEATER_METHOD_(OnTestCaseStart, TestCase)
+GTEST_REPEATER_METHOD_(OnTestStart, TestInfo)
+GTEST_REPEATER_METHOD_(OnTestPartResult, TestPartResult)
+GTEST_REPEATER_METHOD_(OnEnvironmentsTearDownStart, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsSetUpEnd, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsTearDownEnd, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestEnd, TestInfo)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestCaseEnd, TestCase)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestProgramEnd, UnitTest)
+
+#undef GTEST_REPEATER_METHOD_
+#undef GTEST_REVERSE_REPEATER_METHOD_
+
+void TestEventRepeater::OnTestIterationStart(const UnitTest& unit_test,
+                                             int iteration) {
+  if (forwarding_enabled_) {
+    for (size_t i = 0; i < listeners_.size(); i++) {
+      listeners_[i]->OnTestIterationStart(unit_test, iteration);
+    }
+  }
+}
+
+void TestEventRepeater::OnTestIterationEnd(const UnitTest& unit_test,
+                                           int iteration) {
+  if (forwarding_enabled_) {
+    for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) {
+      listeners_[i]->OnTestIterationEnd(unit_test, iteration);
+    }
+  }
+}
+
+// End TestEventRepeater
+
+// This class generates an XML output file.
+class XmlUnitTestResultPrinter : public EmptyTestEventListener {
+ public:
+  explicit XmlUnitTestResultPrinter(const char* output_file);
+
+  virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+
+ private:
+  // Is c a whitespace character that is normalized to a space character
+  // when it appears in an XML attribute value?
+  static bool IsNormalizableWhitespace(char c) {
+    return c == 0x9 || c == 0xA || c == 0xD;
+  }
+
+  // May c appear in a well-formed XML document?
+  static bool IsValidXmlCharacter(char c) {
+    return IsNormalizableWhitespace(c) || c >= 0x20;
+  }
+
+  // Returns an XML-escaped copy of the input string str.  If
+  // is_attribute is true, the text is meant to appear as an attribute
+  // value, and normalizable whitespace is preserved by replacing it
+  // with character references.
+  static std::string EscapeXml(const std::string& str, bool is_attribute);
+
+  // Returns the given string with all characters invalid in XML removed.
+  static std::string RemoveInvalidXmlCharacters(const std::string& str);
+
+  // Convenience wrapper around EscapeXml when str is an attribute value.
+  static std::string EscapeXmlAttribute(const std::string& str) {
+    return EscapeXml(str, true);
+  }
+
+  // Convenience wrapper around EscapeXml when str is not an attribute value.
+  static std::string EscapeXmlText(const char* str) {
+    return EscapeXml(str, false);
+  }
+
+  // Verifies that the given attribute belongs to the given element and
+  // streams the attribute as XML.
+  static void OutputXmlAttribute(std::ostream* stream,
+                                 const std::string& element_name,
+                                 const std::string& name,
+                                 const std::string& value);
+
+  // Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
+  static void OutputXmlCDataSection(::std::ostream* stream, const char* data);
+
+  // Streams an XML representation of a TestInfo object.
+  static void OutputXmlTestInfo(::std::ostream* stream,
+                                const char* test_case_name,
+                                const TestInfo& test_info);
+
+  // Prints an XML representation of a TestCase object
+  static void PrintXmlTestCase(::std::ostream* stream,
+                               const TestCase& test_case);
+
+  // Prints an XML summary of unit_test to output stream out.
+  static void PrintXmlUnitTest(::std::ostream* stream,
+                               const UnitTest& unit_test);
+
+  // Produces a string representing the test properties in a result as space
+  // delimited XML attributes based on the property key="value" pairs.
+  // When the std::string is not empty, it includes a space at the beginning,
+  // to delimit this attribute from prior attributes.
+  static std::string TestPropertiesAsXmlAttributes(const TestResult& result);
+
+  // The output file.
+  const std::string output_file_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(XmlUnitTestResultPrinter);
+};
+
+// Creates a new XmlUnitTestResultPrinter.
+XmlUnitTestResultPrinter::XmlUnitTestResultPrinter(const char* output_file)
+    : output_file_(output_file) {
+  if (output_file_.c_str() == NULL || output_file_.empty()) {
+    fprintf(stderr, "XML output file may not be null\n");
+    fflush(stderr);
+    exit(EXIT_FAILURE);
+  }
+}
+
+// Called after the unit test ends.
+void XmlUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
+                                                  int /*iteration*/) {
+  FILE* xmlout = NULL;
+  FilePath output_file(output_file_);
+  FilePath output_dir(output_file.RemoveFileName());
+
+  if (output_dir.CreateDirectoriesRecursively()) {
+    xmlout = posix::FOpen(output_file_.c_str(), "w");
+  }
+  if (xmlout == NULL) {
+    // TODO(wan): report the reason of the failure.
+    //
+    // We don't do it for now as:
+    //
+    //   1. There is no urgent need for it.
+    //   2. It's a bit involved to make the errno variable thread-safe on
+    //      all three operating systems (Linux, Windows, and Mac OS).
+    //   3. To interpret the meaning of errno in a thread-safe way,
+    //      we need the strerror_r() function, which is not available on
+    //      Windows.
+    fprintf(stderr,
+            "Unable to open file \"%s\"\n",
+            output_file_.c_str());
+    fflush(stderr);
+    exit(EXIT_FAILURE);
+  }
+  std::stringstream stream;
+  PrintXmlUnitTest(&stream, unit_test);
+  fprintf(xmlout, "%s", StringStreamToString(&stream).c_str());
+  fclose(xmlout);
+}
+
+// Returns an XML-escaped copy of the input string str.  If is_attribute
+// is true, the text is meant to appear as an attribute value, and
+// normalizable whitespace is preserved by replacing it with character
+// references.
+//
+// Invalid XML characters in str, if any, are stripped from the output.
+// It is expected that most, if not all, of the text processed by this
+// module will consist of ordinary English text.
+// If this module is ever modified to produce version 1.1 XML output,
+// most invalid characters can be retained using character references.
+// TODO(wan): It might be nice to have a minimally invasive, human-readable
+// escaping scheme for invalid characters, rather than dropping them.
+std::string XmlUnitTestResultPrinter::EscapeXml(
+    const std::string& str, bool is_attribute) {
+  Message m;
+
+  for (size_t i = 0; i < str.size(); ++i) {
+    const char ch = str[i];
+    switch (ch) {
+      case '<':
+        m << "&lt;";
+        break;
+      case '>':
+        m << "&gt;";
+        break;
+      case '&':
+        m << "&amp;";
+        break;
+      case '\'':
+        if (is_attribute)
+          m << "&apos;";
+        else
+          m << '\'';
+        break;
+      case '"':
+        if (is_attribute)
+          m << "&quot;";
+        else
+          m << '"';
+        break;
+      default:
+        if (IsValidXmlCharacter(ch)) {
+          if (is_attribute && IsNormalizableWhitespace(ch))
+            m << "&#x" << String::FormatByte(static_cast<unsigned char>(ch))
+              << ";";
+          else
+            m << ch;
+        }
+        break;
+    }
+  }
+
+  return m.GetString();
+}
+
+// Returns the given string with all characters invalid in XML removed.
+// Currently invalid characters are dropped from the string. An
+// alternative is to replace them with certain characters such as . or ?.
+std::string XmlUnitTestResultPrinter::RemoveInvalidXmlCharacters(
+    const std::string& str) {
+  std::string output;
+  output.reserve(str.size());
+  for (std::string::const_iterator it = str.begin(); it != str.end(); ++it)
+    if (IsValidXmlCharacter(*it))
+      output.push_back(*it);
+
+  return output;
+}
+
+// The following routines generate an XML representation of a UnitTest
+// object.
+//
+// This is how Google Test concepts map to the DTD:
+//
+// <testsuites name="AllTests">        <-- corresponds to a UnitTest object
+//   <testsuite name="testcase-name">  <-- corresponds to a TestCase object
+//     <testcase name="test-name">     <-- corresponds to a TestInfo object
+//       <failure message="...">...</failure>
+//       <failure message="...">...</failure>
+//       <failure message="...">...</failure>
+//                                     <-- individual assertion failures
+//     </testcase>
+//   </testsuite>
+// </testsuites>
+
+// Formats the given time in milliseconds as seconds.
+std::string FormatTimeInMillisAsSeconds(TimeInMillis ms) {
+  ::std::stringstream ss;
+  ss << (static_cast<double>(ms) * 1e-3);
+  return ss.str();
+}
+
+static bool PortableLocaltime(time_t seconds, struct tm* out) {
+#if defined(_MSC_VER)
+  return localtime_s(out, &seconds) == 0;
+#elif defined(__MINGW32__) || defined(__MINGW64__)
+  // MINGW <time.h> provides neither localtime_r nor localtime_s, but uses
+  // Windows' localtime(), which has a thread-local tm buffer.
+  struct tm* tm_ptr = localtime(&seconds);  // NOLINT
+  if (tm_ptr == NULL)
+    return false;
+  *out = *tm_ptr;
+  return true;
+#else
+  return localtime_r(&seconds, out) != NULL;
+#endif
+}
+
+// Converts the given epoch time in milliseconds to a date string in the ISO
+// 8601 format, without the timezone information.
+std::string FormatEpochTimeInMillisAsIso8601(TimeInMillis ms) {
+  struct tm time_struct;
+  if (!PortableLocaltime(static_cast<time_t>(ms / 1000), &time_struct))
+    return "";
+  // YYYY-MM-DDThh:mm:ss
+  return StreamableToString(time_struct.tm_year + 1900) + "-" +
+      String::FormatIntWidth2(time_struct.tm_mon + 1) + "-" +
+      String::FormatIntWidth2(time_struct.tm_mday) + "T" +
+      String::FormatIntWidth2(time_struct.tm_hour) + ":" +
+      String::FormatIntWidth2(time_struct.tm_min) + ":" +
+      String::FormatIntWidth2(time_struct.tm_sec);
+}
+
+// Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
+void XmlUnitTestResultPrinter::OutputXmlCDataSection(::std::ostream* stream,
+                                                     const char* data) {
+  const char* segment = data;
+  *stream << "<![CDATA[";
+  for (;;) {
+    const char* const next_segment = strstr(segment, "]]>");
+    if (next_segment != NULL) {
+      stream->write(
+          segment, static_cast<std::streamsize>(next_segment - segment));
+      *stream << "]]>]]&gt;<![CDATA[";
+      segment = next_segment + strlen("]]>");
+    } else {
+      *stream << segment;
+      break;
+    }
+  }
+  *stream << "]]>";
+}
+
+void XmlUnitTestResultPrinter::OutputXmlAttribute(
+    std::ostream* stream,
+    const std::string& element_name,
+    const std::string& name,
+    const std::string& value) {
+  const std::vector<std::string>& allowed_names =
+      GetReservedAttributesForElement(element_name);
+
+  GTEST_CHECK_(std::find(allowed_names.begin(), allowed_names.end(), name) !=
+                   allowed_names.end())
+      << "Attribute " << name << " is not allowed for element <" << element_name
+      << ">.";
+
+  *stream << " " << name << "=\"" << EscapeXmlAttribute(value) << "\"";
+}
+
+// Prints an XML representation of a TestInfo object.
+// TODO(wan): There is also value in printing properties with the plain printer.
+void XmlUnitTestResultPrinter::OutputXmlTestInfo(::std::ostream* stream,
+                                                 const char* test_case_name,
+                                                 const TestInfo& test_info) {
+  const TestResult& result = *test_info.result();
+  const std::string kTestcase = "testcase";
+
+  *stream << "    <testcase";
+  OutputXmlAttribute(stream, kTestcase, "name", test_info.name());
+
+  if (test_info.value_param() != NULL) {
+    OutputXmlAttribute(stream, kTestcase, "value_param",
+                       test_info.value_param());
+  }
+  if (test_info.type_param() != NULL) {
+    OutputXmlAttribute(stream, kTestcase, "type_param", test_info.type_param());
+  }
+
+  OutputXmlAttribute(stream, kTestcase, "status",
+                     test_info.should_run() ? "run" : "notrun");
+  OutputXmlAttribute(stream, kTestcase, "time",
+                     FormatTimeInMillisAsSeconds(result.elapsed_time()));
+  OutputXmlAttribute(stream, kTestcase, "classname", test_case_name);
+  *stream << TestPropertiesAsXmlAttributes(result);
+
+  int failures = 0;
+  for (int i = 0; i < result.total_part_count(); ++i) {
+    const TestPartResult& part = result.GetTestPartResult(i);
+    if (part.failed()) {
+      if (++failures == 1) {
+        *stream << ">\n";
+      }
+      const string location = internal::FormatCompilerIndependentFileLocation(
+          part.file_name(), part.line_number());
+      const string summary = location + "\n" + part.summary();
+      *stream << "      <failure message=\""
+              << EscapeXmlAttribute(summary.c_str())
+              << "\" type=\"\">";
+      const string detail = location + "\n" + part.message();
+      OutputXmlCDataSection(stream, RemoveInvalidXmlCharacters(detail).c_str());
+      *stream << "</failure>\n";
+    }
+  }
+
+  if (failures == 0)
+    *stream << " />\n";
+  else
+    *stream << "    </testcase>\n";
+}
+
+// Prints an XML representation of a TestCase object
+void XmlUnitTestResultPrinter::PrintXmlTestCase(std::ostream* stream,
+                                                const TestCase& test_case) {
+  const std::string kTestsuite = "testsuite";
+  *stream << "  <" << kTestsuite;
+  OutputXmlAttribute(stream, kTestsuite, "name", test_case.name());
+  OutputXmlAttribute(stream, kTestsuite, "tests",
+                     StreamableToString(test_case.reportable_test_count()));
+  OutputXmlAttribute(stream, kTestsuite, "failures",
+                     StreamableToString(test_case.failed_test_count()));
+  OutputXmlAttribute(
+      stream, kTestsuite, "disabled",
+      StreamableToString(test_case.reportable_disabled_test_count()));
+  OutputXmlAttribute(stream, kTestsuite, "errors", "0");
+  OutputXmlAttribute(stream, kTestsuite, "time",
+                     FormatTimeInMillisAsSeconds(test_case.elapsed_time()));
+  *stream << TestPropertiesAsXmlAttributes(test_case.ad_hoc_test_result())
+          << ">\n";
+
+  for (int i = 0; i < test_case.total_test_count(); ++i) {
+    if (test_case.GetTestInfo(i)->is_reportable())
+      OutputXmlTestInfo(stream, test_case.name(), *test_case.GetTestInfo(i));
+  }
+  *stream << "  </" << kTestsuite << ">\n";
+}
+
+// Prints an XML summary of unit_test to output stream out.
+void XmlUnitTestResultPrinter::PrintXmlUnitTest(std::ostream* stream,
+                                                const UnitTest& unit_test) {
+  const std::string kTestsuites = "testsuites";
+
+  *stream << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
+  *stream << "<" << kTestsuites;
+
+  OutputXmlAttribute(stream, kTestsuites, "tests",
+                     StreamableToString(unit_test.reportable_test_count()));
+  OutputXmlAttribute(stream, kTestsuites, "failures",
+                     StreamableToString(unit_test.failed_test_count()));
+  OutputXmlAttribute(
+      stream, kTestsuites, "disabled",
+      StreamableToString(unit_test.reportable_disabled_test_count()));
+  OutputXmlAttribute(stream, kTestsuites, "errors", "0");
+  OutputXmlAttribute(
+      stream, kTestsuites, "timestamp",
+      FormatEpochTimeInMillisAsIso8601(unit_test.start_timestamp()));
+  OutputXmlAttribute(stream, kTestsuites, "time",
+                     FormatTimeInMillisAsSeconds(unit_test.elapsed_time()));
+
+  if (GTEST_FLAG(shuffle)) {
+    OutputXmlAttribute(stream, kTestsuites, "random_seed",
+                       StreamableToString(unit_test.random_seed()));
+  }
+
+  *stream << TestPropertiesAsXmlAttributes(unit_test.ad_hoc_test_result());
+
+  OutputXmlAttribute(stream, kTestsuites, "name", "AllTests");
+  *stream << ">\n";
+
+  for (int i = 0; i < unit_test.total_test_case_count(); ++i) {
+    if (unit_test.GetTestCase(i)->reportable_test_count() > 0)
+      PrintXmlTestCase(stream, *unit_test.GetTestCase(i));
+  }
+  *stream << "</" << kTestsuites << ">\n";
+}
+
+// Produces a string representing the test properties in a result as space
+// delimited XML attributes based on the property key="value" pairs.
+std::string XmlUnitTestResultPrinter::TestPropertiesAsXmlAttributes(
+    const TestResult& result) {
+  Message attributes;
+  for (int i = 0; i < result.test_property_count(); ++i) {
+    const TestProperty& property = result.GetTestProperty(i);
+    attributes << " " << property.key() << "="
+        << "\"" << EscapeXmlAttribute(property.value()) << "\"";
+  }
+  return attributes.GetString();
+}
+
+// End XmlUnitTestResultPrinter
+
+#if GTEST_CAN_STREAM_RESULTS_
+
+// Checks if str contains '=', '&', '%' or '\n' characters. If yes,
+// replaces them by "%xx" where xx is their hexadecimal value. For
+// example, replaces "=" with "%3D".  This algorithm is O(strlen(str))
+// in both time and space -- important as the input str may contain an
+// arbitrarily long test failure message and stack trace.
+string StreamingListener::UrlEncode(const char* str) {
+  string result;
+  result.reserve(strlen(str) + 1);
+  for (char ch = *str; ch != '\0'; ch = *++str) {
+    switch (ch) {
+      case '%':
+      case '=':
+      case '&':
+      case '\n':
+        result.append("%" + String::FormatByte(static_cast<unsigned char>(ch)));
+        break;
+      default:
+        result.push_back(ch);
+        break;
+    }
+  }
+  return result;
+}
+
+void StreamingListener::SocketWriter::MakeConnection() {
+  GTEST_CHECK_(sockfd_ == -1)
+      << "MakeConnection() can't be called when there is already a connection.";
+
+  addrinfo hints;
+  memset(&hints, 0, sizeof(hints));
+  hints.ai_family = AF_UNSPEC;    // To allow both IPv4 and IPv6 addresses.
+  hints.ai_socktype = SOCK_STREAM;
+  addrinfo* servinfo = NULL;
+
+  // Use the getaddrinfo() to get a linked list of IP addresses for
+  // the given host name.
+  const int error_num = getaddrinfo(
+      host_name_.c_str(), port_num_.c_str(), &hints, &servinfo);
+  if (error_num != 0) {
+    GTEST_LOG_(WARNING) << "stream_result_to: getaddrinfo() failed: "
+                        << gai_strerror(error_num);
+  }
+
+  // Loop through all the results and connect to the first we can.
+  for (addrinfo* cur_addr = servinfo; sockfd_ == -1 && cur_addr != NULL;
+       cur_addr = cur_addr->ai_next) {
+    sockfd_ = socket(
+        cur_addr->ai_family, cur_addr->ai_socktype, cur_addr->ai_protocol);
+    if (sockfd_ != -1) {
+      // Connect the client socket to the server socket.
+      if (connect(sockfd_, cur_addr->ai_addr, cur_addr->ai_addrlen) == -1) {
+        close(sockfd_);
+        sockfd_ = -1;
+      }
+    }
+  }
+
+  freeaddrinfo(servinfo);  // all done with this structure
+
+  if (sockfd_ == -1) {
+    GTEST_LOG_(WARNING) << "stream_result_to: failed to connect to "
+                        << host_name_ << ":" << port_num_;
+  }
+}
+
+// End of class Streaming Listener
+#endif  // GTEST_CAN_STREAM_RESULTS__
+
+// Class ScopedTrace
+
+// Pushes the given source file location and message onto a per-thread
+// trace stack maintained by Google Test.
+ScopedTrace::ScopedTrace(const char* file, int line, const Message& message)
+    GTEST_LOCK_EXCLUDED_(&UnitTest::mutex_) {
+  TraceInfo trace;
+  trace.file = file;
+  trace.line = line;
+  trace.message = message.GetString();
+
+  UnitTest::GetInstance()->PushGTestTrace(trace);
+}
+
+// Pops the info pushed by the c'tor.
+ScopedTrace::~ScopedTrace()
+    GTEST_LOCK_EXCLUDED_(&UnitTest::mutex_) {
+  UnitTest::GetInstance()->PopGTestTrace();
+}
+
+
+// class OsStackTraceGetter
+
+const char* const OsStackTraceGetterInterface::kElidedFramesMarker =
+    "... " GTEST_NAME_ " internal frames ...";
+
+string OsStackTraceGetter::CurrentStackTrace(int /*max_depth*/,
+                                             int /*skip_count*/) {
+  return "";
+}
+
+void OsStackTraceGetter::UponLeavingGTest() {}
+
+// A helper class that creates the premature-exit file in its
+// constructor and deletes the file in its destructor.
+class ScopedPrematureExitFile {
+ public:
+  explicit ScopedPrematureExitFile(const char* premature_exit_filepath)
+      : premature_exit_filepath_(premature_exit_filepath) {
+    // If a path to the premature-exit file is specified...
+    if (premature_exit_filepath != NULL && *premature_exit_filepath != '\0') {
+      // create the file with a single "0" character in it.  I/O
+      // errors are ignored as there's nothing better we can do and we
+      // don't want to fail the test because of this.
+      FILE* pfile = posix::FOpen(premature_exit_filepath, "w");
+      fwrite("0", 1, 1, pfile);
+      fclose(pfile);
+    }
+  }
+
+  ~ScopedPrematureExitFile() {
+    if (premature_exit_filepath_ != NULL && *premature_exit_filepath_ != '\0') {
+      remove(premature_exit_filepath_);
+    }
+  }
+
+ private:
+  const char* const premature_exit_filepath_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedPrematureExitFile);
+};
+
+}  // namespace internal
+
+// class TestEventListeners
+
+TestEventListeners::TestEventListeners()
+    : repeater_(new internal::TestEventRepeater()),
+      default_result_printer_(NULL),
+      default_xml_generator_(NULL) {
+}
+
+TestEventListeners::~TestEventListeners() { delete repeater_; }
+
+// Returns the standard listener responsible for the default console
+// output.  Can be removed from the listeners list to shut down default
+// console output.  Note that removing this object from the listener list
+// with Release transfers its ownership to the user.
+void TestEventListeners::Append(TestEventListener* listener) {
+  repeater_->Append(listener);
+}
+
+// Removes the given event listener from the list and returns it.  It then
+// becomes the caller's responsibility to delete the listener. Returns
+// NULL if the listener is not found in the list.
+TestEventListener* TestEventListeners::Release(TestEventListener* listener) {
+  if (listener == default_result_printer_)
+    default_result_printer_ = NULL;
+  else if (listener == default_xml_generator_)
+    default_xml_generator_ = NULL;
+  return repeater_->Release(listener);
+}
+
+// Returns repeater that broadcasts the TestEventListener events to all
+// subscribers.
+TestEventListener* TestEventListeners::repeater() { return repeater_; }
+
+// Sets the default_result_printer attribute to the provided listener.
+// The listener is also added to the listener list and previous
+// default_result_printer is removed from it and deleted. The listener can
+// also be NULL in which case it will not be added to the list. Does
+// nothing if the previous and the current listener objects are the same.
+void TestEventListeners::SetDefaultResultPrinter(TestEventListener* listener) {
+  if (default_result_printer_ != listener) {
+    // It is an error to pass this method a listener that is already in the
+    // list.
+    delete Release(default_result_printer_);
+    default_result_printer_ = listener;
+    if (listener != NULL)
+      Append(listener);
+  }
+}
+
+// Sets the default_xml_generator attribute to the provided listener.  The
+// listener is also added to the listener list and previous
+// default_xml_generator is removed from it and deleted. The listener can
+// also be NULL in which case it will not be added to the list. Does
+// nothing if the previous and the current listener objects are the same.
+void TestEventListeners::SetDefaultXmlGenerator(TestEventListener* listener) {
+  if (default_xml_generator_ != listener) {
+    // It is an error to pass this method a listener that is already in the
+    // list.
+    delete Release(default_xml_generator_);
+    default_xml_generator_ = listener;
+    if (listener != NULL)
+      Append(listener);
+  }
+}
+
+// Controls whether events will be forwarded by the repeater to the
+// listeners in the list.
+bool TestEventListeners::EventForwardingEnabled() const {
+  return repeater_->forwarding_enabled();
+}
+
+void TestEventListeners::SuppressEventForwarding() {
+  repeater_->set_forwarding_enabled(false);
+}
+
+// class UnitTest
+
+// Gets the singleton UnitTest object.  The first time this method is
+// called, a UnitTest object is constructed and returned.  Consecutive
+// calls will return the same object.
+//
+// We don't protect this under mutex_ as a user is not supposed to
+// call this before main() starts, from which point on the return
+// value will never change.
+UnitTest* UnitTest::GetInstance() {
+  // When compiled with MSVC 7.1 in optimized mode, destroying the
+  // UnitTest object upon exiting the program messes up the exit code,
+  // causing successful tests to appear failed.  We have to use a
+  // different implementation in this case to bypass the compiler bug.
+  // This implementation makes the compiler happy, at the cost of
+  // leaking the UnitTest object.
+
+  // CodeGear C++Builder insists on a public destructor for the
+  // default implementation.  Use this implementation to keep good OO
+  // design with private destructor.
+
+#if (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
+  static UnitTest* const instance = new UnitTest;
+  return instance;
+#else
+  static UnitTest instance;
+  return &instance;
+#endif  // (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
+}
+
+// Gets the number of successful test cases.
+int UnitTest::successful_test_case_count() const {
+  return impl()->successful_test_case_count();
+}
+
+// Gets the number of failed test cases.
+int UnitTest::failed_test_case_count() const {
+  return impl()->failed_test_case_count();
+}
+
+// Gets the number of all test cases.
+int UnitTest::total_test_case_count() const {
+  return impl()->total_test_case_count();
+}
+
+// Gets the number of all test cases that contain at least one test
+// that should run.
+int UnitTest::test_case_to_run_count() const {
+  return impl()->test_case_to_run_count();
+}
+
+// Gets the number of successful tests.
+int UnitTest::successful_test_count() const {
+  return impl()->successful_test_count();
+}
+
+// Gets the number of failed tests.
+int UnitTest::failed_test_count() const { return impl()->failed_test_count(); }
+
+// Gets the number of disabled tests that will be reported in the XML report.
+int UnitTest::reportable_disabled_test_count() const {
+  return impl()->reportable_disabled_test_count();
+}
+
+// Gets the number of disabled tests.
+int UnitTest::disabled_test_count() const {
+  return impl()->disabled_test_count();
+}
+
+// Gets the number of tests to be printed in the XML report.
+int UnitTest::reportable_test_count() const {
+  return impl()->reportable_test_count();
+}
+
+// Gets the number of all tests.
+int UnitTest::total_test_count() const { return impl()->total_test_count(); }
+
+// Gets the number of tests that should run.
+int UnitTest::test_to_run_count() const { return impl()->test_to_run_count(); }
+
+// Gets the time of the test program start, in ms from the start of the
+// UNIX epoch.
+internal::TimeInMillis UnitTest::start_timestamp() const {
+    return impl()->start_timestamp();
+}
+
+// Gets the elapsed time, in milliseconds.
+internal::TimeInMillis UnitTest::elapsed_time() const {
+  return impl()->elapsed_time();
+}
+
+// Returns true iff the unit test passed (i.e. all test cases passed).
+bool UnitTest::Passed() const { return impl()->Passed(); }
+
+// Returns true iff the unit test failed (i.e. some test case failed
+// or something outside of all tests failed).
+bool UnitTest::Failed() const { return impl()->Failed(); }
+
+// Gets the i-th test case among all the test cases. i can range from 0 to
+// total_test_case_count() - 1. If i is not in that range, returns NULL.
+const TestCase* UnitTest::GetTestCase(int i) const {
+  return impl()->GetTestCase(i);
+}
+
+// Returns the TestResult containing information on test failures and
+// properties logged outside of individual test cases.
+const TestResult& UnitTest::ad_hoc_test_result() const {
+  return *impl()->ad_hoc_test_result();
+}
+
+// Gets the i-th test case among all the test cases. i can range from 0 to
+// total_test_case_count() - 1. If i is not in that range, returns NULL.
+TestCase* UnitTest::GetMutableTestCase(int i) {
+  return impl()->GetMutableTestCase(i);
+}
+
+// Returns the list of event listeners that can be used to track events
+// inside Google Test.
+TestEventListeners& UnitTest::listeners() {
+  return *impl()->listeners();
+}
+
+// Registers and returns a global test environment.  When a test
+// program is run, all global test environments will be set-up in the
+// order they were registered.  After all tests in the program have
+// finished, all global test environments will be torn-down in the
+// *reverse* order they were registered.
+//
+// The UnitTest object takes ownership of the given environment.
+//
+// We don't protect this under mutex_, as we only support calling it
+// from the main thread.
+Environment* UnitTest::AddEnvironment(Environment* env) {
+  if (env == NULL) {
+    return NULL;
+  }
+
+  impl_->environments().push_back(env);
+  return env;
+}
+
+// Adds a TestPartResult to the current TestResult object.  All Google Test
+// assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc) eventually call
+// this to report their results.  The user code should use the
+// assertion macros instead of calling this directly.
+void UnitTest::AddTestPartResult(
+    TestPartResult::Type result_type,
+    const char* file_name,
+    int line_number,
+    const std::string& message,
+    const std::string& os_stack_trace) GTEST_LOCK_EXCLUDED_(mutex_) {
+  Message msg;
+  msg << message;
+
+  internal::MutexLock lock(&mutex_);
+  if (impl_->gtest_trace_stack().size() > 0) {
+    msg << "\n" << GTEST_NAME_ << " trace:";
+
+    for (int i = static_cast<int>(impl_->gtest_trace_stack().size());
+         i > 0; --i) {
+      const internal::TraceInfo& trace = impl_->gtest_trace_stack()[i - 1];
+      msg << "\n" << internal::FormatFileLocation(trace.file, trace.line)
+          << " " << trace.message;
+    }
+  }
+
+  if (os_stack_trace.c_str() != NULL && !os_stack_trace.empty()) {
+    msg << internal::kStackTraceMarker << os_stack_trace;
+  }
+
+  const TestPartResult result =
+    TestPartResult(result_type, file_name, line_number,
+                   msg.GetString().c_str());
+  impl_->GetTestPartResultReporterForCurrentThread()->
+      ReportTestPartResult(result);
+
+  if (result_type != TestPartResult::kSuccess) {
+    // gtest_break_on_failure takes precedence over
+    // gtest_throw_on_failure.  This allows a user to set the latter
+    // in the code (perhaps in order to use Google Test assertions
+    // with another testing framework) and specify the former on the
+    // command line for debugging.
+    if (GTEST_FLAG(break_on_failure)) {
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+      // Using DebugBreak on Windows allows gtest to still break into a debugger
+      // when a failure happens and both the --gtest_break_on_failure and
+      // the --gtest_catch_exceptions flags are specified.
+      DebugBreak();
+#else
+      // Dereference NULL through a volatile pointer to prevent the compiler
+      // from removing. We use this rather than abort() or __builtin_trap() for
+      // portability: Symbian doesn't implement abort() well, and some debuggers
+      // don't correctly trap abort().
+      *static_cast<volatile int*>(NULL) = 1;
+#endif  // GTEST_OS_WINDOWS
+    } else if (GTEST_FLAG(throw_on_failure)) {
+#if GTEST_HAS_EXCEPTIONS
+      throw internal::GoogleTestFailureException(result);
+#else
+      // We cannot call abort() as it generates a pop-up in debug mode
+      // that cannot be suppressed in VC 7.1 or below.
+      exit(1);
+#endif
+    }
+  }
+}
+
+// Adds a TestProperty to the current TestResult object when invoked from
+// inside a test, to current TestCase's ad_hoc_test_result_ when invoked
+// from SetUpTestCase or TearDownTestCase, or to the global property set
+// when invoked elsewhere.  If the result already contains a property with
+// the same key, the value will be updated.
+void UnitTest::RecordProperty(const std::string& key,
+                              const std::string& value) {
+  impl_->RecordProperty(TestProperty(key, value));
+}
+
+// Runs all tests in this UnitTest object and prints the result.
+// Returns 0 if successful, or 1 otherwise.
+//
+// We don't protect this under mutex_, as we only support calling it
+// from the main thread.
+int UnitTest::Run() {
+  const bool in_death_test_child_process =
+      internal::GTEST_FLAG(internal_run_death_test).length() > 0;
+
+  // Google Test implements this protocol for catching that a test
+  // program exits before returning control to Google Test:
+  //
+  //   1. Upon start, Google Test creates a file whose absolute path
+  //      is specified by the environment variable
+  //      TEST_PREMATURE_EXIT_FILE.
+  //   2. When Google Test has finished its work, it deletes the file.
+  //
+  // This allows a test runner to set TEST_PREMATURE_EXIT_FILE before
+  // running a Google-Test-based test program and check the existence
+  // of the file at the end of the test execution to see if it has
+  // exited prematurely.
+
+  // If we are in the child process of a death test, don't
+  // create/delete the premature exit file, as doing so is unnecessary
+  // and will confuse the parent process.  Otherwise, create/delete
+  // the file upon entering/leaving this function.  If the program
+  // somehow exits before this function has a chance to return, the
+  // premature-exit file will be left undeleted, causing a test runner
+  // that understands the premature-exit-file protocol to report the
+  // test as having failed.
+  const internal::ScopedPrematureExitFile premature_exit_file(
+      in_death_test_child_process ?
+      NULL : internal::posix::GetEnv("TEST_PREMATURE_EXIT_FILE"));
+
+  // Captures the value of GTEST_FLAG(catch_exceptions).  This value will be
+  // used for the duration of the program.
+  impl()->set_catch_exceptions(GTEST_FLAG(catch_exceptions));
+
+#if GTEST_HAS_SEH
+  // Either the user wants Google Test to catch exceptions thrown by the
+  // tests or this is executing in the context of death test child
+  // process. In either case the user does not want to see pop-up dialogs
+  // about crashes - they are expected.
+  if (impl()->catch_exceptions() || in_death_test_child_process) {
+# if !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+    // SetErrorMode doesn't exist on CE.
+    SetErrorMode(SEM_FAILCRITICALERRORS | SEM_NOALIGNMENTFAULTEXCEPT |
+                 SEM_NOGPFAULTERRORBOX | SEM_NOOPENFILEERRORBOX);
+# endif  // !GTEST_OS_WINDOWS_MOBILE
+
+# if (defined(_MSC_VER) || GTEST_OS_WINDOWS_MINGW) && !GTEST_OS_WINDOWS_MOBILE
+    // Death test children can be terminated with _abort().  On Windows,
+    // _abort() can show a dialog with a warning message.  This forces the
+    // abort message to go to stderr instead.
+    _set_error_mode(_OUT_TO_STDERR);
+# endif
+
+# if _MSC_VER >= 1400 && !GTEST_OS_WINDOWS_MOBILE
+    // In the debug version, Visual Studio pops up a separate dialog
+    // offering a choice to debug the aborted program. We need to suppress
+    // this dialog or it will pop up for every EXPECT/ASSERT_DEATH statement
+    // executed. Google Test will notify the user of any unexpected
+    // failure via stderr.
+    //
+    // VC++ doesn't define _set_abort_behavior() prior to the version 8.0.
+    // Users of prior VC versions shall suffer the agony and pain of
+    // clicking through the countless debug dialogs.
+    // TODO(vladl@google.com): find a way to suppress the abort dialog() in the
+    // debug mode when compiled with VC 7.1 or lower.
+    if (!GTEST_FLAG(break_on_failure))
+      _set_abort_behavior(
+          0x0,                                    // Clear the following flags:
+          _WRITE_ABORT_MSG | _CALL_REPORTFAULT);  // pop-up window, core dump.
+# endif
+  }
+#endif  // GTEST_HAS_SEH
+
+  return internal::HandleExceptionsInMethodIfSupported(
+      impl(),
+      &internal::UnitTestImpl::RunAllTests,
+      "auxiliary test code (environments or event listeners)") ? 0 : 1;
+}
+
+// Returns the working directory when the first TEST() or TEST_F() was
+// executed.
+const char* UnitTest::original_working_dir() const {
+  return impl_->original_working_dir_.c_str();
+}
+
+// Returns the TestCase object for the test that's currently running,
+// or NULL if no test is running.
+const TestCase* UnitTest::current_test_case() const
+    GTEST_LOCK_EXCLUDED_(mutex_) {
+  internal::MutexLock lock(&mutex_);
+  return impl_->current_test_case();
+}
+
+// Returns the TestInfo object for the test that's currently running,
+// or NULL if no test is running.
+const TestInfo* UnitTest::current_test_info() const
+    GTEST_LOCK_EXCLUDED_(mutex_) {
+  internal::MutexLock lock(&mutex_);
+  return impl_->current_test_info();
+}
+
+// Returns the random seed used at the start of the current test run.
+int UnitTest::random_seed() const { return impl_->random_seed(); }
+
+#if GTEST_HAS_PARAM_TEST
+// Returns ParameterizedTestCaseRegistry object used to keep track of
+// value-parameterized tests and instantiate and register them.
+internal::ParameterizedTestCaseRegistry&
+    UnitTest::parameterized_test_registry()
+        GTEST_LOCK_EXCLUDED_(mutex_) {
+  return impl_->parameterized_test_registry();
+}
+#endif  // GTEST_HAS_PARAM_TEST
+
+// Creates an empty UnitTest.
+UnitTest::UnitTest() {
+  impl_ = new internal::UnitTestImpl(this);
+}
+
+// Destructor of UnitTest.
+UnitTest::~UnitTest() {
+  delete impl_;
+}
+
+// Pushes a trace defined by SCOPED_TRACE() on to the per-thread
+// Google Test trace stack.
+void UnitTest::PushGTestTrace(const internal::TraceInfo& trace)
+    GTEST_LOCK_EXCLUDED_(mutex_) {
+  internal::MutexLock lock(&mutex_);
+  impl_->gtest_trace_stack().push_back(trace);
+}
+
+// Pops a trace from the per-thread Google Test trace stack.
+void UnitTest::PopGTestTrace()
+    GTEST_LOCK_EXCLUDED_(mutex_) {
+  internal::MutexLock lock(&mutex_);
+  impl_->gtest_trace_stack().pop_back();
+}
+
+namespace internal {
+
+UnitTestImpl::UnitTestImpl(UnitTest* parent)
+    : parent_(parent),
+      GTEST_DISABLE_MSC_WARNINGS_PUSH_(4355 /* using this in initializer */)
+      default_global_test_part_result_reporter_(this),
+      default_per_thread_test_part_result_reporter_(this),
+      GTEST_DISABLE_MSC_WARNINGS_POP_()
+      global_test_part_result_repoter_(
+          &default_global_test_part_result_reporter_),
+      per_thread_test_part_result_reporter_(
+          &default_per_thread_test_part_result_reporter_),
+#if GTEST_HAS_PARAM_TEST
+      parameterized_test_registry_(),
+      parameterized_tests_registered_(false),
+#endif  // GTEST_HAS_PARAM_TEST
+      last_death_test_case_(-1),
+      current_test_case_(NULL),
+      current_test_info_(NULL),
+      ad_hoc_test_result_(),
+      os_stack_trace_getter_(NULL),
+      post_flag_parse_init_performed_(false),
+      random_seed_(0),  // Will be overridden by the flag before first use.
+      random_(0),  // Will be reseeded before first use.
+      start_timestamp_(0),
+      elapsed_time_(0),
+#if GTEST_HAS_DEATH_TEST
+      death_test_factory_(new DefaultDeathTestFactory),
+#endif
+      // Will be overridden by the flag before first use.
+      catch_exceptions_(false) {
+  listeners()->SetDefaultResultPrinter(new PrettyUnitTestResultPrinter);
+}
+
+UnitTestImpl::~UnitTestImpl() {
+  // Deletes every TestCase.
+  ForEach(test_cases_, internal::Delete<TestCase>);
+
+  // Deletes every Environment.
+  ForEach(environments_, internal::Delete<Environment>);
+
+  delete os_stack_trace_getter_;
+}
+
+// Adds a TestProperty to the current TestResult object when invoked in a
+// context of a test, to current test case's ad_hoc_test_result when invoke
+// from SetUpTestCase/TearDownTestCase, or to the global property set
+// otherwise.  If the result already contains a property with the same key,
+// the value will be updated.
+void UnitTestImpl::RecordProperty(const TestProperty& test_property) {
+  std::string xml_element;
+  TestResult* test_result;  // TestResult appropriate for property recording.
+
+  if (current_test_info_ != NULL) {
+    xml_element = "testcase";
+    test_result = &(current_test_info_->result_);
+  } else if (current_test_case_ != NULL) {
+    xml_element = "testsuite";
+    test_result = &(current_test_case_->ad_hoc_test_result_);
+  } else {
+    xml_element = "testsuites";
+    test_result = &ad_hoc_test_result_;
+  }
+  test_result->RecordProperty(xml_element, test_property);
+}
+
+#if GTEST_HAS_DEATH_TEST
+// Disables event forwarding if the control is currently in a death test
+// subprocess. Must not be called before InitGoogleTest.
+void UnitTestImpl::SuppressTestEventsIfInSubprocess() {
+  if (internal_run_death_test_flag_.get() != NULL)
+    listeners()->SuppressEventForwarding();
+}
+#endif  // GTEST_HAS_DEATH_TEST
+
+// Initializes event listeners performing XML output as specified by
+// UnitTestOptions. Must not be called before InitGoogleTest.
+void UnitTestImpl::ConfigureXmlOutput() {
+  const std::string& output_format = UnitTestOptions::GetOutputFormat();
+  if (output_format == "xml") {
+    listeners()->SetDefaultXmlGenerator(new XmlUnitTestResultPrinter(
+        UnitTestOptions::GetAbsolutePathToOutputFile().c_str()));
+  } else if (output_format != "") {
+    printf("WARNING: unrecognized output format \"%s\" ignored.\n",
+           output_format.c_str());
+    fflush(stdout);
+  }
+}
+
+#if GTEST_CAN_STREAM_RESULTS_
+// Initializes event listeners for streaming test results in string form.
+// Must not be called before InitGoogleTest.
+void UnitTestImpl::ConfigureStreamingOutput() {
+  const std::string& target = GTEST_FLAG(stream_result_to);
+  if (!target.empty()) {
+    const size_t pos = target.find(':');
+    if (pos != std::string::npos) {
+      listeners()->Append(new StreamingListener(target.substr(0, pos),
+                                                target.substr(pos+1)));
+    } else {
+      printf("WARNING: unrecognized streaming target \"%s\" ignored.\n",
+             target.c_str());
+      fflush(stdout);
+    }
+  }
+}
+#endif  // GTEST_CAN_STREAM_RESULTS_
+
+// Performs initialization dependent upon flag values obtained in
+// ParseGoogleTestFlagsOnly.  Is called from InitGoogleTest after the call to
+// ParseGoogleTestFlagsOnly.  In case a user neglects to call InitGoogleTest
+// this function is also called from RunAllTests.  Since this function can be
+// called more than once, it has to be idempotent.
+void UnitTestImpl::PostFlagParsingInit() {
+  // Ensures that this function does not execute more than once.
+  if (!post_flag_parse_init_performed_) {
+    post_flag_parse_init_performed_ = true;
+
+#if defined(GTEST_CUSTOM_TEST_EVENT_LISTENER_)
+    // Register to send notifications about key process state changes.
+    listeners()->Append(new GTEST_CUSTOM_TEST_EVENT_LISTENER_());
+#endif  // defined(GTEST_CUSTOM_TEST_EVENT_LISTENER_)
+
+#if GTEST_HAS_DEATH_TEST
+    InitDeathTestSubprocessControlInfo();
+    SuppressTestEventsIfInSubprocess();
+#endif  // GTEST_HAS_DEATH_TEST
+
+    // Registers parameterized tests. This makes parameterized tests
+    // available to the UnitTest reflection API without running
+    // RUN_ALL_TESTS.
+    RegisterParameterizedTests();
+
+    // Configures listeners for XML output. This makes it possible for users
+    // to shut down the default XML output before invoking RUN_ALL_TESTS.
+    ConfigureXmlOutput();
+
+#if GTEST_CAN_STREAM_RESULTS_
+    // Configures listeners for streaming test results to the specified server.
+    ConfigureStreamingOutput();
+#endif  // GTEST_CAN_STREAM_RESULTS_
+  }
+}
+
+// A predicate that checks the name of a TestCase against a known
+// value.
+//
+// This is used for implementation of the UnitTest class only.  We put
+// it in the anonymous namespace to prevent polluting the outer
+// namespace.
+//
+// TestCaseNameIs is copyable.
+class TestCaseNameIs {
+ public:
+  // Constructor.
+  explicit TestCaseNameIs(const std::string& name)
+      : name_(name) {}
+
+  // Returns true iff the name of test_case matches name_.
+  bool operator()(const TestCase* test_case) const {
+    return test_case != NULL && strcmp(test_case->name(), name_.c_str()) == 0;
+  }
+
+ private:
+  std::string name_;
+};
+
+// Finds and returns a TestCase with the given name.  If one doesn't
+// exist, creates one and returns it.  It's the CALLER'S
+// RESPONSIBILITY to ensure that this function is only called WHEN THE
+// TESTS ARE NOT SHUFFLED.
+//
+// Arguments:
+//
+//   test_case_name: name of the test case
+//   type_param:     the name of the test case's type parameter, or NULL if
+//                   this is not a typed or a type-parameterized test case.
+//   set_up_tc:      pointer to the function that sets up the test case
+//   tear_down_tc:   pointer to the function that tears down the test case
+TestCase* UnitTestImpl::GetTestCase(const char* test_case_name,
+                                    const char* type_param,
+                                    Test::SetUpTestCaseFunc set_up_tc,
+                                    Test::TearDownTestCaseFunc tear_down_tc) {
+  // Can we find a TestCase with the given name?
+  const std::vector<TestCase*>::const_iterator test_case =
+      std::find_if(test_cases_.begin(), test_cases_.end(),
+                   TestCaseNameIs(test_case_name));
+
+  if (test_case != test_cases_.end())
+    return *test_case;
+
+  // No.  Let's create one.
+  TestCase* const new_test_case =
+      new TestCase(test_case_name, type_param, set_up_tc, tear_down_tc);
+
+  // Is this a death test case?
+  if (internal::UnitTestOptions::MatchesFilter(test_case_name,
+                                               kDeathTestCaseFilter)) {
+    // Yes.  Inserts the test case after the last death test case
+    // defined so far.  This only works when the test cases haven't
+    // been shuffled.  Otherwise we may end up running a death test
+    // after a non-death test.
+    ++last_death_test_case_;
+    test_cases_.insert(test_cases_.begin() + last_death_test_case_,
+                       new_test_case);
+  } else {
+    // No.  Appends to the end of the list.
+    test_cases_.push_back(new_test_case);
+  }
+
+  test_case_indices_.push_back(static_cast<int>(test_case_indices_.size()));
+  return new_test_case;
+}
+
+// Helpers for setting up / tearing down the given environment.  They
+// are for use in the ForEach() function.
+static void SetUpEnvironment(Environment* env) { env->SetUp(); }
+static void TearDownEnvironment(Environment* env) { env->TearDown(); }
+
+// Runs all tests in this UnitTest object, prints the result, and
+// returns true if all tests are successful.  If any exception is
+// thrown during a test, the test is considered to be failed, but the
+// rest of the tests will still be run.
+//
+// When parameterized tests are enabled, it expands and registers
+// parameterized tests first in RegisterParameterizedTests().
+// All other functions called from RunAllTests() may safely assume that
+// parameterized tests are ready to be counted and run.
+bool UnitTestImpl::RunAllTests() {
+  // Makes sure InitGoogleTest() was called.
+  if (!GTestIsInitialized()) {
+    printf("%s",
+           "\nThis test program did NOT call ::testing::InitGoogleTest "
+           "before calling RUN_ALL_TESTS().  Please fix it.\n");
+    return false;
+  }
+
+  // Do not run any test if the --help flag was specified.
+  if (g_help_flag)
+    return true;
+
+  // Repeats the call to the post-flag parsing initialization in case the
+  // user didn't call InitGoogleTest.
+  PostFlagParsingInit();
+
+  // Even if sharding is not on, test runners may want to use the
+  // GTEST_SHARD_STATUS_FILE to query whether the test supports the sharding
+  // protocol.
+  internal::WriteToShardStatusFileIfNeeded();
+
+  // True iff we are in a subprocess for running a thread-safe-style
+  // death test.
+  bool in_subprocess_for_death_test = false;
+
+#if GTEST_HAS_DEATH_TEST
+  in_subprocess_for_death_test = (internal_run_death_test_flag_.get() != NULL);
+# if defined(GTEST_EXTRA_DEATH_TEST_CHILD_SETUP_)
+  if (in_subprocess_for_death_test) {
+    GTEST_EXTRA_DEATH_TEST_CHILD_SETUP_();
+  }
+# endif  // defined(GTEST_EXTRA_DEATH_TEST_CHILD_SETUP_)
+#endif  // GTEST_HAS_DEATH_TEST
+
+  const bool should_shard = ShouldShard(kTestTotalShards, kTestShardIndex,
+                                        in_subprocess_for_death_test);
+
+  // Compares the full test names with the filter to decide which
+  // tests to run.
+  const bool has_tests_to_run = FilterTests(should_shard
+                                              ? HONOR_SHARDING_PROTOCOL
+                                              : IGNORE_SHARDING_PROTOCOL) > 0;
+
+  // Lists the tests and exits if the --gtest_list_tests flag was specified.
+  if (GTEST_FLAG(list_tests)) {
+    // This must be called *after* FilterTests() has been called.
+    ListTestsMatchingFilter();
+    return true;
+  }
+
+  random_seed_ = GTEST_FLAG(shuffle) ?
+      GetRandomSeedFromFlag(GTEST_FLAG(random_seed)) : 0;
+
+  // True iff at least one test has failed.
+  bool failed = false;
+
+  TestEventListener* repeater = listeners()->repeater();
+
+  start_timestamp_ = GetTimeInMillis();
+  repeater->OnTestProgramStart(*parent_);
+
+  // How many times to repeat the tests?  We don't want to repeat them
+  // when we are inside the subprocess of a death test.
+  const int repeat = in_subprocess_for_death_test ? 1 : GTEST_FLAG(repeat);
+  // Repeats forever if the repeat count is negative.
+  const bool forever = repeat < 0;
+  for (int i = 0; forever || i != repeat; i++) {
+    // We want to preserve failures generated by ad-hoc test
+    // assertions executed before RUN_ALL_TESTS().
+    ClearNonAdHocTestResult();
+
+    const TimeInMillis start = GetTimeInMillis();
+
+    // Shuffles test cases and tests if requested.
+    if (has_tests_to_run && GTEST_FLAG(shuffle)) {
+      random()->Reseed(random_seed_);
+      // This should be done before calling OnTestIterationStart(),
+      // such that a test event listener can see the actual test order
+      // in the event.
+      ShuffleTests();
+    }
+
+    // Tells the unit test event listeners that the tests are about to start.
+    repeater->OnTestIterationStart(*parent_, i);
+
+    // Runs each test case if there is at least one test to run.
+    if (has_tests_to_run) {
+      // Sets up all environments beforehand.
+      repeater->OnEnvironmentsSetUpStart(*parent_);
+      ForEach(environments_, SetUpEnvironment);
+      repeater->OnEnvironmentsSetUpEnd(*parent_);
+
+      // Runs the tests only if there was no fatal failure during global
+      // set-up.
+      if (!Test::HasFatalFailure()) {
+        for (int test_index = 0; test_index < total_test_case_count();
+             test_index++) {
+          GetMutableTestCase(test_index)->Run();
+        }
+      }
+
+      // Tears down all environments in reverse order afterwards.
+      repeater->OnEnvironmentsTearDownStart(*parent_);
+      std::for_each(environments_.rbegin(), environments_.rend(),
+                    TearDownEnvironment);
+      repeater->OnEnvironmentsTearDownEnd(*parent_);
+    }
+
+    elapsed_time_ = GetTimeInMillis() - start;
+
+    // Tells the unit test event listener that the tests have just finished.
+    repeater->OnTestIterationEnd(*parent_, i);
+
+    // Gets the result and clears it.
+    if (!Passed()) {
+      failed = true;
+    }
+
+    // Restores the original test order after the iteration.  This
+    // allows the user to quickly repro a failure that happens in the
+    // N-th iteration without repeating the first (N - 1) iterations.
+    // This is not enclosed in "if (GTEST_FLAG(shuffle)) { ... }", in
+    // case the user somehow changes the value of the flag somewhere
+    // (it's always safe to unshuffle the tests).
+    UnshuffleTests();
+
+    if (GTEST_FLAG(shuffle)) {
+      // Picks a new random seed for each iteration.
+      random_seed_ = GetNextRandomSeed(random_seed_);
+    }
+  }
+
+  repeater->OnTestProgramEnd(*parent_);
+
+  return !failed;
+}
+
+// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
+// if the variable is present. If a file already exists at this location, this
+// function will write over it. If the variable is present, but the file cannot
+// be created, prints an error and exits.
+void WriteToShardStatusFileIfNeeded() {
+  const char* const test_shard_file = posix::GetEnv(kTestShardStatusFile);
+  if (test_shard_file != NULL) {
+    FILE* const file = posix::FOpen(test_shard_file, "w");
+    if (file == NULL) {
+      ColoredPrintf(COLOR_RED,
+                    "Could not write to the test shard status file \"%s\" "
+                    "specified by the %s environment variable.\n",
+                    test_shard_file, kTestShardStatusFile);
+      fflush(stdout);
+      exit(EXIT_FAILURE);
+    }
+    fclose(file);
+  }
+}
+
+// Checks whether sharding is enabled by examining the relevant
+// environment variable values. If the variables are present,
+// but inconsistent (i.e., shard_index >= total_shards), prints
+// an error and exits. If in_subprocess_for_death_test, sharding is
+// disabled because it must only be applied to the original test
+// process. Otherwise, we could filter out death tests we intended to execute.
+bool ShouldShard(const char* total_shards_env,
+                 const char* shard_index_env,
+                 bool in_subprocess_for_death_test) {
+  if (in_subprocess_for_death_test) {
+    return false;
+  }
+
+  const Int32 total_shards = Int32FromEnvOrDie(total_shards_env, -1);
+  const Int32 shard_index = Int32FromEnvOrDie(shard_index_env, -1);
+
+  if (total_shards == -1 && shard_index == -1) {
+    return false;
+  } else if (total_shards == -1 && shard_index != -1) {
+    const Message msg = Message()
+      << "Invalid environment variables: you have "
+      << kTestShardIndex << " = " << shard_index
+      << ", but have left " << kTestTotalShards << " unset.\n";
+    ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+    fflush(stdout);
+    exit(EXIT_FAILURE);
+  } else if (total_shards != -1 && shard_index == -1) {
+    const Message msg = Message()
+      << "Invalid environment variables: you have "
+      << kTestTotalShards << " = " << total_shards
+      << ", but have left " << kTestShardIndex << " unset.\n";
+    ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+    fflush(stdout);
+    exit(EXIT_FAILURE);
+  } else if (shard_index < 0 || shard_index >= total_shards) {
+    const Message msg = Message()
+      << "Invalid environment variables: we require 0 <= "
+      << kTestShardIndex << " < " << kTestTotalShards
+      << ", but you have " << kTestShardIndex << "=" << shard_index
+      << ", " << kTestTotalShards << "=" << total_shards << ".\n";
+    ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+    fflush(stdout);
+    exit(EXIT_FAILURE);
+  }
+
+  return total_shards > 1;
+}
+
+// Parses the environment variable var as an Int32. If it is unset,
+// returns default_val. If it is not an Int32, prints an error
+// and aborts.
+Int32 Int32FromEnvOrDie(const char* var, Int32 default_val) {
+  const char* str_val = posix::GetEnv(var);
+  if (str_val == NULL) {
+    return default_val;
+  }
+
+  Int32 result;
+  if (!ParseInt32(Message() << "The value of environment variable " << var,
+                  str_val, &result)) {
+    exit(EXIT_FAILURE);
+  }
+  return result;
+}
+
+// Given the total number of shards, the shard index, and the test id,
+// returns true iff the test should be run on this shard. The test id is
+// some arbitrary but unique non-negative integer assigned to each test
+// method. Assumes that 0 <= shard_index < total_shards.
+bool ShouldRunTestOnShard(int total_shards, int shard_index, int test_id) {
+  return (test_id % total_shards) == shard_index;
+}
+
+// Compares the name of each test with the user-specified filter to
+// decide whether the test should be run, then records the result in
+// each TestCase and TestInfo object.
+// If shard_tests == true, further filters tests based on sharding
+// variables in the environment - see
+// http://code.google.com/p/googletest/wiki/GoogleTestAdvancedGuide.
+// Returns the number of tests that should run.
+int UnitTestImpl::FilterTests(ReactionToSharding shard_tests) {
+  const Int32 total_shards = shard_tests == HONOR_SHARDING_PROTOCOL ?
+      Int32FromEnvOrDie(kTestTotalShards, -1) : -1;
+  const Int32 shard_index = shard_tests == HONOR_SHARDING_PROTOCOL ?
+      Int32FromEnvOrDie(kTestShardIndex, -1) : -1;
+
+  // num_runnable_tests are the number of tests that will
+  // run across all shards (i.e., match filter and are not disabled).
+  // num_selected_tests are the number of tests to be run on
+  // this shard.
+  int num_runnable_tests = 0;
+  int num_selected_tests = 0;
+  for (size_t i = 0; i < test_cases_.size(); i++) {
+    TestCase* const test_case = test_cases_[i];
+    const std::string &test_case_name = test_case->name();
+    test_case->set_should_run(false);
+
+    for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
+      TestInfo* const test_info = test_case->test_info_list()[j];
+      const std::string test_name(test_info->name());
+      // A test is disabled if test case name or test name matches
+      // kDisableTestFilter.
+      const bool is_disabled =
+          internal::UnitTestOptions::MatchesFilter(test_case_name,
+                                                   kDisableTestFilter) ||
+          internal::UnitTestOptions::MatchesFilter(test_name,
+                                                   kDisableTestFilter);
+      test_info->is_disabled_ = is_disabled;
+
+      const bool matches_filter =
+          internal::UnitTestOptions::FilterMatchesTest(test_case_name,
+                                                       test_name);
+      test_info->matches_filter_ = matches_filter;
+
+      const bool is_runnable =
+          (GTEST_FLAG(also_run_disabled_tests) || !is_disabled) &&
+          matches_filter;
+
+      const bool is_selected = is_runnable &&
+          (shard_tests == IGNORE_SHARDING_PROTOCOL ||
+           ShouldRunTestOnShard(total_shards, shard_index,
+                                num_runnable_tests));
+
+      num_runnable_tests += is_runnable;
+      num_selected_tests += is_selected;
+
+      test_info->should_run_ = is_selected;
+      test_case->set_should_run(test_case->should_run() || is_selected);
+    }
+  }
+  return num_selected_tests;
+}
+
+// Prints the given C-string on a single line by replacing all '\n'
+// characters with string "\\n".  If the output takes more than
+// max_length characters, only prints the first max_length characters
+// and "...".
+static void PrintOnOneLine(const char* str, int max_length) {
+  if (str != NULL) {
+    for (int i = 0; *str != '\0'; ++str) {
+      if (i >= max_length) {
+        printf("...");
+        break;
+      }
+      if (*str == '\n') {
+        printf("\\n");
+        i += 2;
+      } else {
+        printf("%c", *str);
+        ++i;
+      }
+    }
+  }
+}
+
+// Prints the names of the tests matching the user-specified filter flag.
+void UnitTestImpl::ListTestsMatchingFilter() {
+  // Print at most this many characters for each type/value parameter.
+  const int kMaxParamLength = 250;
+
+  for (size_t i = 0; i < test_cases_.size(); i++) {
+    const TestCase* const test_case = test_cases_[i];
+    bool printed_test_case_name = false;
+
+    for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
+      const TestInfo* const test_info =
+          test_case->test_info_list()[j];
+      if (test_info->matches_filter_) {
+        if (!printed_test_case_name) {
+          printed_test_case_name = true;
+          printf("%s.", test_case->name());
+          if (test_case->type_param() != NULL) {
+            printf("  # %s = ", kTypeParamLabel);
+            // We print the type parameter on a single line to make
+            // the output easy to parse by a program.
+            PrintOnOneLine(test_case->type_param(), kMaxParamLength);
+          }
+          printf("\n");
+        }
+        printf("  %s", test_info->name());
+        if (test_info->value_param() != NULL) {
+          printf("  # %s = ", kValueParamLabel);
+          // We print the value parameter on a single line to make the
+          // output easy to parse by a program.
+          PrintOnOneLine(test_info->value_param(), kMaxParamLength);
+        }
+        printf("\n");
+      }
+    }
+  }
+  fflush(stdout);
+}
+
+// Sets the OS stack trace getter.
+//
+// Does nothing if the input and the current OS stack trace getter are
+// the same; otherwise, deletes the old getter and makes the input the
+// current getter.
+void UnitTestImpl::set_os_stack_trace_getter(
+    OsStackTraceGetterInterface* getter) {
+  if (os_stack_trace_getter_ != getter) {
+    delete os_stack_trace_getter_;
+    os_stack_trace_getter_ = getter;
+  }
+}
+
+// Returns the current OS stack trace getter if it is not NULL;
+// otherwise, creates an OsStackTraceGetter, makes it the current
+// getter, and returns it.
+OsStackTraceGetterInterface* UnitTestImpl::os_stack_trace_getter() {
+  if (os_stack_trace_getter_ == NULL) {
+#ifdef GTEST_OS_STACK_TRACE_GETTER_
+    os_stack_trace_getter_ = new GTEST_OS_STACK_TRACE_GETTER_;
+#else
+    os_stack_trace_getter_ = new OsStackTraceGetter;
+#endif  // GTEST_OS_STACK_TRACE_GETTER_
+  }
+
+  return os_stack_trace_getter_;
+}
+
+// Returns the TestResult for the test that's currently running, or
+// the TestResult for the ad hoc test if no test is running.
+TestResult* UnitTestImpl::current_test_result() {
+  return current_test_info_ ?
+      &(current_test_info_->result_) : &ad_hoc_test_result_;
+}
+
+// Shuffles all test cases, and the tests within each test case,
+// making sure that death tests are still run first.
+void UnitTestImpl::ShuffleTests() {
+  // Shuffles the death test cases.
+  ShuffleRange(random(), 0, last_death_test_case_ + 1, &test_case_indices_);
+
+  // Shuffles the non-death test cases.
+  ShuffleRange(random(), last_death_test_case_ + 1,
+               static_cast<int>(test_cases_.size()), &test_case_indices_);
+
+  // Shuffles the tests inside each test case.
+  for (size_t i = 0; i < test_cases_.size(); i++) {
+    test_cases_[i]->ShuffleTests(random());
+  }
+}
+
+// Restores the test cases and tests to their order before the first shuffle.
+void UnitTestImpl::UnshuffleTests() {
+  for (size_t i = 0; i < test_cases_.size(); i++) {
+    // Unshuffles the tests in each test case.
+    test_cases_[i]->UnshuffleTests();
+    // Resets the index of each test case.
+    test_case_indices_[i] = static_cast<int>(i);
+  }
+}
+
+// Returns the current OS stack trace as an std::string.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag.  The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
+// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
+std::string GetCurrentOsStackTraceExceptTop(UnitTest* /*unit_test*/,
+                                            int skip_count) {
+  // We pass skip_count + 1 to skip this wrapper function in addition
+  // to what the user really wants to skip.
+  return GetUnitTestImpl()->CurrentOsStackTraceExceptTop(skip_count + 1);
+}
+
+// Used by the GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_ macro to
+// suppress unreachable code warnings.
+namespace {
+class ClassUniqueToAlwaysTrue {};
+}
+
+bool IsTrue(bool condition) { return condition; }
+
+bool AlwaysTrue() {
+#if GTEST_HAS_EXCEPTIONS
+  // This condition is always false so AlwaysTrue() never actually throws,
+  // but it makes the compiler think that it may throw.
+  if (IsTrue(false))
+    throw ClassUniqueToAlwaysTrue();
+#endif  // GTEST_HAS_EXCEPTIONS
+  return true;
+}
+
+// If *pstr starts with the given prefix, modifies *pstr to be right
+// past the prefix and returns true; otherwise leaves *pstr unchanged
+// and returns false.  None of pstr, *pstr, and prefix can be NULL.
+bool SkipPrefix(const char* prefix, const char** pstr) {
+  const size_t prefix_len = strlen(prefix);
+  if (strncmp(*pstr, prefix, prefix_len) == 0) {
+    *pstr += prefix_len;
+    return true;
+  }
+  return false;
+}
+
+// Parses a string as a command line flag.  The string should have
+// the format "--flag=value".  When def_optional is true, the "=value"
+// part can be omitted.
+//
+// Returns the value of the flag, or NULL if the parsing failed.
+const char* ParseFlagValue(const char* str,
+                           const char* flag,
+                           bool def_optional) {
+  // str and flag must not be NULL.
+  if (str == NULL || flag == NULL) return NULL;
+
+  // The flag must start with "--" followed by GTEST_FLAG_PREFIX_.
+  const std::string flag_str = std::string("--") + GTEST_FLAG_PREFIX_ + flag;
+  const size_t flag_len = flag_str.length();
+  if (strncmp(str, flag_str.c_str(), flag_len) != 0) return NULL;
+
+  // Skips the flag name.
+  const char* flag_end = str + flag_len;
+
+  // When def_optional is true, it's OK to not have a "=value" part.
+  if (def_optional && (flag_end[0] == '\0')) {
+    return flag_end;
+  }
+
+  // If def_optional is true and there are more characters after the
+  // flag name, or if def_optional is false, there must be a '=' after
+  // the flag name.
+  if (flag_end[0] != '=') return NULL;
+
+  // Returns the string after "=".
+  return flag_end + 1;
+}
+
+// Parses a string for a bool flag, in the form of either
+// "--flag=value" or "--flag".
+//
+// In the former case, the value is taken as true as long as it does
+// not start with '0', 'f', or 'F'.
+//
+// In the latter case, the value is taken as true.
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+bool ParseBoolFlag(const char* str, const char* flag, bool* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseFlagValue(str, flag, true);
+
+  // Aborts if the parsing failed.
+  if (value_str == NULL) return false;
+
+  // Converts the string value to a bool.
+  *value = !(*value_str == '0' || *value_str == 'f' || *value_str == 'F');
+  return true;
+}
+
+// Parses a string for an Int32 flag, in the form of
+// "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+bool ParseInt32Flag(const char* str, const char* flag, Int32* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseFlagValue(str, flag, false);
+
+  // Aborts if the parsing failed.
+  if (value_str == NULL) return false;
+
+  // Sets *value to the value of the flag.
+  return ParseInt32(Message() << "The value of flag --" << flag,
+                    value_str, value);
+}
+
+// Parses a string for a string flag, in the form of
+// "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+bool ParseStringFlag(const char* str, const char* flag, std::string* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseFlagValue(str, flag, false);
+
+  // Aborts if the parsing failed.
+  if (value_str == NULL) return false;
+
+  // Sets *value to the value of the flag.
+  *value = value_str;
+  return true;
+}
+
+// Determines whether a string has a prefix that Google Test uses for its
+// flags, i.e., starts with GTEST_FLAG_PREFIX_ or GTEST_FLAG_PREFIX_DASH_.
+// If Google Test detects that a command line flag has its prefix but is not
+// recognized, it will print its help message. Flags starting with
+// GTEST_INTERNAL_PREFIX_ followed by "internal_" are considered Google Test
+// internal flags and do not trigger the help message.
+static bool HasGoogleTestFlagPrefix(const char* str) {
+  return (SkipPrefix("--", &str) ||
+          SkipPrefix("-", &str) ||
+          SkipPrefix("/", &str)) &&
+         !SkipPrefix(GTEST_FLAG_PREFIX_ "internal_", &str) &&
+         (SkipPrefix(GTEST_FLAG_PREFIX_, &str) ||
+          SkipPrefix(GTEST_FLAG_PREFIX_DASH_, &str));
+}
+
+// Prints a string containing code-encoded text.  The following escape
+// sequences can be used in the string to control the text color:
+//
+//   @@    prints a single '@' character.
+//   @R    changes the color to red.
+//   @G    changes the color to green.
+//   @Y    changes the color to yellow.
+//   @D    changes to the default terminal text color.
+//
+// TODO(wan@google.com): Write tests for this once we add stdout
+// capturing to Google Test.
+static void PrintColorEncoded(const char* str) {
+  GTestColor color = COLOR_DEFAULT;  // The current color.
+
+  // Conceptually, we split the string into segments divided by escape
+  // sequences.  Then we print one segment at a time.  At the end of
+  // each iteration, the str pointer advances to the beginning of the
+  // next segment.
+  for (;;) {
+    const char* p = strchr(str, '@');
+    if (p == NULL) {
+      ColoredPrintf(color, "%s", str);
+      return;
+    }
+
+    ColoredPrintf(color, "%s", std::string(str, p).c_str());
+
+    const char ch = p[1];
+    str = p + 2;
+    if (ch == '@') {
+      ColoredPrintf(color, "@");
+    } else if (ch == 'D') {
+      color = COLOR_DEFAULT;
+    } else if (ch == 'R') {
+      color = COLOR_RED;
+    } else if (ch == 'G') {
+      color = COLOR_GREEN;
+    } else if (ch == 'Y') {
+      color = COLOR_YELLOW;
+    } else {
+      --str;
+    }
+  }
+}
+
+static const char kColorEncodedHelpMessage[] =
+"This program contains tests written using " GTEST_NAME_ ". You can use the\n"
+"following command line flags to control its behavior:\n"
+"\n"
+"Test Selection:\n"
+"  @G--" GTEST_FLAG_PREFIX_ "list_tests@D\n"
+"      List the names of all tests instead of running them. The name of\n"
+"      TEST(Foo, Bar) is \"Foo.Bar\".\n"
+"  @G--" GTEST_FLAG_PREFIX_ "filter=@YPOSTIVE_PATTERNS"
+    "[@G-@YNEGATIVE_PATTERNS]@D\n"
+"      Run only the tests whose name matches one of the positive patterns but\n"
+"      none of the negative patterns. '?' matches any single character; '*'\n"
+"      matches any substring; ':' separates two patterns.\n"
+"  @G--" GTEST_FLAG_PREFIX_ "also_run_disabled_tests@D\n"
+"      Run all disabled tests too.\n"
+"\n"
+"Test Execution:\n"
+"  @G--" GTEST_FLAG_PREFIX_ "repeat=@Y[COUNT]@D\n"
+"      Run the tests repeatedly; use a negative count to repeat forever.\n"
+"  @G--" GTEST_FLAG_PREFIX_ "shuffle@D\n"
+"      Randomize tests' orders on every iteration.\n"
+"  @G--" GTEST_FLAG_PREFIX_ "random_seed=@Y[NUMBER]@D\n"
+"      Random number seed to use for shuffling test orders (between 1 and\n"
+"      99999, or 0 to use a seed based on the current time).\n"
+"\n"
+"Test Output:\n"
+"  @G--" GTEST_FLAG_PREFIX_ "color=@Y(@Gyes@Y|@Gno@Y|@Gauto@Y)@D\n"
+"      Enable/disable colored output. The default is @Gauto@D.\n"
+"  -@G-" GTEST_FLAG_PREFIX_ "print_time=0@D\n"
+"      Don't print the elapsed time of each test.\n"
+"  @G--" GTEST_FLAG_PREFIX_ "output=xml@Y[@G:@YDIRECTORY_PATH@G"
+    GTEST_PATH_SEP_ "@Y|@G:@YFILE_PATH]@D\n"
+"      Generate an XML report in the given directory or with the given file\n"
+"      name. @YFILE_PATH@D defaults to @Gtest_details.xml@D.\n"
+#if GTEST_CAN_STREAM_RESULTS_
+"  @G--" GTEST_FLAG_PREFIX_ "stream_result_to=@YHOST@G:@YPORT@D\n"
+"      Stream test results to the given server.\n"
+#endif  // GTEST_CAN_STREAM_RESULTS_
+"\n"
+"Assertion Behavior:\n"
+#if GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
+"  @G--" GTEST_FLAG_PREFIX_ "death_test_style=@Y(@Gfast@Y|@Gthreadsafe@Y)@D\n"
+"      Set the default death test style.\n"
+#endif  // GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
+"  @G--" GTEST_FLAG_PREFIX_ "break_on_failure@D\n"
+"      Turn assertion failures into debugger break-points.\n"
+"  @G--" GTEST_FLAG_PREFIX_ "throw_on_failure@D\n"
+"      Turn assertion failures into C++ exceptions.\n"
+"  @G--" GTEST_FLAG_PREFIX_ "catch_exceptions=0@D\n"
+"      Do not report exceptions as test failures. Instead, allow them\n"
+"      to crash the program or throw a pop-up (on Windows).\n"
+"\n"
+"Except for @G--" GTEST_FLAG_PREFIX_ "list_tests@D, you can alternatively set "
+    "the corresponding\n"
+"environment variable of a flag (all letters in upper-case). For example, to\n"
+"disable colored text output, you can either specify @G--" GTEST_FLAG_PREFIX_
+    "color=no@D or set\n"
+"the @G" GTEST_FLAG_PREFIX_UPPER_ "COLOR@D environment variable to @Gno@D.\n"
+"\n"
+"For more information, please read the " GTEST_NAME_ " documentation at\n"
+"@G" GTEST_PROJECT_URL_ "@D. If you find a bug in " GTEST_NAME_ "\n"
+"(not one in your own code or tests), please report it to\n"
+"@G<" GTEST_DEV_EMAIL_ ">@D.\n";
+
+bool ParseGoogleTestFlag(const char* const arg) {
+  return ParseBoolFlag(arg, kAlsoRunDisabledTestsFlag,
+                       &GTEST_FLAG(also_run_disabled_tests)) ||
+      ParseBoolFlag(arg, kBreakOnFailureFlag,
+                    &GTEST_FLAG(break_on_failure)) ||
+      ParseBoolFlag(arg, kCatchExceptionsFlag,
+                    &GTEST_FLAG(catch_exceptions)) ||
+      ParseStringFlag(arg, kColorFlag, &GTEST_FLAG(color)) ||
+      ParseStringFlag(arg, kDeathTestStyleFlag,
+                      &GTEST_FLAG(death_test_style)) ||
+      ParseBoolFlag(arg, kDeathTestUseFork,
+                    &GTEST_FLAG(death_test_use_fork)) ||
+      ParseStringFlag(arg, kFilterFlag, &GTEST_FLAG(filter)) ||
+      ParseStringFlag(arg, kInternalRunDeathTestFlag,
+                      &GTEST_FLAG(internal_run_death_test)) ||
+      ParseBoolFlag(arg, kListTestsFlag, &GTEST_FLAG(list_tests)) ||
+      ParseStringFlag(arg, kOutputFlag, &GTEST_FLAG(output)) ||
+      ParseBoolFlag(arg, kPrintTimeFlag, &GTEST_FLAG(print_time)) ||
+      ParseInt32Flag(arg, kRandomSeedFlag, &GTEST_FLAG(random_seed)) ||
+      ParseInt32Flag(arg, kRepeatFlag, &GTEST_FLAG(repeat)) ||
+      ParseBoolFlag(arg, kShuffleFlag, &GTEST_FLAG(shuffle)) ||
+      ParseInt32Flag(arg, kStackTraceDepthFlag,
+                     &GTEST_FLAG(stack_trace_depth)) ||
+      ParseStringFlag(arg, kStreamResultToFlag,
+                      &GTEST_FLAG(stream_result_to)) ||
+      ParseBoolFlag(arg, kThrowOnFailureFlag,
+                    &GTEST_FLAG(throw_on_failure));
+}
+
+#if GTEST_USE_OWN_FLAGFILE_FLAG_
+void LoadFlagsFromFile(const std::string& path) {
+  FILE* flagfile = posix::FOpen(path.c_str(), "r");
+  if (!flagfile) {
+    fprintf(stderr,
+            "Unable to open file \"%s\"\n",
+            GTEST_FLAG(flagfile).c_str());
+    fflush(stderr);
+    exit(EXIT_FAILURE);
+  }
+  std::string contents(ReadEntireFile(flagfile));
+  posix::FClose(flagfile);
+  std::vector<std::string> lines;
+  SplitString(contents, '\n', &lines);
+  for (size_t i = 0; i < lines.size(); ++i) {
+    if (lines[i].empty())
+      continue;
+    if (!ParseGoogleTestFlag(lines[i].c_str()))
+      g_help_flag = true;
+  }
+}
+#endif  // GTEST_USE_OWN_FLAGFILE_FLAG_
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test.  The type parameter CharType can be
+// instantiated to either char or wchar_t.
+template <typename CharType>
+void ParseGoogleTestFlagsOnlyImpl(int* argc, CharType** argv) {
+  for (int i = 1; i < *argc; i++) {
+    const std::string arg_string = StreamableToString(argv[i]);
+    const char* const arg = arg_string.c_str();
+
+    using internal::ParseBoolFlag;
+    using internal::ParseInt32Flag;
+    using internal::ParseStringFlag;
+
+    bool remove_flag = false;
+    if (ParseGoogleTestFlag(arg)) {
+      remove_flag = true;
+#if GTEST_USE_OWN_FLAGFILE_FLAG_
+    } else if (ParseStringFlag(arg, kFlagfileFlag, &GTEST_FLAG(flagfile))) {
+      LoadFlagsFromFile(GTEST_FLAG(flagfile));
+      remove_flag = true;
+#endif  // GTEST_USE_OWN_FLAGFILE_FLAG_
+    } else if (arg_string == "--help" || arg_string == "-h" ||
+               arg_string == "-?" || arg_string == "/?" ||
+               HasGoogleTestFlagPrefix(arg)) {
+      // Both help flag and unrecognized Google Test flags (excluding
+      // internal ones) trigger help display.
+      g_help_flag = true;
+    }
+
+    if (remove_flag) {
+      // Shift the remainder of the argv list left by one.  Note
+      // that argv has (*argc + 1) elements, the last one always being
+      // NULL.  The following loop moves the trailing NULL element as
+      // well.
+      for (int j = i; j != *argc; j++) {
+        argv[j] = argv[j + 1];
+      }
+
+      // Decrements the argument count.
+      (*argc)--;
+
+      // We also need to decrement the iterator as we just removed
+      // an element.
+      i--;
+    }
+  }
+
+  if (g_help_flag) {
+    // We print the help here instead of in RUN_ALL_TESTS(), as the
+    // latter may not be called at all if the user is using Google
+    // Test with another testing framework.
+    PrintColorEncoded(kColorEncodedHelpMessage);
+  }
+}
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test.
+void ParseGoogleTestFlagsOnly(int* argc, char** argv) {
+  ParseGoogleTestFlagsOnlyImpl(argc, argv);
+}
+void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv) {
+  ParseGoogleTestFlagsOnlyImpl(argc, argv);
+}
+
+// The internal implementation of InitGoogleTest().
+//
+// The type parameter CharType can be instantiated to either char or
+// wchar_t.
+template <typename CharType>
+void InitGoogleTestImpl(int* argc, CharType** argv) {
+  // We don't want to run the initialization code twice.
+  if (GTestIsInitialized()) return;
+
+  if (*argc <= 0) return;
+
+  g_argvs.clear();
+  for (int i = 0; i != *argc; i++) {
+    g_argvs.push_back(StreamableToString(argv[i]));
+  }
+
+  ParseGoogleTestFlagsOnly(argc, argv);
+  GetUnitTestImpl()->PostFlagParsingInit();
+}
+
+}  // namespace internal
+
+// Initializes Google Test.  This must be called before calling
+// RUN_ALL_TESTS().  In particular, it parses a command line for the
+// flags that Google Test recognizes.  Whenever a Google Test flag is
+// seen, it is removed from argv, and *argc is decremented.
+//
+// No value is returned.  Instead, the Google Test flag variables are
+// updated.
+//
+// Calling the function for the second time has no user-visible effect.
+void InitGoogleTest(int* argc, char** argv) {
+#if defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+  GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_(argc, argv);
+#else  // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+  internal::InitGoogleTestImpl(argc, argv);
+#endif  // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+}
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+void InitGoogleTest(int* argc, wchar_t** argv) {
+#if defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+  GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_(argc, argv);
+#else  // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+  internal::InitGoogleTestImpl(argc, argv);
+#endif  // defined(GTEST_CUSTOM_INIT_GOOGLE_TEST_FUNCTION_)
+}
+
+}  // namespace testing
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan), vladl@google.com (Vlad Losev)
+//
+// This file implements death tests.
+
+
+#if GTEST_HAS_DEATH_TEST
+
+# if GTEST_OS_MAC
+#  include <crt_externs.h>
+# endif  // GTEST_OS_MAC
+
+# include <errno.h>
+# include <fcntl.h>
+# include <limits.h>
+
+# if GTEST_OS_LINUX
+#  include <signal.h>
+# endif  // GTEST_OS_LINUX
+
+# include <stdarg.h>
+
+# if GTEST_OS_WINDOWS
+#  include <windows.h>
+# else
+#  include <sys/mman.h>
+#  include <sys/wait.h>
+# endif  // GTEST_OS_WINDOWS
+
+# if GTEST_OS_QNX
+#  include <spawn.h>
+# endif  // GTEST_OS_QNX
+
+#endif  // GTEST_HAS_DEATH_TEST
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation.  It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error.  This trick exists to
+// prevent the accidental inclusion of gtest-internal-inl.h in the
+// user's code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+
+// Constants.
+
+// The default death test style.
+static const char kDefaultDeathTestStyle[] = "fast";
+
+GTEST_DEFINE_string_(
+    death_test_style,
+    internal::StringFromGTestEnv("death_test_style", kDefaultDeathTestStyle),
+    "Indicates how to run a death test in a forked child process: "
+    "\"threadsafe\" (child process re-executes the test binary "
+    "from the beginning, running only the specific death test) or "
+    "\"fast\" (child process runs the death test immediately "
+    "after forking).");
+
+GTEST_DEFINE_bool_(
+    death_test_use_fork,
+    internal::BoolFromGTestEnv("death_test_use_fork", false),
+    "Instructs to use fork()/_exit() instead of clone() in death tests. "
+    "Ignored and always uses fork() on POSIX systems where clone() is not "
+    "implemented. Useful when running under valgrind or similar tools if "
+    "those do not support clone(). Valgrind 3.3.1 will just fail if "
+    "it sees an unsupported combination of clone() flags. "
+    "It is not recommended to use this flag w/o valgrind though it will "
+    "work in 99% of the cases. Once valgrind is fixed, this flag will "
+    "most likely be removed.");
+
+namespace internal {
+GTEST_DEFINE_string_(
+    internal_run_death_test, "",
+    "Indicates the file, line number, temporal index of "
+    "the single death test to run, and a file descriptor to "
+    "which a success code may be sent, all separated by "
+    "the '|' characters.  This flag is specified if and only if the current "
+    "process is a sub-process launched for running a thread-safe "
+    "death test.  FOR INTERNAL USE ONLY.");
+}  // namespace internal
+
+#if GTEST_HAS_DEATH_TEST
+
+namespace internal {
+
+// Valid only for fast death tests. Indicates the code is running in the
+// child process of a fast style death test.
+# if !GTEST_OS_WINDOWS
+static bool g_in_fast_death_test_child = false;
+# endif
+
+// Returns a Boolean value indicating whether the caller is currently
+// executing in the context of the death test child process.  Tools such as
+// Valgrind heap checkers may need this to modify their behavior in death
+// tests.  IMPORTANT: This is an internal utility.  Using it may break the
+// implementation of death tests.  User code MUST NOT use it.
+bool InDeathTestChild() {
+# if GTEST_OS_WINDOWS
+
+  // On Windows, death tests are thread-safe regardless of the value of the
+  // death_test_style flag.
+  return !GTEST_FLAG(internal_run_death_test).empty();
+
+# else
+
+  if (GTEST_FLAG(death_test_style) == "threadsafe")
+    return !GTEST_FLAG(internal_run_death_test).empty();
+  else
+    return g_in_fast_death_test_child;
+#endif
+}
+
+}  // namespace internal
+
+// ExitedWithCode constructor.
+ExitedWithCode::ExitedWithCode(int exit_code) : exit_code_(exit_code) {
+}
+
+// ExitedWithCode function-call operator.
+bool ExitedWithCode::operator()(int exit_status) const {
+# if GTEST_OS_WINDOWS
+
+  return exit_status == exit_code_;
+
+# else
+
+  return WIFEXITED(exit_status) && WEXITSTATUS(exit_status) == exit_code_;
+
+# endif  // GTEST_OS_WINDOWS
+}
+
+# if !GTEST_OS_WINDOWS
+// KilledBySignal constructor.
+KilledBySignal::KilledBySignal(int signum) : signum_(signum) {
+}
+
+// KilledBySignal function-call operator.
+bool KilledBySignal::operator()(int exit_status) const {
+#  if defined(GTEST_KILLED_BY_SIGNAL_OVERRIDE_)
+  {
+    bool result;
+    if (GTEST_KILLED_BY_SIGNAL_OVERRIDE_(signum_, exit_status, &result)) {
+      return result;
+    }
+  }
+#  endif  // defined(GTEST_KILLED_BY_SIGNAL_OVERRIDE_)
+  return WIFSIGNALED(exit_status) && WTERMSIG(exit_status) == signum_;
+}
+# endif  // !GTEST_OS_WINDOWS
+
+namespace internal {
+
+// Utilities needed for death tests.
+
+// Generates a textual description of a given exit code, in the format
+// specified by wait(2).
+static std::string ExitSummary(int exit_code) {
+  Message m;
+
+# if GTEST_OS_WINDOWS
+
+  m << "Exited with exit status " << exit_code;
+
+# else
+
+  if (WIFEXITED(exit_code)) {
+    m << "Exited with exit status " << WEXITSTATUS(exit_code);
+  } else if (WIFSIGNALED(exit_code)) {
+    m << "Terminated by signal " << WTERMSIG(exit_code);
+  }
+#  ifdef WCOREDUMP
+  if (WCOREDUMP(exit_code)) {
+    m << " (core dumped)";
+  }
+#  endif
+# endif  // GTEST_OS_WINDOWS
+
+  return m.GetString();
+}
+
+// Returns true if exit_status describes a process that was terminated
+// by a signal, or exited normally with a nonzero exit code.
+bool ExitedUnsuccessfully(int exit_status) {
+  return !ExitedWithCode(0)(exit_status);
+}
+
+# if !GTEST_OS_WINDOWS
+// Generates a textual failure message when a death test finds more than
+// one thread running, or cannot determine the number of threads, prior
+// to executing the given statement.  It is the responsibility of the
+// caller not to pass a thread_count of 1.
+static std::string DeathTestThreadWarning(size_t thread_count) {
+  Message msg;
+  msg << "Death tests use fork(), which is unsafe particularly"
+      << " in a threaded context. For this test, " << GTEST_NAME_ << " ";
+  if (thread_count == 0)
+    msg << "couldn't detect the number of threads.";
+  else
+    msg << "detected " << thread_count << " threads.";
+  return msg.GetString();
+}
+# endif  // !GTEST_OS_WINDOWS
+
+// Flag characters for reporting a death test that did not die.
+static const char kDeathTestLived = 'L';
+static const char kDeathTestReturned = 'R';
+static const char kDeathTestThrew = 'T';
+static const char kDeathTestInternalError = 'I';
+
+// An enumeration describing all of the possible ways that a death test can
+// conclude.  DIED means that the process died while executing the test
+// code; LIVED means that process lived beyond the end of the test code;
+// RETURNED means that the test statement attempted to execute a return
+// statement, which is not allowed; THREW means that the test statement
+// returned control by throwing an exception.  IN_PROGRESS means the test
+// has not yet concluded.
+// TODO(vladl@google.com): Unify names and possibly values for
+// AbortReason, DeathTestOutcome, and flag characters above.
+enum DeathTestOutcome { IN_PROGRESS, DIED, LIVED, RETURNED, THREW };
+
+// Routine for aborting the program which is safe to call from an
+// exec-style death test child process, in which case the error
+// message is propagated back to the parent process.  Otherwise, the
+// message is simply printed to stderr.  In either case, the program
+// then exits with status 1.
+void DeathTestAbort(const std::string& message) {
+  // On a POSIX system, this function may be called from a threadsafe-style
+  // death test child process, which operates on a very small stack.  Use
+  // the heap for any additional non-minuscule memory requirements.
+  const InternalRunDeathTestFlag* const flag =
+      GetUnitTestImpl()->internal_run_death_test_flag();
+  if (flag != NULL) {
+    FILE* parent = posix::FDOpen(flag->write_fd(), "w");
+    fputc(kDeathTestInternalError, parent);
+    fprintf(parent, "%s", message.c_str());
+    fflush(parent);
+    _exit(1);
+  } else {
+    fprintf(stderr, "%s", message.c_str());
+    fflush(stderr);
+    posix::Abort();
+  }
+}
+
+// A replacement for CHECK that calls DeathTestAbort if the assertion
+// fails.
+# define GTEST_DEATH_TEST_CHECK_(expression) \
+  do { \
+    if (!::testing::internal::IsTrue(expression)) { \
+      DeathTestAbort( \
+          ::std::string("CHECK failed: File ") + __FILE__ +  ", line " \
+          + ::testing::internal::StreamableToString(__LINE__) + ": " \
+          + #expression); \
+    } \
+  } while (::testing::internal::AlwaysFalse())
+
+// This macro is similar to GTEST_DEATH_TEST_CHECK_, but it is meant for
+// evaluating any system call that fulfills two conditions: it must return
+// -1 on failure, and set errno to EINTR when it is interrupted and
+// should be tried again.  The macro expands to a loop that repeatedly
+// evaluates the expression as long as it evaluates to -1 and sets
+// errno to EINTR.  If the expression evaluates to -1 but errno is
+// something other than EINTR, DeathTestAbort is called.
+# define GTEST_DEATH_TEST_CHECK_SYSCALL_(expression) \
+  do { \
+    int gtest_retval; \
+    do { \
+      gtest_retval = (expression); \
+    } while (gtest_retval == -1 && errno == EINTR); \
+    if (gtest_retval == -1) { \
+      DeathTestAbort( \
+          ::std::string("CHECK failed: File ") + __FILE__ + ", line " \
+          + ::testing::internal::StreamableToString(__LINE__) + ": " \
+          + #expression + " != -1"); \
+    } \
+  } while (::testing::internal::AlwaysFalse())
+
+// Returns the message describing the last system error in errno.
+std::string GetLastErrnoDescription() {
+    return errno == 0 ? "" : posix::StrError(errno);
+}
+
+// This is called from a death test parent process to read a failure
+// message from the death test child process and log it with the FATAL
+// severity. On Windows, the message is read from a pipe handle. On other
+// platforms, it is read from a file descriptor.
+static void FailFromInternalError(int fd) {
+  Message error;
+  char buffer[256];
+  int num_read;
+
+  do {
+    while ((num_read = posix::Read(fd, buffer, 255)) > 0) {
+      buffer[num_read] = '\0';
+      error << buffer;
+    }
+  } while (num_read == -1 && errno == EINTR);
+
+  if (num_read == 0) {
+    GTEST_LOG_(FATAL) << error.GetString();
+  } else {
+    const int last_error = errno;
+    GTEST_LOG_(FATAL) << "Error while reading death test internal: "
+                      << GetLastErrnoDescription() << " [" << last_error << "]";
+  }
+}
+
+// Death test constructor.  Increments the running death test count
+// for the current test.
+DeathTest::DeathTest() {
+  TestInfo* const info = GetUnitTestImpl()->current_test_info();
+  if (info == NULL) {
+    DeathTestAbort("Cannot run a death test outside of a TEST or "
+                   "TEST_F construct");
+  }
+}
+
+// Creates and returns a death test by dispatching to the current
+// death test factory.
+bool DeathTest::Create(const char* statement, const RE* regex,
+                       const char* file, int line, DeathTest** test) {
+  return GetUnitTestImpl()->death_test_factory()->Create(
+      statement, regex, file, line, test);
+}
+
+const char* DeathTest::LastMessage() {
+  return last_death_test_message_.c_str();
+}
+
+void DeathTest::set_last_death_test_message(const std::string& message) {
+  last_death_test_message_ = message;
+}
+
+std::string DeathTest::last_death_test_message_;
+
+// Provides cross platform implementation for some death functionality.
+class DeathTestImpl : public DeathTest {
+ protected:
+  DeathTestImpl(const char* a_statement, const RE* a_regex)
+      : statement_(a_statement),
+        regex_(a_regex),
+        spawned_(false),
+        status_(-1),
+        outcome_(IN_PROGRESS),
+        read_fd_(-1),
+        write_fd_(-1) {}
+
+  // read_fd_ is expected to be closed and cleared by a derived class.
+  ~DeathTestImpl() { GTEST_DEATH_TEST_CHECK_(read_fd_ == -1); }
+
+  void Abort(AbortReason reason);
+  virtual bool Passed(bool status_ok);
+
+  const char* statement() const { return statement_; }
+  const RE* regex() const { return regex_; }
+  bool spawned() const { return spawned_; }
+  void set_spawned(bool is_spawned) { spawned_ = is_spawned; }
+  int status() const { return status_; }
+  void set_status(int a_status) { status_ = a_status; }
+  DeathTestOutcome outcome() const { return outcome_; }
+  void set_outcome(DeathTestOutcome an_outcome) { outcome_ = an_outcome; }
+  int read_fd() const { return read_fd_; }
+  void set_read_fd(int fd) { read_fd_ = fd; }
+  int write_fd() const { return write_fd_; }
+  void set_write_fd(int fd) { write_fd_ = fd; }
+
+  // Called in the parent process only. Reads the result code of the death
+  // test child process via a pipe, interprets it to set the outcome_
+  // member, and closes read_fd_.  Outputs diagnostics and terminates in
+  // case of unexpected codes.
+  void ReadAndInterpretStatusByte();
+
+ private:
+  // The textual content of the code this object is testing.  This class
+  // doesn't own this string and should not attempt to delete it.
+  const char* const statement_;
+  // The regular expression which test output must match.  DeathTestImpl
+  // doesn't own this object and should not attempt to delete it.
+  const RE* const regex_;
+  // True if the death test child process has been successfully spawned.
+  bool spawned_;
+  // The exit status of the child process.
+  int status_;
+  // How the death test concluded.
+  DeathTestOutcome outcome_;
+  // Descriptor to the read end of the pipe to the child process.  It is
+  // always -1 in the child process.  The child keeps its write end of the
+  // pipe in write_fd_.
+  int read_fd_;
+  // Descriptor to the child's write end of the pipe to the parent process.
+  // It is always -1 in the parent process.  The parent keeps its end of the
+  // pipe in read_fd_.
+  int write_fd_;
+};
+
+// Called in the parent process only. Reads the result code of the death
+// test child process via a pipe, interprets it to set the outcome_
+// member, and closes read_fd_.  Outputs diagnostics and terminates in
+// case of unexpected codes.
+void DeathTestImpl::ReadAndInterpretStatusByte() {
+  char flag;
+  int bytes_read;
+
+  // The read() here blocks until data is available (signifying the
+  // failure of the death test) or until the pipe is closed (signifying
+  // its success), so it's okay to call this in the parent before
+  // the child process has exited.
+  do {
+    bytes_read = posix::Read(read_fd(), &flag, 1);
+  } while (bytes_read == -1 && errno == EINTR);
+
+  if (bytes_read == 0) {
+    set_outcome(DIED);
+  } else if (bytes_read == 1) {
+    switch (flag) {
+      case kDeathTestReturned:
+        set_outcome(RETURNED);
+        break;
+      case kDeathTestThrew:
+        set_outcome(THREW);
+        break;
+      case kDeathTestLived:
+        set_outcome(LIVED);
+        break;
+      case kDeathTestInternalError:
+        FailFromInternalError(read_fd());  // Does not return.
+        break;
+      default:
+        GTEST_LOG_(FATAL) << "Death test child process reported "
+                          << "unexpected status byte ("
+                          << static_cast<unsigned int>(flag) << ")";
+    }
+  } else {
+    GTEST_LOG_(FATAL) << "Read from death test child process failed: "
+                      << GetLastErrnoDescription();
+  }
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Close(read_fd()));
+  set_read_fd(-1);
+}
+
+// Signals that the death test code which should have exited, didn't.
+// Should be called only in a death test child process.
+// Writes a status byte to the child's status file descriptor, then
+// calls _exit(1).
+void DeathTestImpl::Abort(AbortReason reason) {
+  // The parent process considers the death test to be a failure if
+  // it finds any data in our pipe.  So, here we write a single flag byte
+  // to the pipe, then exit.
+  const char status_ch =
+      reason == TEST_DID_NOT_DIE ? kDeathTestLived :
+      reason == TEST_THREW_EXCEPTION ? kDeathTestThrew : kDeathTestReturned;
+
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Write(write_fd(), &status_ch, 1));
+  // We are leaking the descriptor here because on some platforms (i.e.,
+  // when built as Windows DLL), destructors of global objects will still
+  // run after calling _exit(). On such systems, write_fd_ will be
+  // indirectly closed from the destructor of UnitTestImpl, causing double
+  // close if it is also closed here. On debug configurations, double close
+  // may assert. As there are no in-process buffers to flush here, we are
+  // relying on the OS to close the descriptor after the process terminates
+  // when the destructors are not run.
+  _exit(1);  // Exits w/o any normal exit hooks (we were supposed to crash)
+}
+
+// Returns an indented copy of stderr output for a death test.
+// This makes distinguishing death test output lines from regular log lines
+// much easier.
+static ::std::string FormatDeathTestOutput(const ::std::string& output) {
+  ::std::string ret;
+  for (size_t at = 0; ; ) {
+    const size_t line_end = output.find('\n', at);
+    ret += "[  DEATH   ] ";
+    if (line_end == ::std::string::npos) {
+      ret += output.substr(at);
+      break;
+    }
+    ret += output.substr(at, line_end + 1 - at);
+    at = line_end + 1;
+  }
+  return ret;
+}
+
+// Assesses the success or failure of a death test, using both private
+// members which have previously been set, and one argument:
+//
+// Private data members:
+//   outcome:  An enumeration describing how the death test
+//             concluded: DIED, LIVED, THREW, or RETURNED.  The death test
+//             fails in the latter three cases.
+//   status:   The exit status of the child process. On *nix, it is in the
+//             in the format specified by wait(2). On Windows, this is the
+//             value supplied to the ExitProcess() API or a numeric code
+//             of the exception that terminated the program.
+//   regex:    A regular expression object to be applied to
+//             the test's captured standard error output; the death test
+//             fails if it does not match.
+//
+// Argument:
+//   status_ok: true if exit_status is acceptable in the context of
+//              this particular death test, which fails if it is false
+//
+// Returns true iff all of the above conditions are met.  Otherwise, the
+// first failing condition, in the order given above, is the one that is
+// reported. Also sets the last death test message string.
+bool DeathTestImpl::Passed(bool status_ok) {
+  if (!spawned())
+    return false;
+
+  const std::string error_message = GetCapturedStderr();
+
+  bool success = false;
+  Message buffer;
+
+  buffer << "Death test: " << statement() << "\n";
+  switch (outcome()) {
+    case LIVED:
+      buffer << "    Result: failed to die.\n"
+             << " Error msg:\n" << FormatDeathTestOutput(error_message);
+      break;
+    case THREW:
+      buffer << "    Result: threw an exception.\n"
+             << " Error msg:\n" << FormatDeathTestOutput(error_message);
+      break;
+    case RETURNED:
+      buffer << "    Result: illegal return in test statement.\n"
+             << " Error msg:\n" << FormatDeathTestOutput(error_message);
+      break;
+    case DIED:
+      if (status_ok) {
+        const bool matched = RE::PartialMatch(error_message.c_str(), *regex());
+        if (matched) {
+          success = true;
+        } else {
+          buffer << "    Result: died but not with expected error.\n"
+                 << "  Expected: " << regex()->pattern() << "\n"
+                 << "Actual msg:\n" << FormatDeathTestOutput(error_message);
+        }
+      } else {
+        buffer << "    Result: died but not with expected exit code:\n"
+               << "            " << ExitSummary(status()) << "\n"
+               << "Actual msg:\n" << FormatDeathTestOutput(error_message);
+      }
+      break;
+    case IN_PROGRESS:
+    default:
+      GTEST_LOG_(FATAL)
+          << "DeathTest::Passed somehow called before conclusion of test";
+  }
+
+  DeathTest::set_last_death_test_message(buffer.GetString());
+  return success;
+}
+
+# if GTEST_OS_WINDOWS
+// WindowsDeathTest implements death tests on Windows. Due to the
+// specifics of starting new processes on Windows, death tests there are
+// always threadsafe, and Google Test considers the
+// --gtest_death_test_style=fast setting to be equivalent to
+// --gtest_death_test_style=threadsafe there.
+//
+// A few implementation notes:  Like the Linux version, the Windows
+// implementation uses pipes for child-to-parent communication. But due to
+// the specifics of pipes on Windows, some extra steps are required:
+//
+// 1. The parent creates a communication pipe and stores handles to both
+//    ends of it.
+// 2. The parent starts the child and provides it with the information
+//    necessary to acquire the handle to the write end of the pipe.
+// 3. The child acquires the write end of the pipe and signals the parent
+//    using a Windows event.
+// 4. Now the parent can release the write end of the pipe on its side. If
+//    this is done before step 3, the object's reference count goes down to
+//    0 and it is destroyed, preventing the child from acquiring it. The
+//    parent now has to release it, or read operations on the read end of
+//    the pipe will not return when the child terminates.
+// 5. The parent reads child's output through the pipe (outcome code and
+//    any possible error messages) from the pipe, and its stderr and then
+//    determines whether to fail the test.
+//
+// Note: to distinguish Win32 API calls from the local method and function
+// calls, the former are explicitly resolved in the global namespace.
+//
+class WindowsDeathTest : public DeathTestImpl {
+ public:
+  WindowsDeathTest(const char* a_statement,
+                   const RE* a_regex,
+                   const char* file,
+                   int line)
+      : DeathTestImpl(a_statement, a_regex), file_(file), line_(line) {}
+
+  // All of these virtual functions are inherited from DeathTest.
+  virtual int Wait();
+  virtual TestRole AssumeRole();
+
+ private:
+  // The name of the file in which the death test is located.
+  const char* const file_;
+  // The line number on which the death test is located.
+  const int line_;
+  // Handle to the write end of the pipe to the child process.
+  AutoHandle write_handle_;
+  // Child process handle.
+  AutoHandle child_handle_;
+  // Event the child process uses to signal the parent that it has
+  // acquired the handle to the write end of the pipe. After seeing this
+  // event the parent can release its own handles to make sure its
+  // ReadFile() calls return when the child terminates.
+  AutoHandle event_handle_;
+};
+
+// Waits for the child in a death test to exit, returning its exit
+// status, or 0 if no child process exists.  As a side effect, sets the
+// outcome data member.
+int WindowsDeathTest::Wait() {
+  if (!spawned())
+    return 0;
+
+  // Wait until the child either signals that it has acquired the write end
+  // of the pipe or it dies.
+  const HANDLE wait_handles[2] = { child_handle_.Get(), event_handle_.Get() };
+  switch (::WaitForMultipleObjects(2,
+                                   wait_handles,
+                                   FALSE,  // Waits for any of the handles.
+                                   INFINITE)) {
+    case WAIT_OBJECT_0:
+    case WAIT_OBJECT_0 + 1:
+      break;
+    default:
+      GTEST_DEATH_TEST_CHECK_(false);  // Should not get here.
+  }
+
+  // The child has acquired the write end of the pipe or exited.
+  // We release the handle on our side and continue.
+  write_handle_.Reset();
+  event_handle_.Reset();
+
+  ReadAndInterpretStatusByte();
+
+  // Waits for the child process to exit if it haven't already. This
+  // returns immediately if the child has already exited, regardless of
+  // whether previous calls to WaitForMultipleObjects synchronized on this
+  // handle or not.
+  GTEST_DEATH_TEST_CHECK_(
+      WAIT_OBJECT_0 == ::WaitForSingleObject(child_handle_.Get(),
+                                             INFINITE));
+  DWORD status_code;
+  GTEST_DEATH_TEST_CHECK_(
+      ::GetExitCodeProcess(child_handle_.Get(), &status_code) != FALSE);
+  child_handle_.Reset();
+  set_status(static_cast<int>(status_code));
+  return status();
+}
+
+// The AssumeRole process for a Windows death test.  It creates a child
+// process with the same executable as the current process to run the
+// death test.  The child process is given the --gtest_filter and
+// --gtest_internal_run_death_test flags such that it knows to run the
+// current death test only.
+DeathTest::TestRole WindowsDeathTest::AssumeRole() {
+  const UnitTestImpl* const impl = GetUnitTestImpl();
+  const InternalRunDeathTestFlag* const flag =
+      impl->internal_run_death_test_flag();
+  const TestInfo* const info = impl->current_test_info();
+  const int death_test_index = info->result()->death_test_count();
+
+  if (flag != NULL) {
+    // ParseInternalRunDeathTestFlag() has performed all the necessary
+    // processing.
+    set_write_fd(flag->write_fd());
+    return EXECUTE_TEST;
+  }
+
+  // WindowsDeathTest uses an anonymous pipe to communicate results of
+  // a death test.
+  SECURITY_ATTRIBUTES handles_are_inheritable = {
+    sizeof(SECURITY_ATTRIBUTES), NULL, TRUE };
+  HANDLE read_handle, write_handle;
+  GTEST_DEATH_TEST_CHECK_(
+      ::CreatePipe(&read_handle, &write_handle, &handles_are_inheritable,
+                   0)  // Default buffer size.
+      != FALSE);
+  set_read_fd(::_open_osfhandle(reinterpret_cast<intptr_t>(read_handle),
+                                O_RDONLY));
+  write_handle_.Reset(write_handle);
+  event_handle_.Reset(::CreateEvent(
+      &handles_are_inheritable,
+      TRUE,    // The event will automatically reset to non-signaled state.
+      FALSE,   // The initial state is non-signalled.
+      NULL));  // The even is unnamed.
+  GTEST_DEATH_TEST_CHECK_(event_handle_.Get() != NULL);
+  const std::string filter_flag =
+      std::string("--") + GTEST_FLAG_PREFIX_ + kFilterFlag + "=" +
+      info->test_case_name() + "." + info->name();
+  const std::string internal_flag =
+      std::string("--") + GTEST_FLAG_PREFIX_ + kInternalRunDeathTestFlag +
+      "=" + file_ + "|" + StreamableToString(line_) + "|" +
+      StreamableToString(death_test_index) + "|" +
+      StreamableToString(static_cast<unsigned int>(::GetCurrentProcessId())) +
+      // size_t has the same width as pointers on both 32-bit and 64-bit
+      // Windows platforms.
+      // See http://msdn.microsoft.com/en-us/library/tcxf1dw6.aspx.
+      "|" + StreamableToString(reinterpret_cast<size_t>(write_handle)) +
+      "|" + StreamableToString(reinterpret_cast<size_t>(event_handle_.Get()));
+
+  char executable_path[_MAX_PATH + 1];  // NOLINT
+  GTEST_DEATH_TEST_CHECK_(
+      _MAX_PATH + 1 != ::GetModuleFileNameA(NULL,
+                                            executable_path,
+                                            _MAX_PATH));
+
+  std::string command_line =
+      std::string(::GetCommandLineA()) + " " + filter_flag + " \"" +
+      internal_flag + "\"";
+
+  DeathTest::set_last_death_test_message("");
+
+  CaptureStderr();
+  // Flush the log buffers since the log streams are shared with the child.
+  FlushInfoLog();
+
+  // The child process will share the standard handles with the parent.
+  STARTUPINFOA startup_info;
+  memset(&startup_info, 0, sizeof(STARTUPINFO));
+  startup_info.dwFlags = STARTF_USESTDHANDLES;
+  startup_info.hStdInput = ::GetStdHandle(STD_INPUT_HANDLE);
+  startup_info.hStdOutput = ::GetStdHandle(STD_OUTPUT_HANDLE);
+  startup_info.hStdError = ::GetStdHandle(STD_ERROR_HANDLE);
+
+  PROCESS_INFORMATION process_info;
+  GTEST_DEATH_TEST_CHECK_(::CreateProcessA(
+      executable_path,
+      const_cast<char*>(command_line.c_str()),
+      NULL,   // Retuned process handle is not inheritable.
+      NULL,   // Retuned thread handle is not inheritable.
+      TRUE,   // Child inherits all inheritable handles (for write_handle_).
+      0x0,    // Default creation flags.
+      NULL,   // Inherit the parent's environment.
+      UnitTest::GetInstance()->original_working_dir(),
+      &startup_info,
+      &process_info) != FALSE);
+  child_handle_.Reset(process_info.hProcess);
+  ::CloseHandle(process_info.hThread);
+  set_spawned(true);
+  return OVERSEE_TEST;
+}
+# else  // We are not on Windows.
+
+// ForkingDeathTest provides implementations for most of the abstract
+// methods of the DeathTest interface.  Only the AssumeRole method is
+// left undefined.
+class ForkingDeathTest : public DeathTestImpl {
+ public:
+  ForkingDeathTest(const char* statement, const RE* regex);
+
+  // All of these virtual functions are inherited from DeathTest.
+  virtual int Wait();
+
+ protected:
+  void set_child_pid(pid_t child_pid) { child_pid_ = child_pid; }
+
+ private:
+  // PID of child process during death test; 0 in the child process itself.
+  pid_t child_pid_;
+};
+
+// Constructs a ForkingDeathTest.
+ForkingDeathTest::ForkingDeathTest(const char* a_statement, const RE* a_regex)
+    : DeathTestImpl(a_statement, a_regex),
+      child_pid_(-1) {}
+
+// Waits for the child in a death test to exit, returning its exit
+// status, or 0 if no child process exists.  As a side effect, sets the
+// outcome data member.
+int ForkingDeathTest::Wait() {
+  if (!spawned())
+    return 0;
+
+  ReadAndInterpretStatusByte();
+
+  int status_value;
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(waitpid(child_pid_, &status_value, 0));
+  set_status(status_value);
+  return status_value;
+}
+
+// A concrete death test class that forks, then immediately runs the test
+// in the child process.
+class NoExecDeathTest : public ForkingDeathTest {
+ public:
+  NoExecDeathTest(const char* a_statement, const RE* a_regex) :
+      ForkingDeathTest(a_statement, a_regex) { }
+  virtual TestRole AssumeRole();
+};
+
+// The AssumeRole process for a fork-and-run death test.  It implements a
+// straightforward fork, with a simple pipe to transmit the status byte.
+DeathTest::TestRole NoExecDeathTest::AssumeRole() {
+  const size_t thread_count = GetThreadCount();
+  if (thread_count != 1) {
+    GTEST_LOG_(WARNING) << DeathTestThreadWarning(thread_count);
+  }
+
+  int pipe_fd[2];
+  GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
+
+  DeathTest::set_last_death_test_message("");
+  CaptureStderr();
+  // When we fork the process below, the log file buffers are copied, but the
+  // file descriptors are shared.  We flush all log files here so that closing
+  // the file descriptors in the child process doesn't throw off the
+  // synchronization between descriptors and buffers in the parent process.
+  // This is as close to the fork as possible to avoid a race condition in case
+  // there are multiple threads running before the death test, and another
+  // thread writes to the log file.
+  FlushInfoLog();
+
+  const pid_t child_pid = fork();
+  GTEST_DEATH_TEST_CHECK_(child_pid != -1);
+  set_child_pid(child_pid);
+  if (child_pid == 0) {
+    GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[0]));
+    set_write_fd(pipe_fd[1]);
+    // Redirects all logging to stderr in the child process to prevent
+    // concurrent writes to the log files.  We capture stderr in the parent
+    // process and append the child process' output to a log.
+    LogToStderr();
+    // Event forwarding to the listeners of event listener API mush be shut
+    // down in death test subprocesses.
+    GetUnitTestImpl()->listeners()->SuppressEventForwarding();
+    g_in_fast_death_test_child = true;
+    return EXECUTE_TEST;
+  } else {
+    GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
+    set_read_fd(pipe_fd[0]);
+    set_spawned(true);
+    return OVERSEE_TEST;
+  }
+}
+
+// A concrete death test class that forks and re-executes the main
+// program from the beginning, with command-line flags set that cause
+// only this specific death test to be run.
+class ExecDeathTest : public ForkingDeathTest {
+ public:
+  ExecDeathTest(const char* a_statement, const RE* a_regex,
+                const char* file, int line) :
+      ForkingDeathTest(a_statement, a_regex), file_(file), line_(line) { }
+  virtual TestRole AssumeRole();
+ private:
+  static ::std::vector<testing::internal::string>
+  GetArgvsForDeathTestChildProcess() {
+    ::std::vector<testing::internal::string> args = GetInjectableArgvs();
+#  if defined(GTEST_EXTRA_DEATH_TEST_COMMAND_LINE_ARGS_)
+    ::std::vector<testing::internal::string> extra_args =
+        GTEST_EXTRA_DEATH_TEST_COMMAND_LINE_ARGS_();
+    args.insert(args.end(), extra_args.begin(), extra_args.end());
+#  endif  // defined(GTEST_EXTRA_DEATH_TEST_COMMAND_LINE_ARGS_)
+    return args;
+  }
+  // The name of the file in which the death test is located.
+  const char* const file_;
+  // The line number on which the death test is located.
+  const int line_;
+};
+
+// Utility class for accumulating command-line arguments.
+class Arguments {
+ public:
+  Arguments() {
+    args_.push_back(NULL);
+  }
+
+  ~Arguments() {
+    for (std::vector<char*>::iterator i = args_.begin(); i != args_.end();
+         ++i) {
+      free(*i);
+    }
+  }
+  void AddArgument(const char* argument) {
+    args_.insert(args_.end() - 1, posix::StrDup(argument));
+  }
+
+  template <typename Str>
+  void AddArguments(const ::std::vector<Str>& arguments) {
+    for (typename ::std::vector<Str>::const_iterator i = arguments.begin();
+         i != arguments.end();
+         ++i) {
+      args_.insert(args_.end() - 1, posix::StrDup(i->c_str()));
+    }
+  }
+  char* const* Argv() {
+    return &args_[0];
+  }
+
+ private:
+  std::vector<char*> args_;
+};
+
+// A struct that encompasses the arguments to the child process of a
+// threadsafe-style death test process.
+struct ExecDeathTestArgs {
+  char* const* argv;  // Command-line arguments for the child's call to exec
+  int close_fd;       // File descriptor to close; the read end of a pipe
+};
+
+#  if GTEST_OS_MAC
+inline char** GetEnviron() {
+  // When Google Test is built as a framework on MacOS X, the environ variable
+  // is unavailable. Apple's documentation (man environ) recommends using
+  // _NSGetEnviron() instead.
+  return *_NSGetEnviron();
+}
+#  else
+// Some POSIX platforms expect you to declare environ. extern "C" makes
+// it reside in the global namespace.
+extern "C" char** environ;
+inline char** GetEnviron() { return environ; }
+#  endif  // GTEST_OS_MAC
+
+#  if !GTEST_OS_QNX
+// The main function for a threadsafe-style death test child process.
+// This function is called in a clone()-ed process and thus must avoid
+// any potentially unsafe operations like malloc or libc functions.
+static int ExecDeathTestChildMain(void* child_arg) {
+  ExecDeathTestArgs* const args = static_cast<ExecDeathTestArgs*>(child_arg);
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(close(args->close_fd));
+
+  // We need to execute the test program in the same environment where
+  // it was originally invoked.  Therefore we change to the original
+  // working directory first.
+  const char* const original_dir =
+      UnitTest::GetInstance()->original_working_dir();
+  // We can safely call chdir() as it's a direct system call.
+  if (chdir(original_dir) != 0) {
+    DeathTestAbort(std::string("chdir(\"") + original_dir + "\") failed: " +
+                   GetLastErrnoDescription());
+    return EXIT_FAILURE;
+  }
+
+  // We can safely call execve() as it's a direct system call.  We
+  // cannot use execvp() as it's a libc function and thus potentially
+  // unsafe.  Since execve() doesn't search the PATH, the user must
+  // invoke the test program via a valid path that contains at least
+  // one path separator.
+  execve(args->argv[0], args->argv, GetEnviron());
+  DeathTestAbort(std::string("execve(") + args->argv[0] + ", ...) in " +
+                 original_dir + " failed: " +
+                 GetLastErrnoDescription());
+  return EXIT_FAILURE;
+}
+#  endif  // !GTEST_OS_QNX
+
+// Two utility routines that together determine the direction the stack
+// grows.
+// This could be accomplished more elegantly by a single recursive
+// function, but we want to guard against the unlikely possibility of
+// a smart compiler optimizing the recursion away.
+//
+// GTEST_NO_INLINE_ is required to prevent GCC 4.6 from inlining
+// StackLowerThanAddress into StackGrowsDown, which then doesn't give
+// correct answer.
+void StackLowerThanAddress(const void* ptr, bool* result) GTEST_NO_INLINE_;
+void StackLowerThanAddress(const void* ptr, bool* result) {
+  int dummy;
+  *result = (&dummy < ptr);
+}
+
+// Make sure AddressSanitizer does not tamper with the stack here.
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+bool StackGrowsDown() {
+  int dummy;
+  bool result;
+  StackLowerThanAddress(&dummy, &result);
+  return result;
+}
+
+// Spawns a child process with the same executable as the current process in
+// a thread-safe manner and instructs it to run the death test.  The
+// implementation uses fork(2) + exec.  On systems where clone(2) is
+// available, it is used instead, being slightly more thread-safe.  On QNX,
+// fork supports only single-threaded environments, so this function uses
+// spawn(2) there instead.  The function dies with an error message if
+// anything goes wrong.
+static pid_t ExecDeathTestSpawnChild(char* const* argv, int close_fd) {
+  ExecDeathTestArgs args = { argv, close_fd };
+  pid_t child_pid = -1;
+
+#  if GTEST_OS_QNX
+  // Obtains the current directory and sets it to be closed in the child
+  // process.
+  const int cwd_fd = open(".", O_RDONLY);
+  GTEST_DEATH_TEST_CHECK_(cwd_fd != -1);
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(fcntl(cwd_fd, F_SETFD, FD_CLOEXEC));
+  // We need to execute the test program in the same environment where
+  // it was originally invoked.  Therefore we change to the original
+  // working directory first.
+  const char* const original_dir =
+      UnitTest::GetInstance()->original_working_dir();
+  // We can safely call chdir() as it's a direct system call.
+  if (chdir(original_dir) != 0) {
+    DeathTestAbort(std::string("chdir(\"") + original_dir + "\") failed: " +
+                   GetLastErrnoDescription());
+    return EXIT_FAILURE;
+  }
+
+  int fd_flags;
+  // Set close_fd to be closed after spawn.
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(fd_flags = fcntl(close_fd, F_GETFD));
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(fcntl(close_fd, F_SETFD,
+                                        fd_flags | FD_CLOEXEC));
+  struct inheritance inherit = {0};
+  // spawn is a system call.
+  child_pid = spawn(args.argv[0], 0, NULL, &inherit, args.argv, GetEnviron());
+  // Restores the current working directory.
+  GTEST_DEATH_TEST_CHECK_(fchdir(cwd_fd) != -1);
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(close(cwd_fd));
+
+#  else   // GTEST_OS_QNX
+#   if GTEST_OS_LINUX
+  // When a SIGPROF signal is received while fork() or clone() are executing,
+  // the process may hang. To avoid this, we ignore SIGPROF here and re-enable
+  // it after the call to fork()/clone() is complete.
+  struct sigaction saved_sigprof_action;
+  struct sigaction ignore_sigprof_action;
+  memset(&ignore_sigprof_action, 0, sizeof(ignore_sigprof_action));
+  sigemptyset(&ignore_sigprof_action.sa_mask);
+  ignore_sigprof_action.sa_handler = SIG_IGN;
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(sigaction(
+      SIGPROF, &ignore_sigprof_action, &saved_sigprof_action));
+#   endif  // GTEST_OS_LINUX
+
+#   if GTEST_HAS_CLONE
+  const bool use_fork = GTEST_FLAG(death_test_use_fork);
+
+  if (!use_fork) {
+    static const bool stack_grows_down = StackGrowsDown();
+    const size_t stack_size = getpagesize();
+    // MMAP_ANONYMOUS is not defined on Mac, so we use MAP_ANON instead.
+    void* const stack = mmap(NULL, stack_size, PROT_READ | PROT_WRITE,
+                             MAP_ANON | MAP_PRIVATE, -1, 0);
+    GTEST_DEATH_TEST_CHECK_(stack != MAP_FAILED);
+
+    // Maximum stack alignment in bytes:  For a downward-growing stack, this
+    // amount is subtracted from size of the stack space to get an address
+    // that is within the stack space and is aligned on all systems we care
+    // about.  As far as I know there is no ABI with stack alignment greater
+    // than 64.  We assume stack and stack_size already have alignment of
+    // kMaxStackAlignment.
+    const size_t kMaxStackAlignment = 64;
+    void* const stack_top =
+        static_cast<char*>(stack) +
+            (stack_grows_down ? stack_size - kMaxStackAlignment : 0);
+    GTEST_DEATH_TEST_CHECK_(stack_size > kMaxStackAlignment &&
+        reinterpret_cast<intptr_t>(stack_top) % kMaxStackAlignment == 0);
+
+    child_pid = clone(&ExecDeathTestChildMain, stack_top, SIGCHLD, &args);
+
+    GTEST_DEATH_TEST_CHECK_(munmap(stack, stack_size) != -1);
+  }
+#   else
+  const bool use_fork = true;
+#   endif  // GTEST_HAS_CLONE
+
+  if (use_fork && (child_pid = fork()) == 0) {
+      ExecDeathTestChildMain(&args);
+      _exit(0);
+  }
+#  endif  // GTEST_OS_QNX
+#  if GTEST_OS_LINUX
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(
+      sigaction(SIGPROF, &saved_sigprof_action, NULL));
+#  endif  // GTEST_OS_LINUX
+
+  GTEST_DEATH_TEST_CHECK_(child_pid != -1);
+  return child_pid;
+}
+
+// The AssumeRole process for a fork-and-exec death test.  It re-executes the
+// main program from the beginning, setting the --gtest_filter
+// and --gtest_internal_run_death_test flags to cause only the current
+// death test to be re-run.
+DeathTest::TestRole ExecDeathTest::AssumeRole() {
+  const UnitTestImpl* const impl = GetUnitTestImpl();
+  const InternalRunDeathTestFlag* const flag =
+      impl->internal_run_death_test_flag();
+  const TestInfo* const info = impl->current_test_info();
+  const int death_test_index = info->result()->death_test_count();
+
+  if (flag != NULL) {
+    set_write_fd(flag->write_fd());
+    return EXECUTE_TEST;
+  }
+
+  int pipe_fd[2];
+  GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
+  // Clear the close-on-exec flag on the write end of the pipe, lest
+  // it be closed when the child process does an exec:
+  GTEST_DEATH_TEST_CHECK_(fcntl(pipe_fd[1], F_SETFD, 0) != -1);
+
+  const std::string filter_flag =
+      std::string("--") + GTEST_FLAG_PREFIX_ + kFilterFlag + "="
+      + info->test_case_name() + "." + info->name();
+  const std::string internal_flag =
+      std::string("--") + GTEST_FLAG_PREFIX_ + kInternalRunDeathTestFlag + "="
+      + file_ + "|" + StreamableToString(line_) + "|"
+      + StreamableToString(death_test_index) + "|"
+      + StreamableToString(pipe_fd[1]);
+  Arguments args;
+  args.AddArguments(GetArgvsForDeathTestChildProcess());
+  args.AddArgument(filter_flag.c_str());
+  args.AddArgument(internal_flag.c_str());
+
+  DeathTest::set_last_death_test_message("");
+
+  CaptureStderr();
+  // See the comment in NoExecDeathTest::AssumeRole for why the next line
+  // is necessary.
+  FlushInfoLog();
+
+  const pid_t child_pid = ExecDeathTestSpawnChild(args.Argv(), pipe_fd[0]);
+  GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
+  set_child_pid(child_pid);
+  set_read_fd(pipe_fd[0]);
+  set_spawned(true);
+  return OVERSEE_TEST;
+}
+
+# endif  // !GTEST_OS_WINDOWS
+
+// Creates a concrete DeathTest-derived class that depends on the
+// --gtest_death_test_style flag, and sets the pointer pointed to
+// by the "test" argument to its address.  If the test should be
+// skipped, sets that pointer to NULL.  Returns true, unless the
+// flag is set to an invalid value.
+bool DefaultDeathTestFactory::Create(const char* statement, const RE* regex,
+                                     const char* file, int line,
+                                     DeathTest** test) {
+  UnitTestImpl* const impl = GetUnitTestImpl();
+  const InternalRunDeathTestFlag* const flag =
+      impl->internal_run_death_test_flag();
+  const int death_test_index = impl->current_test_info()
+      ->increment_death_test_count();
+
+  if (flag != NULL) {
+    if (death_test_index > flag->index()) {
+      DeathTest::set_last_death_test_message(
+          "Death test count (" + StreamableToString(death_test_index)
+          + ") somehow exceeded expected maximum ("
+          + StreamableToString(flag->index()) + ")");
+      return false;
+    }
+
+    if (!(flag->file() == file && flag->line() == line &&
+          flag->index() == death_test_index)) {
+      *test = NULL;
+      return true;
+    }
+  }
+
+# if GTEST_OS_WINDOWS
+
+  if (GTEST_FLAG(death_test_style) == "threadsafe" ||
+      GTEST_FLAG(death_test_style) == "fast") {
+    *test = new WindowsDeathTest(statement, regex, file, line);
+  }
+
+# else
+
+  if (GTEST_FLAG(death_test_style) == "threadsafe") {
+    *test = new ExecDeathTest(statement, regex, file, line);
+  } else if (GTEST_FLAG(death_test_style) == "fast") {
+    *test = new NoExecDeathTest(statement, regex);
+  }
+
+# endif  // GTEST_OS_WINDOWS
+
+  else {  // NOLINT - this is more readable than unbalanced brackets inside #if.
+    DeathTest::set_last_death_test_message(
+        "Unknown death test style \"" + GTEST_FLAG(death_test_style)
+        + "\" encountered");
+    return false;
+  }
+
+  return true;
+}
+
+# if GTEST_OS_WINDOWS
+// Recreates the pipe and event handles from the provided parameters,
+// signals the event, and returns a file descriptor wrapped around the pipe
+// handle. This function is called in the child process only.
+int GetStatusFileDescriptor(unsigned int parent_process_id,
+                            size_t write_handle_as_size_t,
+                            size_t event_handle_as_size_t) {
+  AutoHandle parent_process_handle(::OpenProcess(PROCESS_DUP_HANDLE,
+                                                   FALSE,  // Non-inheritable.
+                                                   parent_process_id));
+  if (parent_process_handle.Get() == INVALID_HANDLE_VALUE) {
+    DeathTestAbort("Unable to open parent process " +
+                   StreamableToString(parent_process_id));
+  }
+
+  // TODO(vladl@google.com): Replace the following check with a
+  // compile-time assertion when available.
+  GTEST_CHECK_(sizeof(HANDLE) <= sizeof(size_t));
+
+  const HANDLE write_handle =
+      reinterpret_cast<HANDLE>(write_handle_as_size_t);
+  HANDLE dup_write_handle;
+
+  // The newly initialized handle is accessible only in in the parent
+  // process. To obtain one accessible within the child, we need to use
+  // DuplicateHandle.
+  if (!::DuplicateHandle(parent_process_handle.Get(), write_handle,
+                         ::GetCurrentProcess(), &dup_write_handle,
+                         0x0,    // Requested privileges ignored since
+                                 // DUPLICATE_SAME_ACCESS is used.
+                         FALSE,  // Request non-inheritable handler.
+                         DUPLICATE_SAME_ACCESS)) {
+    DeathTestAbort("Unable to duplicate the pipe handle " +
+                   StreamableToString(write_handle_as_size_t) +
+                   " from the parent process " +
+                   StreamableToString(parent_process_id));
+  }
+
+  const HANDLE event_handle = reinterpret_cast<HANDLE>(event_handle_as_size_t);
+  HANDLE dup_event_handle;
+
+  if (!::DuplicateHandle(parent_process_handle.Get(), event_handle,
+                         ::GetCurrentProcess(), &dup_event_handle,
+                         0x0,
+                         FALSE,
+                         DUPLICATE_SAME_ACCESS)) {
+    DeathTestAbort("Unable to duplicate the event handle " +
+                   StreamableToString(event_handle_as_size_t) +
+                   " from the parent process " +
+                   StreamableToString(parent_process_id));
+  }
+
+  const int write_fd =
+      ::_open_osfhandle(reinterpret_cast<intptr_t>(dup_write_handle), O_APPEND);
+  if (write_fd == -1) {
+    DeathTestAbort("Unable to convert pipe handle " +
+                   StreamableToString(write_handle_as_size_t) +
+                   " to a file descriptor");
+  }
+
+  // Signals the parent that the write end of the pipe has been acquired
+  // so the parent can release its own write end.
+  ::SetEvent(dup_event_handle);
+
+  return write_fd;
+}
+# endif  // GTEST_OS_WINDOWS
+
+// Returns a newly created InternalRunDeathTestFlag object with fields
+// initialized from the GTEST_FLAG(internal_run_death_test) flag if
+// the flag is specified; otherwise returns NULL.
+InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag() {
+  if (GTEST_FLAG(internal_run_death_test) == "") return NULL;
+
+  // GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we
+  // can use it here.
+  int line = -1;
+  int index = -1;
+  ::std::vector< ::std::string> fields;
+  SplitString(GTEST_FLAG(internal_run_death_test).c_str(), '|', &fields);
+  int write_fd = -1;
+
+# if GTEST_OS_WINDOWS
+
+  unsigned int parent_process_id = 0;
+  size_t write_handle_as_size_t = 0;
+  size_t event_handle_as_size_t = 0;
+
+  if (fields.size() != 6
+      || !ParseNaturalNumber(fields[1], &line)
+      || !ParseNaturalNumber(fields[2], &index)
+      || !ParseNaturalNumber(fields[3], &parent_process_id)
+      || !ParseNaturalNumber(fields[4], &write_handle_as_size_t)
+      || !ParseNaturalNumber(fields[5], &event_handle_as_size_t)) {
+    DeathTestAbort("Bad --gtest_internal_run_death_test flag: " +
+                   GTEST_FLAG(internal_run_death_test));
+  }
+  write_fd = GetStatusFileDescriptor(parent_process_id,
+                                     write_handle_as_size_t,
+                                     event_handle_as_size_t);
+# else
+
+  if (fields.size() != 4
+      || !ParseNaturalNumber(fields[1], &line)
+      || !ParseNaturalNumber(fields[2], &index)
+      || !ParseNaturalNumber(fields[3], &write_fd)) {
+    DeathTestAbort("Bad --gtest_internal_run_death_test flag: "
+        + GTEST_FLAG(internal_run_death_test));
+  }
+
+# endif  // GTEST_OS_WINDOWS
+
+  return new InternalRunDeathTestFlag(fields[0], line, index, write_fd);
+}
+
+}  // namespace internal
+
+#endif  // GTEST_HAS_DEATH_TEST
+
+}  // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: keith.ray@gmail.com (Keith Ray)
+
+
+#include <stdlib.h>
+
+#if GTEST_OS_WINDOWS_MOBILE
+# include <windows.h>
+#elif GTEST_OS_WINDOWS
+# include <direct.h>
+# include <io.h>
+#elif GTEST_OS_SYMBIAN
+// Symbian OpenC has PATH_MAX in sys/syslimits.h
+# include <sys/syslimits.h>
+#else
+# include <limits.h>
+# include <climits>  // Some Linux distributions define PATH_MAX here.
+#endif  // GTEST_OS_WINDOWS_MOBILE
+
+#if GTEST_OS_WINDOWS
+# define GTEST_PATH_MAX_ _MAX_PATH
+#elif defined(PATH_MAX)
+# define GTEST_PATH_MAX_ PATH_MAX
+#elif defined(_XOPEN_PATH_MAX)
+# define GTEST_PATH_MAX_ _XOPEN_PATH_MAX
+#else
+# define GTEST_PATH_MAX_ _POSIX_PATH_MAX
+#endif  // GTEST_OS_WINDOWS
+
+
+namespace testing {
+namespace internal {
+
+#if GTEST_OS_WINDOWS
+// On Windows, '\\' is the standard path separator, but many tools and the
+// Windows API also accept '/' as an alternate path separator. Unless otherwise
+// noted, a file path can contain either kind of path separators, or a mixture
+// of them.
+const char kPathSeparator = '\\';
+const char kAlternatePathSeparator = '/';
+const char kAlternatePathSeparatorString[] = "/";
+# if GTEST_OS_WINDOWS_MOBILE
+// Windows CE doesn't have a current directory. You should not use
+// the current directory in tests on Windows CE, but this at least
+// provides a reasonable fallback.
+const char kCurrentDirectoryString[] = "\\";
+// Windows CE doesn't define INVALID_FILE_ATTRIBUTES
+const DWORD kInvalidFileAttributes = 0xffffffff;
+# else
+const char kCurrentDirectoryString[] = ".\\";
+# endif  // GTEST_OS_WINDOWS_MOBILE
+#else
+const char kPathSeparator = '/';
+const char kCurrentDirectoryString[] = "./";
+#endif  // GTEST_OS_WINDOWS
+
+// Returns whether the given character is a valid path separator.
+static bool IsPathSeparator(char c) {
+#if GTEST_HAS_ALT_PATH_SEP_
+  return (c == kPathSeparator) || (c == kAlternatePathSeparator);
+#else
+  return c == kPathSeparator;
+#endif
+}
+
+// Returns the current working directory, or "" if unsuccessful.
+FilePath FilePath::GetCurrentDir() {
+#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_WINDOWS_PHONE || GTEST_OS_WINDOWS_RT
+  // Windows CE doesn't have a current directory, so we just return
+  // something reasonable.
+  return FilePath(kCurrentDirectoryString);
+#elif GTEST_OS_WINDOWS
+  char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
+  return FilePath(_getcwd(cwd, sizeof(cwd)) == NULL ? "" : cwd);
+#else
+  char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
+  char* result = getcwd(cwd, sizeof(cwd));
+# if GTEST_OS_NACL
+  // getcwd will likely fail in NaCl due to the sandbox, so return something
+  // reasonable. The user may have provided a shim implementation for getcwd,
+  // however, so fallback only when failure is detected.
+  return FilePath(result == NULL ? kCurrentDirectoryString : cwd);
+# endif  // GTEST_OS_NACL
+  return FilePath(result == NULL ? "" : cwd);
+#endif  // GTEST_OS_WINDOWS_MOBILE
+}
+
+// Returns a copy of the FilePath with the case-insensitive extension removed.
+// Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
+// FilePath("dir/file"). If a case-insensitive extension is not
+// found, returns a copy of the original FilePath.
+FilePath FilePath::RemoveExtension(const char* extension) const {
+  const std::string dot_extension = std::string(".") + extension;
+  if (String::EndsWithCaseInsensitive(pathname_, dot_extension)) {
+    return FilePath(pathname_.substr(
+        0, pathname_.length() - dot_extension.length()));
+  }
+  return *this;
+}
+
+// Returns a pointer to the last occurence of a valid path separator in
+// the FilePath. On Windows, for example, both '/' and '\' are valid path
+// separators. Returns NULL if no path separator was found.
+const char* FilePath::FindLastPathSeparator() const {
+  const char* const last_sep = strrchr(c_str(), kPathSeparator);
+#if GTEST_HAS_ALT_PATH_SEP_
+  const char* const last_alt_sep = strrchr(c_str(), kAlternatePathSeparator);
+  // Comparing two pointers of which only one is NULL is undefined.
+  if (last_alt_sep != NULL &&
+      (last_sep == NULL || last_alt_sep > last_sep)) {
+    return last_alt_sep;
+  }
+#endif
+  return last_sep;
+}
+
+// Returns a copy of the FilePath with the directory part removed.
+// Example: FilePath("path/to/file").RemoveDirectoryName() returns
+// FilePath("file"). If there is no directory part ("just_a_file"), it returns
+// the FilePath unmodified. If there is no file part ("just_a_dir/") it
+// returns an empty FilePath ("").
+// On Windows platform, '\' is the path separator, otherwise it is '/'.
+FilePath FilePath::RemoveDirectoryName() const {
+  const char* const last_sep = FindLastPathSeparator();
+  return last_sep ? FilePath(last_sep + 1) : *this;
+}
+
+// RemoveFileName returns the directory path with the filename removed.
+// Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
+// If the FilePath is "a_file" or "/a_file", RemoveFileName returns
+// FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
+// not have a file, like "just/a/dir/", it returns the FilePath unmodified.
+// On Windows platform, '\' is the path separator, otherwise it is '/'.
+FilePath FilePath::RemoveFileName() const {
+  const char* const last_sep = FindLastPathSeparator();
+  std::string dir;
+  if (last_sep) {
+    dir = std::string(c_str(), last_sep + 1 - c_str());
+  } else {
+    dir = kCurrentDirectoryString;
+  }
+  return FilePath(dir);
+}
+
+// Helper functions for naming files in a directory for xml output.
+
+// Given directory = "dir", base_name = "test", number = 0,
+// extension = "xml", returns "dir/test.xml". If number is greater
+// than zero (e.g., 12), returns "dir/test_12.xml".
+// On Windows platform, uses \ as the separator rather than /.
+FilePath FilePath::MakeFileName(const FilePath& directory,
+                                const FilePath& base_name,
+                                int number,
+                                const char* extension) {
+  std::string file;
+  if (number == 0) {
+    file = base_name.string() + "." + extension;
+  } else {
+    file = base_name.string() + "_" + StreamableToString(number)
+        + "." + extension;
+  }
+  return ConcatPaths(directory, FilePath(file));
+}
+
+// Given directory = "dir", relative_path = "test.xml", returns "dir/test.xml".
+// On Windows, uses \ as the separator rather than /.
+FilePath FilePath::ConcatPaths(const FilePath& directory,
+                               const FilePath& relative_path) {
+  if (directory.IsEmpty())
+    return relative_path;
+  const FilePath dir(directory.RemoveTrailingPathSeparator());
+  return FilePath(dir.string() + kPathSeparator + relative_path.string());
+}
+
+// Returns true if pathname describes something findable in the file-system,
+// either a file, directory, or whatever.
+bool FilePath::FileOrDirectoryExists() const {
+#if GTEST_OS_WINDOWS_MOBILE
+  LPCWSTR unicode = String::AnsiToUtf16(pathname_.c_str());
+  const DWORD attributes = GetFileAttributes(unicode);
+  delete [] unicode;
+  return attributes != kInvalidFileAttributes;
+#else
+  posix::StatStruct file_stat;
+  return posix::Stat(pathname_.c_str(), &file_stat) == 0;
+#endif  // GTEST_OS_WINDOWS_MOBILE
+}
+
+// Returns true if pathname describes a directory in the file-system
+// that exists.
+bool FilePath::DirectoryExists() const {
+  bool result = false;
+#if GTEST_OS_WINDOWS
+  // Don't strip off trailing separator if path is a root directory on
+  // Windows (like "C:\\").
+  const FilePath& path(IsRootDirectory() ? *this :
+                                           RemoveTrailingPathSeparator());
+#else
+  const FilePath& path(*this);
+#endif
+
+#if GTEST_OS_WINDOWS_MOBILE
+  LPCWSTR unicode = String::AnsiToUtf16(path.c_str());
+  const DWORD attributes = GetFileAttributes(unicode);
+  delete [] unicode;
+  if ((attributes != kInvalidFileAttributes) &&
+      (attributes & FILE_ATTRIBUTE_DIRECTORY)) {
+    result = true;
+  }
+#else
+  posix::StatStruct file_stat;
+  result = posix::Stat(path.c_str(), &file_stat) == 0 &&
+      posix::IsDir(file_stat);
+#endif  // GTEST_OS_WINDOWS_MOBILE
+
+  return result;
+}
+
+// Returns true if pathname describes a root directory. (Windows has one
+// root directory per disk drive.)
+bool FilePath::IsRootDirectory() const {
+#if GTEST_OS_WINDOWS
+  // TODO(wan@google.com): on Windows a network share like
+  // \\server\share can be a root directory, although it cannot be the
+  // current directory.  Handle this properly.
+  return pathname_.length() == 3 && IsAbsolutePath();
+#else
+  return pathname_.length() == 1 && IsPathSeparator(pathname_.c_str()[0]);
+#endif
+}
+
+// Returns true if pathname describes an absolute path.
+bool FilePath::IsAbsolutePath() const {
+  const char* const name = pathname_.c_str();
+#if GTEST_OS_WINDOWS
+  return pathname_.length() >= 3 &&
+     ((name[0] >= 'a' && name[0] <= 'z') ||
+      (name[0] >= 'A' && name[0] <= 'Z')) &&
+     name[1] == ':' &&
+     IsPathSeparator(name[2]);
+#else
+  return IsPathSeparator(name[0]);
+#endif
+}
+
+// Returns a pathname for a file that does not currently exist. The pathname
+// will be directory/base_name.extension or
+// directory/base_name_<number>.extension if directory/base_name.extension
+// already exists. The number will be incremented until a pathname is found
+// that does not already exist.
+// Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
+// There could be a race condition if two or more processes are calling this
+// function at the same time -- they could both pick the same filename.
+FilePath FilePath::GenerateUniqueFileName(const FilePath& directory,
+                                          const FilePath& base_name,
+                                          const char* extension) {
+  FilePath full_pathname;
+  int number = 0;
+  do {
+    full_pathname.Set(MakeFileName(directory, base_name, number++, extension));
+  } while (full_pathname.FileOrDirectoryExists());
+  return full_pathname;
+}
+
+// Returns true if FilePath ends with a path separator, which indicates that
+// it is intended to represent a directory. Returns false otherwise.
+// This does NOT check that a directory (or file) actually exists.
+bool FilePath::IsDirectory() const {
+  return !pathname_.empty() &&
+         IsPathSeparator(pathname_.c_str()[pathname_.length() - 1]);
+}
+
+// Create directories so that path exists. Returns true if successful or if
+// the directories already exist; returns false if unable to create directories
+// for any reason.
+bool FilePath::CreateDirectoriesRecursively() const {
+  if (!this->IsDirectory()) {
+    return false;
+  }
+
+  if (pathname_.length() == 0 || this->DirectoryExists()) {
+    return true;
+  }
+
+  const FilePath parent(this->RemoveTrailingPathSeparator().RemoveFileName());
+  return parent.CreateDirectoriesRecursively() && this->CreateFolder();
+}
+
+// Create the directory so that path exists. Returns true if successful or
+// if the directory already exists; returns false if unable to create the
+// directory for any reason, including if the parent directory does not
+// exist. Not named "CreateDirectory" because that's a macro on Windows.
+bool FilePath::CreateFolder() const {
+#if GTEST_OS_WINDOWS_MOBILE
+  FilePath removed_sep(this->RemoveTrailingPathSeparator());
+  LPCWSTR unicode = String::AnsiToUtf16(removed_sep.c_str());
+  int result = CreateDirectory(unicode, NULL) ? 0 : -1;
+  delete [] unicode;
+#elif GTEST_OS_WINDOWS
+  int result = _mkdir(pathname_.c_str());
+#else
+  int result = mkdir(pathname_.c_str(), 0777);
+#endif  // GTEST_OS_WINDOWS_MOBILE
+
+  if (result == -1) {
+    return this->DirectoryExists();  // An error is OK if the directory exists.
+  }
+  return true;  // No error.
+}
+
+// If input name has a trailing separator character, remove it and return the
+// name, otherwise return the name string unmodified.
+// On Windows platform, uses \ as the separator, other platforms use /.
+FilePath FilePath::RemoveTrailingPathSeparator() const {
+  return IsDirectory()
+      ? FilePath(pathname_.substr(0, pathname_.length() - 1))
+      : *this;
+}
+
+// Removes any redundant separators that might be in the pathname.
+// For example, "bar///foo" becomes "bar/foo". Does not eliminate other
+// redundancies that might be in a pathname involving "." or "..".
+// TODO(wan@google.com): handle Windows network shares (e.g. \\server\share).
+void FilePath::Normalize() {
+  if (pathname_.c_str() == NULL) {
+    pathname_ = "";
+    return;
+  }
+  const char* src = pathname_.c_str();
+  char* const dest = new char[pathname_.length() + 1];
+  char* dest_ptr = dest;
+  memset(dest_ptr, 0, pathname_.length() + 1);
+
+  while (*src != '\0') {
+    *dest_ptr = *src;
+    if (!IsPathSeparator(*src)) {
+      src++;
+    } else {
+#if GTEST_HAS_ALT_PATH_SEP_
+      if (*dest_ptr == kAlternatePathSeparator) {
+        *dest_ptr = kPathSeparator;
+      }
+#endif
+      while (IsPathSeparator(*src))
+        src++;
+    }
+    dest_ptr++;
+  }
+  *dest_ptr = '\0';
+  pathname_ = dest;
+  delete[] dest;
+}
+
+}  // namespace internal
+}  // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+
+#include <limits.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <fstream>
+
+#if GTEST_OS_WINDOWS
+# include <windows.h>
+# include <io.h>
+# include <sys/stat.h>
+# include <map>  // Used in ThreadLocal.
+#else
+# include <unistd.h>
+#endif  // GTEST_OS_WINDOWS
+
+#if GTEST_OS_MAC
+# include <mach/mach_init.h>
+# include <mach/task.h>
+# include <mach/vm_map.h>
+#endif  // GTEST_OS_MAC
+
+#if GTEST_OS_QNX
+# include <devctl.h>
+# include <fcntl.h>
+# include <sys/procfs.h>
+#endif  // GTEST_OS_QNX
+
+#if GTEST_OS_AIX
+# include <procinfo.h>
+# include <sys/types.h>
+#endif  // GTEST_OS_AIX
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation.  It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error.  This trick exists to
+// prevent the accidental inclusion of gtest-internal-inl.h in the
+// user's code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+namespace internal {
+
+#if defined(_MSC_VER) || defined(__BORLANDC__)
+// MSVC and C++Builder do not provide a definition of STDERR_FILENO.
+const int kStdOutFileno = 1;
+const int kStdErrFileno = 2;
+#else
+const int kStdOutFileno = STDOUT_FILENO;
+const int kStdErrFileno = STDERR_FILENO;
+#endif  // _MSC_VER
+
+#if GTEST_OS_LINUX
+
+namespace {
+template <typename T>
+T ReadProcFileField(const string& filename, int field) {
+  std::string dummy;
+  std::ifstream file(filename.c_str());
+  while (field-- > 0) {
+    file >> dummy;
+  }
+  T output = 0;
+  file >> output;
+  return output;
+}
+}  // namespace
+
+// Returns the number of active threads, or 0 when there is an error.
+size_t GetThreadCount() {
+  const string filename =
+      (Message() << "/proc/" << getpid() << "/stat").GetString();
+  return ReadProcFileField<int>(filename, 19);
+}
+
+#elif GTEST_OS_MAC
+
+size_t GetThreadCount() {
+  const task_t task = mach_task_self();
+  mach_msg_type_number_t thread_count;
+  thread_act_array_t thread_list;
+  const kern_return_t status = task_threads(task, &thread_list, &thread_count);
+  if (status == KERN_SUCCESS) {
+    // task_threads allocates resources in thread_list and we need to free them
+    // to avoid leaks.
+    vm_deallocate(task,
+                  reinterpret_cast<vm_address_t>(thread_list),
+                  sizeof(thread_t) * thread_count);
+    return static_cast<size_t>(thread_count);
+  } else {
+    return 0;
+  }
+}
+
+#elif GTEST_OS_QNX
+
+// Returns the number of threads running in the process, or 0 to indicate that
+// we cannot detect it.
+size_t GetThreadCount() {
+  const int fd = open("/proc/self/as", O_RDONLY);
+  if (fd < 0) {
+    return 0;
+  }
+  procfs_info process_info;
+  const int status =
+      devctl(fd, DCMD_PROC_INFO, &process_info, sizeof(process_info), NULL);
+  close(fd);
+  if (status == EOK) {
+    return static_cast<size_t>(process_info.num_threads);
+  } else {
+    return 0;
+  }
+}
+
+#elif GTEST_OS_AIX
+
+size_t GetThreadCount() {
+  struct procentry64 entry;
+  pid_t pid = getpid();
+  int status = getprocs64(&entry, sizeof(entry), NULL, 0, &pid, 1);
+  if (status == 1) {
+    return entry.pi_thcount;
+  } else {
+    return 0;
+  }
+}
+
+#else
+
+size_t GetThreadCount() {
+  // There's no portable way to detect the number of threads, so we just
+  // return 0 to indicate that we cannot detect it.
+  return 0;
+}
+
+#endif  // GTEST_OS_LINUX
+
+#if GTEST_IS_THREADSAFE && GTEST_OS_WINDOWS
+
+void SleepMilliseconds(int n) {
+  ::Sleep(n);
+}
+
+AutoHandle::AutoHandle()
+    : handle_(INVALID_HANDLE_VALUE) {}
+
+AutoHandle::AutoHandle(Handle handle)
+    : handle_(handle) {}
+
+AutoHandle::~AutoHandle() {
+  Reset();
+}
+
+AutoHandle::Handle AutoHandle::Get() const {
+  return handle_;
+}
+
+void AutoHandle::Reset() {
+  Reset(INVALID_HANDLE_VALUE);
+}
+
+void AutoHandle::Reset(HANDLE handle) {
+  // Resetting with the same handle we already own is invalid.
+  if (handle_ != handle) {
+    if (IsCloseable()) {
+      ::CloseHandle(handle_);
+    }
+    handle_ = handle;
+  } else {
+    GTEST_CHECK_(!IsCloseable())
+        << "Resetting a valid handle to itself is likely a programmer error "
+            "and thus not allowed.";
+  }
+}
+
+bool AutoHandle::IsCloseable() const {
+  // Different Windows APIs may use either of these values to represent an
+  // invalid handle.
+  return handle_ != NULL && handle_ != INVALID_HANDLE_VALUE;
+}
+
+Notification::Notification()
+    : event_(::CreateEvent(NULL,   // Default security attributes.
+                           TRUE,   // Do not reset automatically.
+                           FALSE,  // Initially unset.
+                           NULL)) {  // Anonymous event.
+  GTEST_CHECK_(event_.Get() != NULL);
+}
+
+void Notification::Notify() {
+  GTEST_CHECK_(::SetEvent(event_.Get()) != FALSE);
+}
+
+void Notification::WaitForNotification() {
+  GTEST_CHECK_(
+      ::WaitForSingleObject(event_.Get(), INFINITE) == WAIT_OBJECT_0);
+}
+
+Mutex::Mutex()
+    : owner_thread_id_(0),
+      type_(kDynamic),
+      critical_section_init_phase_(0),
+      critical_section_(new CRITICAL_SECTION) {
+  ::InitializeCriticalSection(critical_section_);
+}
+
+Mutex::~Mutex() {
+  // Static mutexes are leaked intentionally. It is not thread-safe to try
+  // to clean them up.
+  // TODO(yukawa): Switch to Slim Reader/Writer (SRW) Locks, which requires
+  // nothing to clean it up but is available only on Vista and later.
+  // http://msdn.microsoft.com/en-us/library/windows/desktop/aa904937.aspx
+  if (type_ == kDynamic) {
+    ::DeleteCriticalSection(critical_section_);
+    delete critical_section_;
+    critical_section_ = NULL;
+  }
+}
+
+void Mutex::Lock() {
+  ThreadSafeLazyInit();
+  ::EnterCriticalSection(critical_section_);
+  owner_thread_id_ = ::GetCurrentThreadId();
+}
+
+void Mutex::Unlock() {
+  ThreadSafeLazyInit();
+  // We don't protect writing to owner_thread_id_ here, as it's the
+  // caller's responsibility to ensure that the current thread holds the
+  // mutex when this is called.
+  owner_thread_id_ = 0;
+  ::LeaveCriticalSection(critical_section_);
+}
+
+// Does nothing if the current thread holds the mutex. Otherwise, crashes
+// with high probability.
+void Mutex::AssertHeld() {
+  ThreadSafeLazyInit();
+  GTEST_CHECK_(owner_thread_id_ == ::GetCurrentThreadId())
+      << "The current thread is not holding the mutex @" << this;
+}
+
+// Initializes owner_thread_id_ and critical_section_ in static mutexes.
+void Mutex::ThreadSafeLazyInit() {
+  // Dynamic mutexes are initialized in the constructor.
+  if (type_ == kStatic) {
+    switch (
+        ::InterlockedCompareExchange(&critical_section_init_phase_, 1L, 0L)) {
+      case 0:
+        // If critical_section_init_phase_ was 0 before the exchange, we
+        // are the first to test it and need to perform the initialization.
+        owner_thread_id_ = 0;
+        critical_section_ = new CRITICAL_SECTION;
+        ::InitializeCriticalSection(critical_section_);
+        // Updates the critical_section_init_phase_ to 2 to signal
+        // initialization complete.
+        GTEST_CHECK_(::InterlockedCompareExchange(
+                          &critical_section_init_phase_, 2L, 1L) ==
+                      1L);
+        break;
+      case 1:
+        // Somebody else is already initializing the mutex; spin until they
+        // are done.
+        while (::InterlockedCompareExchange(&critical_section_init_phase_,
+                                            2L,
+                                            2L) != 2L) {
+          // Possibly yields the rest of the thread's time slice to other
+          // threads.
+          ::Sleep(0);
+        }
+        break;
+
+      case 2:
+        break;  // The mutex is already initialized and ready for use.
+
+      default:
+        GTEST_CHECK_(false)
+            << "Unexpected value of critical_section_init_phase_ "
+            << "while initializing a static mutex.";
+    }
+  }
+}
+
+namespace {
+
+class ThreadWithParamSupport : public ThreadWithParamBase {
+ public:
+  static HANDLE CreateThread(Runnable* runnable,
+                             Notification* thread_can_start) {
+    ThreadMainParam* param = new ThreadMainParam(runnable, thread_can_start);
+    DWORD thread_id;
+    // TODO(yukawa): Consider to use _beginthreadex instead.
+    HANDLE thread_handle = ::CreateThread(
+        NULL,    // Default security.
+        0,       // Default stack size.
+        &ThreadWithParamSupport::ThreadMain,
+        param,   // Parameter to ThreadMainStatic
+        0x0,     // Default creation flags.
+        &thread_id);  // Need a valid pointer for the call to work under Win98.
+    GTEST_CHECK_(thread_handle != NULL) << "CreateThread failed with error "
+                                        << ::GetLastError() << ".";
+    if (thread_handle == NULL) {
+      delete param;
+    }
+    return thread_handle;
+  }
+
+ private:
+  struct ThreadMainParam {
+    ThreadMainParam(Runnable* runnable, Notification* thread_can_start)
+        : runnable_(runnable),
+          thread_can_start_(thread_can_start) {
+    }
+    scoped_ptr<Runnable> runnable_;
+    // Does not own.
+    Notification* thread_can_start_;
+  };
+
+  static DWORD WINAPI ThreadMain(void* ptr) {
+    // Transfers ownership.
+    scoped_ptr<ThreadMainParam> param(static_cast<ThreadMainParam*>(ptr));
+    if (param->thread_can_start_ != NULL)
+      param->thread_can_start_->WaitForNotification();
+    param->runnable_->Run();
+    return 0;
+  }
+
+  // Prohibit instantiation.
+  ThreadWithParamSupport();
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParamSupport);
+};
+
+}  // namespace
+
+ThreadWithParamBase::ThreadWithParamBase(Runnable *runnable,
+                                         Notification* thread_can_start)
+      : thread_(ThreadWithParamSupport::CreateThread(runnable,
+                                                     thread_can_start)) {
+}
+
+ThreadWithParamBase::~ThreadWithParamBase() {
+  Join();
+}
+
+void ThreadWithParamBase::Join() {
+  GTEST_CHECK_(::WaitForSingleObject(thread_.Get(), INFINITE) == WAIT_OBJECT_0)
+      << "Failed to join the thread with error " << ::GetLastError() << ".";
+}
+
+// Maps a thread to a set of ThreadIdToThreadLocals that have values
+// instantiated on that thread and notifies them when the thread exits.  A
+// ThreadLocal instance is expected to persist until all threads it has
+// values on have terminated.
+class ThreadLocalRegistryImpl {
+ public:
+  // Registers thread_local_instance as having value on the current thread.
+  // Returns a value that can be used to identify the thread from other threads.
+  static ThreadLocalValueHolderBase* GetValueOnCurrentThread(
+      const ThreadLocalBase* thread_local_instance) {
+    DWORD current_thread = ::GetCurrentThreadId();
+    MutexLock lock(&mutex_);
+    ThreadIdToThreadLocals* const thread_to_thread_locals =
+        GetThreadLocalsMapLocked();
+    ThreadIdToThreadLocals::iterator thread_local_pos =
+        thread_to_thread_locals->find(current_thread);
+    if (thread_local_pos == thread_to_thread_locals->end()) {
+      thread_local_pos = thread_to_thread_locals->insert(
+          std::make_pair(current_thread, ThreadLocalValues())).first;
+      StartWatcherThreadFor(current_thread);
+    }
+    ThreadLocalValues& thread_local_values = thread_local_pos->second;
+    ThreadLocalValues::iterator value_pos =
+        thread_local_values.find(thread_local_instance);
+    if (value_pos == thread_local_values.end()) {
+      value_pos =
+          thread_local_values
+              .insert(std::make_pair(
+                  thread_local_instance,
+                  linked_ptr<ThreadLocalValueHolderBase>(
+                      thread_local_instance->NewValueForCurrentThread())))
+              .first;
+    }
+    return value_pos->second.get();
+  }
+
+  static void OnThreadLocalDestroyed(
+      const ThreadLocalBase* thread_local_instance) {
+    std::vector<linked_ptr<ThreadLocalValueHolderBase> > value_holders;
+    // Clean up the ThreadLocalValues data structure while holding the lock, but
+    // defer the destruction of the ThreadLocalValueHolderBases.
+    {
+      MutexLock lock(&mutex_);
+      ThreadIdToThreadLocals* const thread_to_thread_locals =
+          GetThreadLocalsMapLocked();
+      for (ThreadIdToThreadLocals::iterator it =
+          thread_to_thread_locals->begin();
+          it != thread_to_thread_locals->end();
+          ++it) {
+        ThreadLocalValues& thread_local_values = it->second;
+        ThreadLocalValues::iterator value_pos =
+            thread_local_values.find(thread_local_instance);
+        if (value_pos != thread_local_values.end()) {
+          value_holders.push_back(value_pos->second);
+          thread_local_values.erase(value_pos);
+          // This 'if' can only be successful at most once, so theoretically we
+          // could break out of the loop here, but we don't bother doing so.
+        }
+      }
+    }
+    // Outside the lock, let the destructor for 'value_holders' deallocate the
+    // ThreadLocalValueHolderBases.
+  }
+
+  static void OnThreadExit(DWORD thread_id) {
+    GTEST_CHECK_(thread_id != 0) << ::GetLastError();
+    std::vector<linked_ptr<ThreadLocalValueHolderBase> > value_holders;
+    // Clean up the ThreadIdToThreadLocals data structure while holding the
+    // lock, but defer the destruction of the ThreadLocalValueHolderBases.
+    {
+      MutexLock lock(&mutex_);
+      ThreadIdToThreadLocals* const thread_to_thread_locals =
+          GetThreadLocalsMapLocked();
+      ThreadIdToThreadLocals::iterator thread_local_pos =
+          thread_to_thread_locals->find(thread_id);
+      if (thread_local_pos != thread_to_thread_locals->end()) {
+        ThreadLocalValues& thread_local_values = thread_local_pos->second;
+        for (ThreadLocalValues::iterator value_pos =
+            thread_local_values.begin();
+            value_pos != thread_local_values.end();
+            ++value_pos) {
+          value_holders.push_back(value_pos->second);
+        }
+        thread_to_thread_locals->erase(thread_local_pos);
+      }
+    }
+    // Outside the lock, let the destructor for 'value_holders' deallocate the
+    // ThreadLocalValueHolderBases.
+  }
+
+ private:
+  // In a particular thread, maps a ThreadLocal object to its value.
+  typedef std::map<const ThreadLocalBase*,
+                   linked_ptr<ThreadLocalValueHolderBase> > ThreadLocalValues;
+  // Stores all ThreadIdToThreadLocals having values in a thread, indexed by
+  // thread's ID.
+  typedef std::map<DWORD, ThreadLocalValues> ThreadIdToThreadLocals;
+
+  // Holds the thread id and thread handle that we pass from
+  // StartWatcherThreadFor to WatcherThreadFunc.
+  typedef std::pair<DWORD, HANDLE> ThreadIdAndHandle;
+
+  static void StartWatcherThreadFor(DWORD thread_id) {
+    // The returned handle will be kept in thread_map and closed by
+    // watcher_thread in WatcherThreadFunc.
+    HANDLE thread = ::OpenThread(SYNCHRONIZE | THREAD_QUERY_INFORMATION,
+                                 FALSE,
+                                 thread_id);
+    GTEST_CHECK_(thread != NULL);
+    // We need to to pass a valid thread ID pointer into CreateThread for it
+    // to work correctly under Win98.
+    DWORD watcher_thread_id;
+    HANDLE watcher_thread = ::CreateThread(
+        NULL,   // Default security.
+        0,      // Default stack size
+        &ThreadLocalRegistryImpl::WatcherThreadFunc,
+        reinterpret_cast<LPVOID>(new ThreadIdAndHandle(thread_id, thread)),
+        CREATE_SUSPENDED,
+        &watcher_thread_id);
+    GTEST_CHECK_(watcher_thread != NULL);
+    // Give the watcher thread the same priority as ours to avoid being
+    // blocked by it.
+    ::SetThreadPriority(watcher_thread,
+                        ::GetThreadPriority(::GetCurrentThread()));
+    ::ResumeThread(watcher_thread);
+    ::CloseHandle(watcher_thread);
+  }
+
+  // Monitors exit from a given thread and notifies those
+  // ThreadIdToThreadLocals about thread termination.
+  static DWORD WINAPI WatcherThreadFunc(LPVOID param) {
+    const ThreadIdAndHandle* tah =
+        reinterpret_cast<const ThreadIdAndHandle*>(param);
+    GTEST_CHECK_(
+        ::WaitForSingleObject(tah->second, INFINITE) == WAIT_OBJECT_0);
+    OnThreadExit(tah->first);
+    ::CloseHandle(tah->second);
+    delete tah;
+    return 0;
+  }
+
+  // Returns map of thread local instances.
+  static ThreadIdToThreadLocals* GetThreadLocalsMapLocked() {
+    mutex_.AssertHeld();
+    static ThreadIdToThreadLocals* map = new ThreadIdToThreadLocals;
+    return map;
+  }
+
+  // Protects access to GetThreadLocalsMapLocked() and its return value.
+  static Mutex mutex_;
+  // Protects access to GetThreadMapLocked() and its return value.
+  static Mutex thread_map_mutex_;
+};
+
+Mutex ThreadLocalRegistryImpl::mutex_(Mutex::kStaticMutex);
+Mutex ThreadLocalRegistryImpl::thread_map_mutex_(Mutex::kStaticMutex);
+
+ThreadLocalValueHolderBase* ThreadLocalRegistry::GetValueOnCurrentThread(
+      const ThreadLocalBase* thread_local_instance) {
+  return ThreadLocalRegistryImpl::GetValueOnCurrentThread(
+      thread_local_instance);
+}
+
+void ThreadLocalRegistry::OnThreadLocalDestroyed(
+      const ThreadLocalBase* thread_local_instance) {
+  ThreadLocalRegistryImpl::OnThreadLocalDestroyed(thread_local_instance);
+}
+
+#endif  // GTEST_IS_THREADSAFE && GTEST_OS_WINDOWS
+
+#if GTEST_USES_POSIX_RE
+
+// Implements RE.  Currently only needed for death tests.
+
+RE::~RE() {
+  if (is_valid_) {
+    // regfree'ing an invalid regex might crash because the content
+    // of the regex is undefined. Since the regex's are essentially
+    // the same, one cannot be valid (or invalid) without the other
+    // being so too.
+    regfree(&partial_regex_);
+    regfree(&full_regex_);
+  }
+  free(const_cast<char*>(pattern_));
+}
+
+// Returns true iff regular expression re matches the entire str.
+bool RE::FullMatch(const char* str, const RE& re) {
+  if (!re.is_valid_) return false;
+
+  regmatch_t match;
+  return regexec(&re.full_regex_, str, 1, &match, 0) == 0;
+}
+
+// Returns true iff regular expression re matches a substring of str
+// (including str itself).
+bool RE::PartialMatch(const char* str, const RE& re) {
+  if (!re.is_valid_) return false;
+
+  regmatch_t match;
+  return regexec(&re.partial_regex_, str, 1, &match, 0) == 0;
+}
+
+// Initializes an RE from its string representation.
+void RE::Init(const char* regex) {
+  pattern_ = posix::StrDup(regex);
+
+  // Reserves enough bytes to hold the regular expression used for a
+  // full match.
+  const size_t full_regex_len = strlen(regex) + 10;
+  char* const full_pattern = new char[full_regex_len];
+
+  snprintf(full_pattern, full_regex_len, "^(%s)$", regex);
+  is_valid_ = regcomp(&full_regex_, full_pattern, REG_EXTENDED) == 0;
+  // We want to call regcomp(&partial_regex_, ...) even if the
+  // previous expression returns false.  Otherwise partial_regex_ may
+  // not be properly initialized can may cause trouble when it's
+  // freed.
+  //
+  // Some implementation of POSIX regex (e.g. on at least some
+  // versions of Cygwin) doesn't accept the empty string as a valid
+  // regex.  We change it to an equivalent form "()" to be safe.
+  if (is_valid_) {
+    const char* const partial_regex = (*regex == '\0') ? "()" : regex;
+    is_valid_ = regcomp(&partial_regex_, partial_regex, REG_EXTENDED) == 0;
+  }
+  EXPECT_TRUE(is_valid_)
+      << "Regular expression \"" << regex
+      << "\" is not a valid POSIX Extended regular expression.";
+
+  delete[] full_pattern;
+}
+
+#elif GTEST_USES_SIMPLE_RE
+
+// Returns true iff ch appears anywhere in str (excluding the
+// terminating '\0' character).
+bool IsInSet(char ch, const char* str) {
+  return ch != '\0' && strchr(str, ch) != NULL;
+}
+
+// Returns true iff ch belongs to the given classification.  Unlike
+// similar functions in <ctype.h>, these aren't affected by the
+// current locale.
+bool IsAsciiDigit(char ch) { return '0' <= ch && ch <= '9'; }
+bool IsAsciiPunct(char ch) {
+  return IsInSet(ch, "^-!\"#$%&'()*+,./:;<=>?@[\\]_`{|}~");
+}
+bool IsRepeat(char ch) { return IsInSet(ch, "?*+"); }
+bool IsAsciiWhiteSpace(char ch) { return IsInSet(ch, " \f\n\r\t\v"); }
+bool IsAsciiWordChar(char ch) {
+  return ('a' <= ch && ch <= 'z') || ('A' <= ch && ch <= 'Z') ||
+      ('0' <= ch && ch <= '9') || ch == '_';
+}
+
+// Returns true iff "\\c" is a supported escape sequence.
+bool IsValidEscape(char c) {
+  return (IsAsciiPunct(c) || IsInSet(c, "dDfnrsStvwW"));
+}
+
+// Returns true iff the given atom (specified by escaped and pattern)
+// matches ch.  The result is undefined if the atom is invalid.
+bool AtomMatchesChar(bool escaped, char pattern_char, char ch) {
+  if (escaped) {  // "\\p" where p is pattern_char.
+    switch (pattern_char) {
+      case 'd': return IsAsciiDigit(ch);
+      case 'D': return !IsAsciiDigit(ch);
+      case 'f': return ch == '\f';
+      case 'n': return ch == '\n';
+      case 'r': return ch == '\r';
+      case 's': return IsAsciiWhiteSpace(ch);
+      case 'S': return !IsAsciiWhiteSpace(ch);
+      case 't': return ch == '\t';
+      case 'v': return ch == '\v';
+      case 'w': return IsAsciiWordChar(ch);
+      case 'W': return !IsAsciiWordChar(ch);
+    }
+    return IsAsciiPunct(pattern_char) && pattern_char == ch;
+  }
+
+  return (pattern_char == '.' && ch != '\n') || pattern_char == ch;
+}
+
+// Helper function used by ValidateRegex() to format error messages.
+std::string FormatRegexSyntaxError(const char* regex, int index) {
+  return (Message() << "Syntax error at index " << index
+          << " in simple regular expression \"" << regex << "\": ").GetString();
+}
+
+// Generates non-fatal failures and returns false if regex is invalid;
+// otherwise returns true.
+bool ValidateRegex(const char* regex) {
+  if (regex == NULL) {
+    // TODO(wan@google.com): fix the source file location in the
+    // assertion failures to match where the regex is used in user
+    // code.
+    ADD_FAILURE() << "NULL is not a valid simple regular expression.";
+    return false;
+  }
+
+  bool is_valid = true;
+
+  // True iff ?, *, or + can follow the previous atom.
+  bool prev_repeatable = false;
+  for (int i = 0; regex[i]; i++) {
+    if (regex[i] == '\\') {  // An escape sequence
+      i++;
+      if (regex[i] == '\0') {
+        ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
+                      << "'\\' cannot appear at the end.";
+        return false;
+      }
+
+      if (!IsValidEscape(regex[i])) {
+        ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
+                      << "invalid escape sequence \"\\" << regex[i] << "\".";
+        is_valid = false;
+      }
+      prev_repeatable = true;
+    } else {  // Not an escape sequence.
+      const char ch = regex[i];
+
+      if (ch == '^' && i > 0) {
+        ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+                      << "'^' can only appear at the beginning.";
+        is_valid = false;
+      } else if (ch == '$' && regex[i + 1] != '\0') {
+        ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+                      << "'$' can only appear at the end.";
+        is_valid = false;
+      } else if (IsInSet(ch, "()[]{}|")) {
+        ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+                      << "'" << ch << "' is unsupported.";
+        is_valid = false;
+      } else if (IsRepeat(ch) && !prev_repeatable) {
+        ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+                      << "'" << ch << "' can only follow a repeatable token.";
+        is_valid = false;
+      }
+
+      prev_repeatable = !IsInSet(ch, "^$?*+");
+    }
+  }
+
+  return is_valid;
+}
+
+// Matches a repeated regex atom followed by a valid simple regular
+// expression.  The regex atom is defined as c if escaped is false,
+// or \c otherwise.  repeat is the repetition meta character (?, *,
+// or +).  The behavior is undefined if str contains too many
+// characters to be indexable by size_t, in which case the test will
+// probably time out anyway.  We are fine with this limitation as
+// std::string has it too.
+bool MatchRepetitionAndRegexAtHead(
+    bool escaped, char c, char repeat, const char* regex,
+    const char* str) {
+  const size_t min_count = (repeat == '+') ? 1 : 0;
+  const size_t max_count = (repeat == '?') ? 1 :
+      static_cast<size_t>(-1) - 1;
+  // We cannot call numeric_limits::max() as it conflicts with the
+  // max() macro on Windows.
+
+  for (size_t i = 0; i <= max_count; ++i) {
+    // We know that the atom matches each of the first i characters in str.
+    if (i >= min_count && MatchRegexAtHead(regex, str + i)) {
+      // We have enough matches at the head, and the tail matches too.
+      // Since we only care about *whether* the pattern matches str
+      // (as opposed to *how* it matches), there is no need to find a
+      // greedy match.
+      return true;
+    }
+    if (str[i] == '\0' || !AtomMatchesChar(escaped, c, str[i]))
+      return false;
+  }
+  return false;
+}
+
+// Returns true iff regex matches a prefix of str.  regex must be a
+// valid simple regular expression and not start with "^", or the
+// result is undefined.
+bool MatchRegexAtHead(const char* regex, const char* str) {
+  if (*regex == '\0')  // An empty regex matches a prefix of anything.
+    return true;
+
+  // "$" only matches the end of a string.  Note that regex being
+  // valid guarantees that there's nothing after "$" in it.
+  if (*regex == '$')
+    return *str == '\0';
+
+  // Is the first thing in regex an escape sequence?
+  const bool escaped = *regex == '\\';
+  if (escaped)
+    ++regex;
+  if (IsRepeat(regex[1])) {
+    // MatchRepetitionAndRegexAtHead() calls MatchRegexAtHead(), so
+    // here's an indirect recursion.  It terminates as the regex gets
+    // shorter in each recursion.
+    return MatchRepetitionAndRegexAtHead(
+        escaped, regex[0], regex[1], regex + 2, str);
+  } else {
+    // regex isn't empty, isn't "$", and doesn't start with a
+    // repetition.  We match the first atom of regex with the first
+    // character of str and recurse.
+    return (*str != '\0') && AtomMatchesChar(escaped, *regex, *str) &&
+        MatchRegexAtHead(regex + 1, str + 1);
+  }
+}
+
+// Returns true iff regex matches any substring of str.  regex must be
+// a valid simple regular expression, or the result is undefined.
+//
+// The algorithm is recursive, but the recursion depth doesn't exceed
+// the regex length, so we won't need to worry about running out of
+// stack space normally.  In rare cases the time complexity can be
+// exponential with respect to the regex length + the string length,
+// but usually it's must faster (often close to linear).
+bool MatchRegexAnywhere(const char* regex, const char* str) {
+  if (regex == NULL || str == NULL)
+    return false;
+
+  if (*regex == '^')
+    return MatchRegexAtHead(regex + 1, str);
+
+  // A successful match can be anywhere in str.
+  do {
+    if (MatchRegexAtHead(regex, str))
+      return true;
+  } while (*str++ != '\0');
+  return false;
+}
+
+// Implements the RE class.
+
+RE::~RE() {
+  free(const_cast<char*>(pattern_));
+  free(const_cast<char*>(full_pattern_));
+}
+
+// Returns true iff regular expression re matches the entire str.
+bool RE::FullMatch(const char* str, const RE& re) {
+  return re.is_valid_ && MatchRegexAnywhere(re.full_pattern_, str);
+}
+
+// Returns true iff regular expression re matches a substring of str
+// (including str itself).
+bool RE::PartialMatch(const char* str, const RE& re) {
+  return re.is_valid_ && MatchRegexAnywhere(re.pattern_, str);
+}
+
+// Initializes an RE from its string representation.
+void RE::Init(const char* regex) {
+  pattern_ = full_pattern_ = NULL;
+  if (regex != NULL) {
+    pattern_ = posix::StrDup(regex);
+  }
+
+  is_valid_ = ValidateRegex(regex);
+  if (!is_valid_) {
+    // No need to calculate the full pattern when the regex is invalid.
+    return;
+  }
+
+  const size_t len = strlen(regex);
+  // Reserves enough bytes to hold the regular expression used for a
+  // full match: we need space to prepend a '^', append a '$', and
+  // terminate the string with '\0'.
+  char* buffer = static_cast<char*>(malloc(len + 3));
+  full_pattern_ = buffer;
+
+  if (*regex != '^')
+    *buffer++ = '^';  // Makes sure full_pattern_ starts with '^'.
+
+  // We don't use snprintf or strncpy, as they trigger a warning when
+  // compiled with VC++ 8.0.
+  memcpy(buffer, regex, len);
+  buffer += len;
+
+  if (len == 0 || regex[len - 1] != '$')
+    *buffer++ = '$';  // Makes sure full_pattern_ ends with '$'.
+
+  *buffer = '\0';
+}
+
+#endif  // GTEST_USES_POSIX_RE
+
+const char kUnknownFile[] = "unknown file";
+
+// Formats a source file path and a line number as they would appear
+// in an error message from the compiler used to compile this code.
+GTEST_API_ ::std::string FormatFileLocation(const char* file, int line) {
+  const std::string file_name(file == NULL ? kUnknownFile : file);
+
+  if (line < 0) {
+    return file_name + ":";
+  }
+#ifdef _MSC_VER
+  return file_name + "(" + StreamableToString(line) + "):";
+#else
+  return file_name + ":" + StreamableToString(line) + ":";
+#endif  // _MSC_VER
+}
+
+// Formats a file location for compiler-independent XML output.
+// Although this function is not platform dependent, we put it next to
+// FormatFileLocation in order to contrast the two functions.
+// Note that FormatCompilerIndependentFileLocation() does NOT append colon
+// to the file location it produces, unlike FormatFileLocation().
+GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(
+    const char* file, int line) {
+  const std::string file_name(file == NULL ? kUnknownFile : file);
+
+  if (line < 0)
+    return file_name;
+  else
+    return file_name + ":" + StreamableToString(line);
+}
+
+GTestLog::GTestLog(GTestLogSeverity severity, const char* file, int line)
+    : severity_(severity) {
+  const char* const marker =
+      severity == GTEST_INFO ?    "[  INFO ]" :
+      severity == GTEST_WARNING ? "[WARNING]" :
+      severity == GTEST_ERROR ?   "[ ERROR ]" : "[ FATAL ]";
+  GetStream() << ::std::endl << marker << " "
+              << FormatFileLocation(file, line).c_str() << ": ";
+}
+
+// Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
+GTestLog::~GTestLog() {
+  GetStream() << ::std::endl;
+  if (severity_ == GTEST_FATAL) {
+    fflush(stderr);
+    posix::Abort();
+  }
+}
+// Disable Microsoft deprecation warnings for POSIX functions called from
+// this class (creat, dup, dup2, and close)
+GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996)
+
+#if GTEST_HAS_STREAM_REDIRECTION
+
+// Object that captures an output stream (stdout/stderr).
+class CapturedStream {
+ public:
+  // The ctor redirects the stream to a temporary file.
+  explicit CapturedStream(int fd) : fd_(fd), uncaptured_fd_(dup(fd)) {
+# if GTEST_OS_WINDOWS
+    char temp_dir_path[MAX_PATH + 1] = { '\0' };  // NOLINT
+    char temp_file_path[MAX_PATH + 1] = { '\0' };  // NOLINT
+
+    ::GetTempPathA(sizeof(temp_dir_path), temp_dir_path);
+    const UINT success = ::GetTempFileNameA(temp_dir_path,
+                                            "gtest_redir",
+                                            0,  // Generate unique file name.
+                                            temp_file_path);
+    GTEST_CHECK_(success != 0)
+        << "Unable to create a temporary file in " << temp_dir_path;
+    const int captured_fd = creat(temp_file_path, _S_IREAD | _S_IWRITE);
+    GTEST_CHECK_(captured_fd != -1) << "Unable to open temporary file "
+                                    << temp_file_path;
+    filename_ = temp_file_path;
+# else
+    // There's no guarantee that a test has write access to the current
+    // directory, so we create the temporary file in the /tmp directory
+    // instead. We use /tmp on most systems, and /sdcard on Android.
+    // That's because Android doesn't have /tmp.
+#  if GTEST_OS_LINUX_ANDROID
+    // Note: Android applications are expected to call the framework's
+    // Context.getExternalStorageDirectory() method through JNI to get
+    // the location of the world-writable SD Card directory. However,
+    // this requires a Context handle, which cannot be retrieved
+    // globally from native code. Doing so also precludes running the
+    // code as part of a regular standalone executable, which doesn't
+    // run in a Dalvik process (e.g. when running it through 'adb shell').
+    //
+    // The location /sdcard is directly accessible from native code
+    // and is the only location (unofficially) supported by the Android
+    // team. It's generally a symlink to the real SD Card mount point
+    // which can be /mnt/sdcard, /mnt/sdcard0, /system/media/sdcard, or
+    // other OEM-customized locations. Never rely on these, and always
+    // use /sdcard.
+    char name_template[] = "/sdcard/gtest_captured_stream.XXXXXX";
+#  else
+    char name_template[] = "/tmp/captured_stream.XXXXXX";
+#  endif  // GTEST_OS_LINUX_ANDROID
+    const int captured_fd = mkstemp(name_template);
+    filename_ = name_template;
+# endif  // GTEST_OS_WINDOWS
+    fflush(NULL);
+    dup2(captured_fd, fd_);
+    close(captured_fd);
+  }
+
+  ~CapturedStream() {
+    remove(filename_.c_str());
+  }
+
+  std::string GetCapturedString() {
+    if (uncaptured_fd_ != -1) {
+      // Restores the original stream.
+      fflush(NULL);
+      dup2(uncaptured_fd_, fd_);
+      close(uncaptured_fd_);
+      uncaptured_fd_ = -1;
+    }
+
+    FILE* const file = posix::FOpen(filename_.c_str(), "r");
+    const std::string content = ReadEntireFile(file);
+    posix::FClose(file);
+    return content;
+  }
+
+ private:
+  const int fd_;  // A stream to capture.
+  int uncaptured_fd_;
+  // Name of the temporary file holding the stderr output.
+  ::std::string filename_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(CapturedStream);
+};
+
+GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+static CapturedStream* g_captured_stderr = NULL;
+static CapturedStream* g_captured_stdout = NULL;
+
+// Starts capturing an output stream (stdout/stderr).
+void CaptureStream(int fd, const char* stream_name, CapturedStream** stream) {
+  if (*stream != NULL) {
+    GTEST_LOG_(FATAL) << "Only one " << stream_name
+                      << " capturer can exist at a time.";
+  }
+  *stream = new CapturedStream(fd);
+}
+
+// Stops capturing the output stream and returns the captured string.
+std::string GetCapturedStream(CapturedStream** captured_stream) {
+  const std::string content = (*captured_stream)->GetCapturedString();
+
+  delete *captured_stream;
+  *captured_stream = NULL;
+
+  return content;
+}
+
+// Starts capturing stdout.
+void CaptureStdout() {
+  CaptureStream(kStdOutFileno, "stdout", &g_captured_stdout);
+}
+
+// Starts capturing stderr.
+void CaptureStderr() {
+  CaptureStream(kStdErrFileno, "stderr", &g_captured_stderr);
+}
+
+// Stops capturing stdout and returns the captured string.
+std::string GetCapturedStdout() {
+  return GetCapturedStream(&g_captured_stdout);
+}
+
+// Stops capturing stderr and returns the captured string.
+std::string GetCapturedStderr() {
+  return GetCapturedStream(&g_captured_stderr);
+}
+
+#endif  // GTEST_HAS_STREAM_REDIRECTION
+
+std::string TempDir() {
+#if GTEST_OS_WINDOWS_MOBILE
+  return "\\temp\\";
+#elif GTEST_OS_WINDOWS
+  const char* temp_dir = posix::GetEnv("TEMP");
+  if (temp_dir == NULL || temp_dir[0] == '\0')
+    return "\\temp\\";
+  else if (temp_dir[strlen(temp_dir) - 1] == '\\')
+    return temp_dir;
+  else
+    return std::string(temp_dir) + "\\";
+#elif GTEST_OS_LINUX_ANDROID
+  return "/sdcard/";
+#else
+  return "/tmp/";
+#endif  // GTEST_OS_WINDOWS_MOBILE
+}
+
+size_t GetFileSize(FILE* file) {
+  fseek(file, 0, SEEK_END);
+  return static_cast<size_t>(ftell(file));
+}
+
+std::string ReadEntireFile(FILE* file) {
+  const size_t file_size = GetFileSize(file);
+  char* const buffer = new char[file_size];
+
+  size_t bytes_last_read = 0;  // # of bytes read in the last fread()
+  size_t bytes_read = 0;       // # of bytes read so far
+
+  fseek(file, 0, SEEK_SET);
+
+  // Keeps reading the file until we cannot read further or the
+  // pre-determined file size is reached.
+  do {
+    bytes_last_read = fread(buffer+bytes_read, 1, file_size-bytes_read, file);
+    bytes_read += bytes_last_read;
+  } while (bytes_last_read > 0 && bytes_read < file_size);
+
+  const std::string content(buffer, bytes_read);
+  delete[] buffer;
+
+  return content;
+}
+
+#if GTEST_HAS_DEATH_TEST
+
+static const ::std::vector<testing::internal::string>* g_injected_test_argvs =
+                                        NULL;  // Owned.
+
+void SetInjectableArgvs(const ::std::vector<testing::internal::string>* argvs) {
+  if (g_injected_test_argvs != argvs)
+    delete g_injected_test_argvs;
+  g_injected_test_argvs = argvs;
+}
+
+const ::std::vector<testing::internal::string>& GetInjectableArgvs() {
+  if (g_injected_test_argvs != NULL) {
+    return *g_injected_test_argvs;
+  }
+  return GetArgvs();
+}
+#endif  // GTEST_HAS_DEATH_TEST
+
+#if GTEST_OS_WINDOWS_MOBILE
+namespace posix {
+void Abort() {
+  DebugBreak();
+  TerminateProcess(GetCurrentProcess(), 1);
+}
+}  // namespace posix
+#endif  // GTEST_OS_WINDOWS_MOBILE
+
+// Returns the name of the environment variable corresponding to the
+// given flag.  For example, FlagToEnvVar("foo") will return
+// "GTEST_FOO" in the open-source version.
+static std::string FlagToEnvVar(const char* flag) {
+  const std::string full_flag =
+      (Message() << GTEST_FLAG_PREFIX_ << flag).GetString();
+
+  Message env_var;
+  for (size_t i = 0; i != full_flag.length(); i++) {
+    env_var << ToUpper(full_flag.c_str()[i]);
+  }
+
+  return env_var.GetString();
+}
+
+// Parses 'str' for a 32-bit signed integer.  If successful, writes
+// the result to *value and returns true; otherwise leaves *value
+// unchanged and returns false.
+bool ParseInt32(const Message& src_text, const char* str, Int32* value) {
+  // Parses the environment variable as a decimal integer.
+  char* end = NULL;
+  const long long_value = strtol(str, &end, 10);  // NOLINT
+
+  // Has strtol() consumed all characters in the string?
+  if (*end != '\0') {
+    // No - an invalid character was encountered.
+    Message msg;
+    msg << "WARNING: " << src_text
+        << " is expected to be a 32-bit integer, but actually"
+        << " has value \"" << str << "\".\n";
+    printf("%s", msg.GetString().c_str());
+    fflush(stdout);
+    return false;
+  }
+
+  // Is the parsed value in the range of an Int32?
+  const Int32 result = static_cast<Int32>(long_value);
+  if (long_value == LONG_MAX || long_value == LONG_MIN ||
+      // The parsed value overflows as a long.  (strtol() returns
+      // LONG_MAX or LONG_MIN when the input overflows.)
+      result != long_value
+      // The parsed value overflows as an Int32.
+      ) {
+    Message msg;
+    msg << "WARNING: " << src_text
+        << " is expected to be a 32-bit integer, but actually"
+        << " has value " << str << ", which overflows.\n";
+    printf("%s", msg.GetString().c_str());
+    fflush(stdout);
+    return false;
+  }
+
+  *value = result;
+  return true;
+}
+
+// Reads and returns the Boolean environment variable corresponding to
+// the given flag; if it's not set, returns default_value.
+//
+// The value is considered true iff it's not "0".
+bool BoolFromGTestEnv(const char* flag, bool default_value) {
+#if defined(GTEST_GET_BOOL_FROM_ENV_)
+  return GTEST_GET_BOOL_FROM_ENV_(flag, default_value);
+#endif  // defined(GTEST_GET_BOOL_FROM_ENV_)
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* const string_value = posix::GetEnv(env_var.c_str());
+  return string_value == NULL ?
+      default_value : strcmp(string_value, "0") != 0;
+}
+
+// Reads and returns a 32-bit integer stored in the environment
+// variable corresponding to the given flag; if it isn't set or
+// doesn't represent a valid 32-bit integer, returns default_value.
+Int32 Int32FromGTestEnv(const char* flag, Int32 default_value) {
+#if defined(GTEST_GET_INT32_FROM_ENV_)
+  return GTEST_GET_INT32_FROM_ENV_(flag, default_value);
+#endif  // defined(GTEST_GET_INT32_FROM_ENV_)
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* const string_value = posix::GetEnv(env_var.c_str());
+  if (string_value == NULL) {
+    // The environment variable is not set.
+    return default_value;
+  }
+
+  Int32 result = default_value;
+  if (!ParseInt32(Message() << "Environment variable " << env_var,
+                  string_value, &result)) {
+    printf("The default value %s is used.\n",
+           (Message() << default_value).GetString().c_str());
+    fflush(stdout);
+    return default_value;
+  }
+
+  return result;
+}
+
+// Reads and returns the string environment variable corresponding to
+// the given flag; if it's not set, returns default_value.
+std::string StringFromGTestEnv(const char* flag, const char* default_value) {
+#if defined(GTEST_GET_STRING_FROM_ENV_)
+  return GTEST_GET_STRING_FROM_ENV_(flag, default_value);
+#endif  // defined(GTEST_GET_STRING_FROM_ENV_)
+  const std::string env_var = FlagToEnvVar(flag);
+  const char* value = posix::GetEnv(env_var.c_str());
+  if (value != NULL) {
+    return value;
+  }
+
+  // As a special case for the 'output' flag, if GTEST_OUTPUT is not
+  // set, we look for XML_OUTPUT_FILE, which is set by the Bazel build
+  // system.  The value of XML_OUTPUT_FILE is a filename without the
+  // "xml:" prefix of GTEST_OUTPUT.
+  //
+  // The net priority order after flag processing is thus:
+  //   --gtest_output command line flag
+  //   GTEST_OUTPUT environment variable
+  //   XML_OUTPUT_FILE environment variable
+  //   'default_value'
+  if (strcmp(flag, "output") == 0) {
+    value = posix::GetEnv("XML_OUTPUT_FILE");
+    if (value != NULL) {
+      return std::string("xml:") + value;
+    }
+  }
+  return default_value;
+}
+
+}  // namespace internal
+}  // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Test - The Google C++ Testing Framework
+//
+// This file implements a universal value printer that can print a
+// value of any type T:
+//
+//   void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
+//
+// It uses the << operator when possible, and prints the bytes in the
+// object otherwise.  A user can override its behavior for a class
+// type Foo by defining either operator<<(::std::ostream&, const Foo&)
+// or void PrintTo(const Foo&, ::std::ostream*) in the namespace that
+// defines Foo.
+
+#include <ctype.h>
+#include <stdio.h>
+#include <cwchar>
+#include <ostream>  // NOLINT
+#include <string>
+
+namespace testing {
+
+namespace {
+
+using ::std::ostream;
+
+// Prints a segment of bytes in the given object.
+GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+void PrintByteSegmentInObjectTo(const unsigned char* obj_bytes, size_t start,
+                                size_t count, ostream* os) {
+  char text[5] = "";
+  for (size_t i = 0; i != count; i++) {
+    const size_t j = start + i;
+    if (i != 0) {
+      // Organizes the bytes into groups of 2 for easy parsing by
+      // human.
+      if ((j % 2) == 0)
+        *os << ' ';
+      else
+        *os << '-';
+    }
+    GTEST_SNPRINTF_(text, sizeof(text), "%02X", obj_bytes[j]);
+    *os << text;
+  }
+}
+
+// Prints the bytes in the given value to the given ostream.
+void PrintBytesInObjectToImpl(const unsigned char* obj_bytes, size_t count,
+                              ostream* os) {
+  // Tells the user how big the object is.
+  *os << count << "-byte object <";
+
+  const size_t kThreshold = 132;
+  const size_t kChunkSize = 64;
+  // If the object size is bigger than kThreshold, we'll have to omit
+  // some details by printing only the first and the last kChunkSize
+  // bytes.
+  // TODO(wan): let the user control the threshold using a flag.
+  if (count < kThreshold) {
+    PrintByteSegmentInObjectTo(obj_bytes, 0, count, os);
+  } else {
+    PrintByteSegmentInObjectTo(obj_bytes, 0, kChunkSize, os);
+    *os << " ... ";
+    // Rounds up to 2-byte boundary.
+    const size_t resume_pos = (count - kChunkSize + 1)/2*2;
+    PrintByteSegmentInObjectTo(obj_bytes, resume_pos, count - resume_pos, os);
+  }
+  *os << ">";
+}
+
+}  // namespace
+
+namespace internal2 {
+
+// Delegates to PrintBytesInObjectToImpl() to print the bytes in the
+// given object.  The delegation simplifies the implementation, which
+// uses the << operator and thus is easier done outside of the
+// ::testing::internal namespace, which contains a << operator that
+// sometimes conflicts with the one in STL.
+void PrintBytesInObjectTo(const unsigned char* obj_bytes, size_t count,
+                          ostream* os) {
+  PrintBytesInObjectToImpl(obj_bytes, count, os);
+}
+
+}  // namespace internal2
+
+namespace internal {
+
+// Depending on the value of a char (or wchar_t), we print it in one
+// of three formats:
+//   - as is if it's a printable ASCII (e.g. 'a', '2', ' '),
+//   - as a hexidecimal escape sequence (e.g. '\x7F'), or
+//   - as a special escape sequence (e.g. '\r', '\n').
+enum CharFormat {
+  kAsIs,
+  kHexEscape,
+  kSpecialEscape
+};
+
+// Returns true if c is a printable ASCII character.  We test the
+// value of c directly instead of calling isprint(), which is buggy on
+// Windows Mobile.
+inline bool IsPrintableAscii(wchar_t c) {
+  return 0x20 <= c && c <= 0x7E;
+}
+
+// Prints a wide or narrow char c as a character literal without the
+// quotes, escaping it when necessary; returns how c was formatted.
+// The template argument UnsignedChar is the unsigned version of Char,
+// which is the type of c.
+template <typename UnsignedChar, typename Char>
+static CharFormat PrintAsCharLiteralTo(Char c, ostream* os) {
+  switch (static_cast<wchar_t>(c)) {
+    case L'\0':
+      *os << "\\0";
+      break;
+    case L'\'':
+      *os << "\\'";
+      break;
+    case L'\\':
+      *os << "\\\\";
+      break;
+    case L'\a':
+      *os << "\\a";
+      break;
+    case L'\b':
+      *os << "\\b";
+      break;
+    case L'\f':
+      *os << "\\f";
+      break;
+    case L'\n':
+      *os << "\\n";
+      break;
+    case L'\r':
+      *os << "\\r";
+      break;
+    case L'\t':
+      *os << "\\t";
+      break;
+    case L'\v':
+      *os << "\\v";
+      break;
+    default:
+      if (IsPrintableAscii(c)) {
+        *os << static_cast<char>(c);
+        return kAsIs;
+      } else {
+        *os << "\\x" + String::FormatHexInt(static_cast<UnsignedChar>(c));
+        return kHexEscape;
+      }
+  }
+  return kSpecialEscape;
+}
+
+// Prints a wchar_t c as if it's part of a string literal, escaping it when
+// necessary; returns how c was formatted.
+static CharFormat PrintAsStringLiteralTo(wchar_t c, ostream* os) {
+  switch (c) {
+    case L'\'':
+      *os << "'";
+      return kAsIs;
+    case L'"':
+      *os << "\\\"";
+      return kSpecialEscape;
+    default:
+      return PrintAsCharLiteralTo<wchar_t>(c, os);
+  }
+}
+
+// Prints a char c as if it's part of a string literal, escaping it when
+// necessary; returns how c was formatted.
+static CharFormat PrintAsStringLiteralTo(char c, ostream* os) {
+  return PrintAsStringLiteralTo(
+      static_cast<wchar_t>(static_cast<unsigned char>(c)), os);
+}
+
+// Prints a wide or narrow character c and its code.  '\0' is printed
+// as "'\\0'", other unprintable characters are also properly escaped
+// using the standard C++ escape sequence.  The template argument
+// UnsignedChar is the unsigned version of Char, which is the type of c.
+template <typename UnsignedChar, typename Char>
+void PrintCharAndCodeTo(Char c, ostream* os) {
+  // First, print c as a literal in the most readable form we can find.
+  *os << ((sizeof(c) > 1) ? "L'" : "'");
+  const CharFormat format = PrintAsCharLiteralTo<UnsignedChar>(c, os);
+  *os << "'";
+
+  // To aid user debugging, we also print c's code in decimal, unless
+  // it's 0 (in which case c was printed as '\\0', making the code
+  // obvious).
+  if (c == 0)
+    return;
+  *os << " (" << static_cast<int>(c);
+
+  // For more convenience, we print c's code again in hexidecimal,
+  // unless c was already printed in the form '\x##' or the code is in
+  // [1, 9].
+  if (format == kHexEscape || (1 <= c && c <= 9)) {
+    // Do nothing.
+  } else {
+    *os << ", 0x" << String::FormatHexInt(static_cast<UnsignedChar>(c));
+  }
+  *os << ")";
+}
+
+void PrintTo(unsigned char c, ::std::ostream* os) {
+  PrintCharAndCodeTo<unsigned char>(c, os);
+}
+void PrintTo(signed char c, ::std::ostream* os) {
+  PrintCharAndCodeTo<unsigned char>(c, os);
+}
+
+// Prints a wchar_t as a symbol if it is printable or as its internal
+// code otherwise and also as its code.  L'\0' is printed as "L'\\0'".
+void PrintTo(wchar_t wc, ostream* os) {
+  PrintCharAndCodeTo<wchar_t>(wc, os);
+}
+
+// Prints the given array of characters to the ostream.  CharType must be either
+// char or wchar_t.
+// The array starts at begin, the length is len, it may include '\0' characters
+// and may not be NUL-terminated.
+template <typename CharType>
+GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+static void PrintCharsAsStringTo(
+    const CharType* begin, size_t len, ostream* os) {
+  const char* const kQuoteBegin = sizeof(CharType) == 1 ? "\"" : "L\"";
+  *os << kQuoteBegin;
+  bool is_previous_hex = false;
+  for (size_t index = 0; index < len; ++index) {
+    const CharType cur = begin[index];
+    if (is_previous_hex && IsXDigit(cur)) {
+      // Previous character is of '\x..' form and this character can be
+      // interpreted as another hexadecimal digit in its number. Break string to
+      // disambiguate.
+      *os << "\" " << kQuoteBegin;
+    }
+    is_previous_hex = PrintAsStringLiteralTo(cur, os) == kHexEscape;
+  }
+  *os << "\"";
+}
+
+// Prints a (const) char/wchar_t array of 'len' elements, starting at address
+// 'begin'.  CharType must be either char or wchar_t.
+template <typename CharType>
+GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+static void UniversalPrintCharArray(
+    const CharType* begin, size_t len, ostream* os) {
+  // The code
+  //   const char kFoo[] = "foo";
+  // generates an array of 4, not 3, elements, with the last one being '\0'.
+  //
+  // Therefore when printing a char array, we don't print the last element if
+  // it's '\0', such that the output matches the string literal as it's
+  // written in the source code.
+  if (len > 0 && begin[len - 1] == '\0') {
+    PrintCharsAsStringTo(begin, len - 1, os);
+    return;
+  }
+
+  // If, however, the last element in the array is not '\0', e.g.
+  //    const char kFoo[] = { 'f', 'o', 'o' };
+  // we must print the entire array.  We also print a message to indicate
+  // that the array is not NUL-terminated.
+  PrintCharsAsStringTo(begin, len, os);
+  *os << " (no terminating NUL)";
+}
+
+// Prints a (const) char array of 'len' elements, starting at address 'begin'.
+void UniversalPrintArray(const char* begin, size_t len, ostream* os) {
+  UniversalPrintCharArray(begin, len, os);
+}
+
+// Prints a (const) wchar_t array of 'len' elements, starting at address
+// 'begin'.
+void UniversalPrintArray(const wchar_t* begin, size_t len, ostream* os) {
+  UniversalPrintCharArray(begin, len, os);
+}
+
+// Prints the given C string to the ostream.
+void PrintTo(const char* s, ostream* os) {
+  if (s == NULL) {
+    *os << "NULL";
+  } else {
+    *os << ImplicitCast_<const void*>(s) << " pointing to ";
+    PrintCharsAsStringTo(s, strlen(s), os);
+  }
+}
+
+// MSVC compiler can be configured to define whar_t as a typedef
+// of unsigned short. Defining an overload for const wchar_t* in that case
+// would cause pointers to unsigned shorts be printed as wide strings,
+// possibly accessing more memory than intended and causing invalid
+// memory accesses. MSVC defines _NATIVE_WCHAR_T_DEFINED symbol when
+// wchar_t is implemented as a native type.
+#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
+// Prints the given wide C string to the ostream.
+void PrintTo(const wchar_t* s, ostream* os) {
+  if (s == NULL) {
+    *os << "NULL";
+  } else {
+    *os << ImplicitCast_<const void*>(s) << " pointing to ";
+    PrintCharsAsStringTo(s, std::wcslen(s), os);
+  }
+}
+#endif  // wchar_t is native
+
+// Prints a ::string object.
+#if GTEST_HAS_GLOBAL_STRING
+void PrintStringTo(const ::string& s, ostream* os) {
+  PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif  // GTEST_HAS_GLOBAL_STRING
+
+void PrintStringTo(const ::std::string& s, ostream* os) {
+  PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+
+// Prints a ::wstring object.
+#if GTEST_HAS_GLOBAL_WSTRING
+void PrintWideStringTo(const ::wstring& s, ostream* os) {
+  PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif  // GTEST_HAS_GLOBAL_WSTRING
+
+#if GTEST_HAS_STD_WSTRING
+void PrintWideStringTo(const ::std::wstring& s, ostream* os) {
+  PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif  // GTEST_HAS_STD_WSTRING
+
+}  // namespace internal
+
+}  // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mheule@google.com (Markus Heule)
+//
+// The Google C++ Testing Framework (Google Test)
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation.  It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error.  This trick exists to
+// prevent the accidental inclusion of gtest-internal-inl.h in the
+// user's code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+
+using internal::GetUnitTestImpl;
+
+// Gets the summary of the failure message by omitting the stack trace
+// in it.
+std::string TestPartResult::ExtractSummary(const char* message) {
+  const char* const stack_trace = strstr(message, internal::kStackTraceMarker);
+  return stack_trace == NULL ? message :
+      std::string(message, stack_trace);
+}
+
+// Prints a TestPartResult object.
+std::ostream& operator<<(std::ostream& os, const TestPartResult& result) {
+  return os
+      << result.file_name() << ":" << result.line_number() << ": "
+      << (result.type() == TestPartResult::kSuccess ? "Success" :
+          result.type() == TestPartResult::kFatalFailure ? "Fatal failure" :
+          "Non-fatal failure") << ":\n"
+      << result.message() << std::endl;
+}
+
+// Appends a TestPartResult to the array.
+void TestPartResultArray::Append(const TestPartResult& result) {
+  array_.push_back(result);
+}
+
+// Returns the TestPartResult at the given index (0-based).
+const TestPartResult& TestPartResultArray::GetTestPartResult(int index) const {
+  if (index < 0 || index >= size()) {
+    printf("\nInvalid index (%d) into TestPartResultArray.\n", index);
+    internal::posix::Abort();
+  }
+
+  return array_[index];
+}
+
+// Returns the number of TestPartResult objects in the array.
+int TestPartResultArray::size() const {
+  return static_cast<int>(array_.size());
+}
+
+namespace internal {
+
+HasNewFatalFailureHelper::HasNewFatalFailureHelper()
+    : has_new_fatal_failure_(false),
+      original_reporter_(GetUnitTestImpl()->
+                         GetTestPartResultReporterForCurrentThread()) {
+  GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(this);
+}
+
+HasNewFatalFailureHelper::~HasNewFatalFailureHelper() {
+  GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(
+      original_reporter_);
+}
+
+void HasNewFatalFailureHelper::ReportTestPartResult(
+    const TestPartResult& result) {
+  if (result.fatally_failed())
+    has_new_fatal_failure_ = true;
+  original_reporter_->ReportTestPartResult(result);
+}
+
+}  // namespace internal
+
+}  // namespace testing
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+
+namespace testing {
+namespace internal {
+
+#if GTEST_HAS_TYPED_TEST_P
+
+// Skips to the first non-space char in str. Returns an empty string if str
+// contains only whitespace characters.
+static const char* SkipSpaces(const char* str) {
+  while (IsSpace(*str))
+    str++;
+  return str;
+}
+
+static std::vector<std::string> SplitIntoTestNames(const char* src) {
+  std::vector<std::string> name_vec;
+  src = SkipSpaces(src);
+  for (; src != NULL; src = SkipComma(src)) {
+    name_vec.push_back(StripTrailingSpaces(GetPrefixUntilComma(src)));
+  }
+  return name_vec;
+}
+
+// Verifies that registered_tests match the test names in
+// registered_tests_; returns registered_tests if successful, or
+// aborts the program otherwise.
+const char* TypedTestCasePState::VerifyRegisteredTestNames(
+    const char* file, int line, const char* registered_tests) {
+  typedef RegisteredTestsMap::const_iterator RegisteredTestIter;
+  registered_ = true;
+
+  std::vector<std::string> name_vec = SplitIntoTestNames(registered_tests);
+
+  Message errors;
+
+  std::set<std::string> tests;
+  for (std::vector<std::string>::const_iterator name_it = name_vec.begin();
+       name_it != name_vec.end(); ++name_it) {
+    const std::string& name = *name_it;
+    if (tests.count(name) != 0) {
+      errors << "Test " << name << " is listed more than once.\n";
+      continue;
+    }
+
+    bool found = false;
+    for (RegisteredTestIter it = registered_tests_.begin();
+         it != registered_tests_.end();
+         ++it) {
+      if (name == it->first) {
+        found = true;
+        break;
+      }
+    }
+
+    if (found) {
+      tests.insert(name);
+    } else {
+      errors << "No test named " << name
+             << " can be found in this test case.\n";
+    }
+  }
+
+  for (RegisteredTestIter it = registered_tests_.begin();
+       it != registered_tests_.end();
+       ++it) {
+    if (tests.count(it->first) == 0) {
+      errors << "You forgot to list test " << it->first << ".\n";
+    }
+  }
+
+  const std::string& errors_str = errors.GetString();
+  if (errors_str != "") {
+    fprintf(stderr, "%s %s", FormatFileLocation(file, line).c_str(),
+            errors_str.c_str());
+    fflush(stderr);
+    posix::Abort();
+  }
+
+  return registered_tests;
+}
+
+#endif  // GTEST_HAS_TYPED_TEST_P
+
+}  // namespace internal
+}  // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// Google C++ Mocking Framework (Google Mock)
+//
+// This file #includes all Google Mock implementation .cc files.  The
+// purpose is to allow a user to build Google Mock by compiling this
+// file alone.
+
+// This line ensures that gmock.h can be compiled on its own, even
+// when it's fused.
+#include "gmock/gmock.h"
+
+// The following lines pull in the real gmock *.cc files.
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements cardinalities.
+
+
+#include <limits.h>
+#include <ostream>  // NOLINT
+#include <sstream>
+#include <string>
+
+namespace testing {
+
+namespace {
+
+// Implements the Between(m, n) cardinality.
+class BetweenCardinalityImpl : public CardinalityInterface {
+ public:
+  BetweenCardinalityImpl(int min, int max)
+      : min_(min >= 0 ? min : 0),
+        max_(max >= min_ ? max : min_) {
+    std::stringstream ss;
+    if (min < 0) {
+      ss << "The invocation lower bound must be >= 0, "
+         << "but is actually " << min << ".";
+      internal::Expect(false, __FILE__, __LINE__, ss.str());
+    } else if (max < 0) {
+      ss << "The invocation upper bound must be >= 0, "
+         << "but is actually " << max << ".";
+      internal::Expect(false, __FILE__, __LINE__, ss.str());
+    } else if (min > max) {
+      ss << "The invocation upper bound (" << max
+         << ") must be >= the invocation lower bound (" << min
+         << ").";
+      internal::Expect(false, __FILE__, __LINE__, ss.str());
+    }
+  }
+
+  // Conservative estimate on the lower/upper bound of the number of
+  // calls allowed.
+  virtual int ConservativeLowerBound() const { return min_; }
+  virtual int ConservativeUpperBound() const { return max_; }
+
+  virtual bool IsSatisfiedByCallCount(int call_count) const {
+    return min_ <= call_count && call_count <= max_;
+  }
+
+  virtual bool IsSaturatedByCallCount(int call_count) const {
+    return call_count >= max_;
+  }
+
+  virtual void DescribeTo(::std::ostream* os) const;
+
+ private:
+  const int min_;
+  const int max_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(BetweenCardinalityImpl);
+};
+
+// Formats "n times" in a human-friendly way.
+inline internal::string FormatTimes(int n) {
+  if (n == 1) {
+    return "once";
+  } else if (n == 2) {
+    return "twice";
+  } else {
+    std::stringstream ss;
+    ss << n << " times";
+    return ss.str();
+  }
+}
+
+// Describes the Between(m, n) cardinality in human-friendly text.
+void BetweenCardinalityImpl::DescribeTo(::std::ostream* os) const {
+  if (min_ == 0) {
+    if (max_ == 0) {
+      *os << "never called";
+    } else if (max_ == INT_MAX) {
+      *os << "called any number of times";
+    } else {
+      *os << "called at most " << FormatTimes(max_);
+    }
+  } else if (min_ == max_) {
+    *os << "called " << FormatTimes(min_);
+  } else if (max_ == INT_MAX) {
+    *os << "called at least " << FormatTimes(min_);
+  } else {
+    // 0 < min_ < max_ < INT_MAX
+    *os << "called between " << min_ << " and " << max_ << " times";
+  }
+}
+
+}  // Unnamed namespace
+
+// Describes the given call count to an ostream.
+void Cardinality::DescribeActualCallCountTo(int actual_call_count,
+                                            ::std::ostream* os) {
+  if (actual_call_count > 0) {
+    *os << "called " << FormatTimes(actual_call_count);
+  } else {
+    *os << "never called";
+  }
+}
+
+// Creates a cardinality that allows at least n calls.
+GTEST_API_ Cardinality AtLeast(int n) { return Between(n, INT_MAX); }
+
+// Creates a cardinality that allows at most n calls.
+GTEST_API_ Cardinality AtMost(int n) { return Between(0, n); }
+
+// Creates a cardinality that allows any number of calls.
+GTEST_API_ Cardinality AnyNumber() { return AtLeast(0); }
+
+// Creates a cardinality that allows between min and max calls.
+GTEST_API_ Cardinality Between(int min, int max) {
+  return Cardinality(new BetweenCardinalityImpl(min, max));
+}
+
+// Creates a cardinality that allows exactly n calls.
+GTEST_API_ Cardinality Exactly(int n) { return Between(n, n); }
+
+}  // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file defines some utilities useful for implementing Google
+// Mock.  They are subject to change without notice, so please DO NOT
+// USE THEM IN USER CODE.
+
+
+#include <ctype.h>
+#include <ostream>  // NOLINT
+#include <string>
+
+namespace testing {
+namespace internal {
+
+// Converts an identifier name to a space-separated list of lower-case
+// words.  Each maximum substring of the form [A-Za-z][a-z]*|\d+ is
+// treated as one word.  For example, both "FooBar123" and
+// "foo_bar_123" are converted to "foo bar 123".
+GTEST_API_ string ConvertIdentifierNameToWords(const char* id_name) {
+  string result;
+  char prev_char = '\0';
+  for (const char* p = id_name; *p != '\0'; prev_char = *(p++)) {
+    // We don't care about the current locale as the input is
+    // guaranteed to be a valid C++ identifier name.
+    const bool starts_new_word = IsUpper(*p) ||
+        (!IsAlpha(prev_char) && IsLower(*p)) ||
+        (!IsDigit(prev_char) && IsDigit(*p));
+
+    if (IsAlNum(*p)) {
+      if (starts_new_word && result != "")
+        result += ' ';
+      result += ToLower(*p);
+    }
+  }
+  return result;
+}
+
+// This class reports Google Mock failures as Google Test failures.  A
+// user can define another class in a similar fashion if he intends to
+// use Google Mock with a testing framework other than Google Test.
+class GoogleTestFailureReporter : public FailureReporterInterface {
+ public:
+  virtual void ReportFailure(FailureType type, const char* file, int line,
+                             const string& message) {
+    AssertHelper(type == kFatal ?
+                 TestPartResult::kFatalFailure :
+                 TestPartResult::kNonFatalFailure,
+                 file,
+                 line,
+                 message.c_str()) = Message();
+    if (type == kFatal) {
+      posix::Abort();
+    }
+  }
+};
+
+// Returns the global failure reporter.  Will create a
+// GoogleTestFailureReporter and return it the first time called.
+GTEST_API_ FailureReporterInterface* GetFailureReporter() {
+  // Points to the global failure reporter used by Google Mock.  gcc
+  // guarantees that the following use of failure_reporter is
+  // thread-safe.  We may need to add additional synchronization to
+  // protect failure_reporter if we port Google Mock to other
+  // compilers.
+  static FailureReporterInterface* const failure_reporter =
+      new GoogleTestFailureReporter();
+  return failure_reporter;
+}
+
+// Protects global resources (stdout in particular) used by Log().
+static GTEST_DEFINE_STATIC_MUTEX_(g_log_mutex);
+
+// Returns true iff a log with the given severity is visible according
+// to the --gmock_verbose flag.
+GTEST_API_ bool LogIsVisible(LogSeverity severity) {
+  if (GMOCK_FLAG(verbose) == kInfoVerbosity) {
+    // Always show the log if --gmock_verbose=info.
+    return true;
+  } else if (GMOCK_FLAG(verbose) == kErrorVerbosity) {
+    // Always hide it if --gmock_verbose=error.
+    return false;
+  } else {
+    // If --gmock_verbose is neither "info" nor "error", we treat it
+    // as "warning" (its default value).
+    return severity == kWarning;
+  }
+}
+
+// Prints the given message to stdout iff 'severity' >= the level
+// specified by the --gmock_verbose flag.  If stack_frames_to_skip >=
+// 0, also prints the stack trace excluding the top
+// stack_frames_to_skip frames.  In opt mode, any positive
+// stack_frames_to_skip is treated as 0, since we don't know which
+// function calls will be inlined by the compiler and need to be
+// conservative.
+GTEST_API_ void Log(LogSeverity severity,
+                    const string& message,
+                    int stack_frames_to_skip) {
+  if (!LogIsVisible(severity))
+    return;
+
+  // Ensures that logs from different threads don't interleave.
+  MutexLock l(&g_log_mutex);
+
+  // "using ::std::cout;" doesn't work with Symbian's STLport, where cout is a
+  // macro.
+
+  if (severity == kWarning) {
+    // Prints a GMOCK WARNING marker to make the warnings easily searchable.
+    std::cout << "\nGMOCK WARNING:";
+  }
+  // Pre-pends a new-line to message if it doesn't start with one.
+  if (message.empty() || message[0] != '\n') {
+    std::cout << "\n";
+  }
+  std::cout << message;
+  if (stack_frames_to_skip >= 0) {
+#ifdef NDEBUG
+    // In opt mode, we have to be conservative and skip no stack frame.
+    const int actual_to_skip = 0;
+#else
+    // In dbg mode, we can do what the caller tell us to do (plus one
+    // for skipping this function's stack frame).
+    const int actual_to_skip = stack_frames_to_skip + 1;
+#endif  // NDEBUG
+
+    // Appends a new-line to message if it doesn't end with one.
+    if (!message.empty() && *message.rbegin() != '\n') {
+      std::cout << "\n";
+    }
+    std::cout << "Stack trace:\n"
+         << ::testing::internal::GetCurrentOsStackTraceExceptTop(
+             ::testing::UnitTest::GetInstance(), actual_to_skip);
+  }
+  std::cout << ::std::flush;
+}
+
+}  // namespace internal
+}  // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements Matcher<const string&>, Matcher<string>, and
+// utilities for defining matchers.
+
+
+#include <string.h>
+#include <sstream>
+#include <string>
+
+namespace testing {
+
+// Constructs a matcher that matches a const string& whose value is
+// equal to s.
+Matcher<const internal::string&>::Matcher(const internal::string& s) {
+  *this = Eq(s);
+}
+
+// Constructs a matcher that matches a const string& whose value is
+// equal to s.
+Matcher<const internal::string&>::Matcher(const char* s) {
+  *this = Eq(internal::string(s));
+}
+
+// Constructs a matcher that matches a string whose value is equal to s.
+Matcher<internal::string>::Matcher(const internal::string& s) { *this = Eq(s); }
+
+// Constructs a matcher that matches a string whose value is equal to s.
+Matcher<internal::string>::Matcher(const char* s) {
+  *this = Eq(internal::string(s));
+}
+
+#if GTEST_HAS_STRING_PIECE_
+// Constructs a matcher that matches a const StringPiece& whose value is
+// equal to s.
+Matcher<const StringPiece&>::Matcher(const internal::string& s) {
+  *this = Eq(s);
+}
+
+// Constructs a matcher that matches a const StringPiece& whose value is
+// equal to s.
+Matcher<const StringPiece&>::Matcher(const char* s) {
+  *this = Eq(internal::string(s));
+}
+
+// Constructs a matcher that matches a const StringPiece& whose value is
+// equal to s.
+Matcher<const StringPiece&>::Matcher(StringPiece s) {
+  *this = Eq(s.ToString());
+}
+
+// Constructs a matcher that matches a StringPiece whose value is equal to s.
+Matcher<StringPiece>::Matcher(const internal::string& s) {
+  *this = Eq(s);
+}
+
+// Constructs a matcher that matches a StringPiece whose value is equal to s.
+Matcher<StringPiece>::Matcher(const char* s) {
+  *this = Eq(internal::string(s));
+}
+
+// Constructs a matcher that matches a StringPiece whose value is equal to s.
+Matcher<StringPiece>::Matcher(StringPiece s) {
+  *this = Eq(s.ToString());
+}
+#endif  // GTEST_HAS_STRING_PIECE_
+
+namespace internal {
+
+// Joins a vector of strings as if they are fields of a tuple; returns
+// the joined string.
+GTEST_API_ string JoinAsTuple(const Strings& fields) {
+  switch (fields.size()) {
+    case 0:
+      return "";
+    case 1:
+      return fields[0];
+    default:
+      string result = "(" + fields[0];
+      for (size_t i = 1; i < fields.size(); i++) {
+        result += ", ";
+        result += fields[i];
+      }
+      result += ")";
+      return result;
+  }
+}
+
+// Returns the description for a matcher defined using the MATCHER*()
+// macro where the user-supplied description string is "", if
+// 'negation' is false; otherwise returns the description of the
+// negation of the matcher.  'param_values' contains a list of strings
+// that are the print-out of the matcher's parameters.
+GTEST_API_ string FormatMatcherDescription(bool negation,
+                                           const char* matcher_name,
+                                           const Strings& param_values) {
+  string result = ConvertIdentifierNameToWords(matcher_name);
+  if (param_values.size() >= 1)
+    result += " " + JoinAsTuple(param_values);
+  return negation ? "not (" + result + ")" : result;
+}
+
+// FindMaxBipartiteMatching and its helper class.
+//
+// Uses the well-known Ford-Fulkerson max flow method to find a maximum
+// bipartite matching. Flow is considered to be from left to right.
+// There is an implicit source node that is connected to all of the left
+// nodes, and an implicit sink node that is connected to all of the
+// right nodes. All edges have unit capacity.
+//
+// Neither the flow graph nor the residual flow graph are represented
+// explicitly. Instead, they are implied by the information in 'graph' and
+// a vector<int> called 'left_' whose elements are initialized to the
+// value kUnused. This represents the initial state of the algorithm,
+// where the flow graph is empty, and the residual flow graph has the
+// following edges:
+//   - An edge from source to each left_ node
+//   - An edge from each right_ node to sink
+//   - An edge from each left_ node to each right_ node, if the
+//     corresponding edge exists in 'graph'.
+//
+// When the TryAugment() method adds a flow, it sets left_[l] = r for some
+// nodes l and r. This induces the following changes:
+//   - The edges (source, l), (l, r), and (r, sink) are added to the
+//     flow graph.
+//   - The same three edges are removed from the residual flow graph.
+//   - The reverse edges (l, source), (r, l), and (sink, r) are added
+//     to the residual flow graph, which is a directional graph
+//     representing unused flow capacity.
+//
+// When the method augments a flow (moving left_[l] from some r1 to some
+// other r2), this can be thought of as "undoing" the above steps with
+// respect to r1 and "redoing" them with respect to r2.
+//
+// It bears repeating that the flow graph and residual flow graph are
+// never represented explicitly, but can be derived by looking at the
+// information in 'graph' and in left_.
+//
+// As an optimization, there is a second vector<int> called right_ which
+// does not provide any new information. Instead, it enables more
+// efficient queries about edges entering or leaving the right-side nodes
+// of the flow or residual flow graphs. The following invariants are
+// maintained:
+//
+// left[l] == kUnused or right[left[l]] == l
+// right[r] == kUnused or left[right[r]] == r
+//
+// . [ source ]                                        .
+// .   |||                                             .
+// .   |||                                             .
+// .   ||\--> left[0]=1  ---\    right[0]=-1 ----\     .
+// .   ||                   |                    |     .
+// .   |\---> left[1]=-1    \--> right[1]=0  ---\|     .
+// .   |                                        ||     .
+// .   \----> left[2]=2  ------> right[2]=2  --\||     .
+// .                                           |||     .
+// .         elements           matchers       vvv     .
+// .                                         [ sink ]  .
+//
+// See Also:
+//   [1] Cormen, et al (2001). "Section 26.2: The Ford-Fulkerson method".
+//       "Introduction to Algorithms (Second ed.)", pp. 651-664.
+//   [2] "Ford-Fulkerson algorithm", Wikipedia,
+//       'http://en.wikipedia.org/wiki/Ford%E2%80%93Fulkerson_algorithm'
+class MaxBipartiteMatchState {
+ public:
+  explicit MaxBipartiteMatchState(const MatchMatrix& graph)
+      : graph_(&graph),
+        left_(graph_->LhsSize(), kUnused),
+        right_(graph_->RhsSize(), kUnused) {
+  }
+
+  // Returns the edges of a maximal match, each in the form {left, right}.
+  ElementMatcherPairs Compute() {
+    // 'seen' is used for path finding { 0: unseen, 1: seen }.
+    ::std::vector<char> seen;
+    // Searches the residual flow graph for a path from each left node to
+    // the sink in the residual flow graph, and if one is found, add flow
+    // to the graph. It's okay to search through the left nodes once. The
+    // edge from the implicit source node to each previously-visited left
+    // node will have flow if that left node has any path to the sink
+    // whatsoever. Subsequent augmentations can only add flow to the
+    // network, and cannot take away that previous flow unit from the source.
+    // Since the source-to-left edge can only carry one flow unit (or,
+    // each element can be matched to only one matcher), there is no need
+    // to visit the left nodes more than once looking for augmented paths.
+    // The flow is known to be possible or impossible by looking at the
+    // node once.
+    for (size_t ilhs = 0; ilhs < graph_->LhsSize(); ++ilhs) {
+      // Reset the path-marking vector and try to find a path from
+      // source to sink starting at the left_[ilhs] node.
+      GTEST_CHECK_(left_[ilhs] == kUnused)
+          << "ilhs: " << ilhs << ", left_[ilhs]: " << left_[ilhs];
+      // 'seen' initialized to 'graph_->RhsSize()' copies of 0.
+      seen.assign(graph_->RhsSize(), 0);
+      TryAugment(ilhs, &seen);
+    }
+    ElementMatcherPairs result;
+    for (size_t ilhs = 0; ilhs < left_.size(); ++ilhs) {
+      size_t irhs = left_[ilhs];
+      if (irhs == kUnused) continue;
+      result.push_back(ElementMatcherPair(ilhs, irhs));
+    }
+    return result;
+  }
+
+ private:
+  static const size_t kUnused = static_cast<size_t>(-1);
+
+  // Perform a depth-first search from left node ilhs to the sink.  If a
+  // path is found, flow is added to the network by linking the left and
+  // right vector elements corresponding each segment of the path.
+  // Returns true if a path to sink was found, which means that a unit of
+  // flow was added to the network. The 'seen' vector elements correspond
+  // to right nodes and are marked to eliminate cycles from the search.
+  //
+  // Left nodes will only be explored at most once because they
+  // are accessible from at most one right node in the residual flow
+  // graph.
+  //
+  // Note that left_[ilhs] is the only element of left_ that TryAugment will
+  // potentially transition from kUnused to another value. Any other
+  // left_ element holding kUnused before TryAugment will be holding it
+  // when TryAugment returns.
+  //
+  bool TryAugment(size_t ilhs, ::std::vector<char>* seen) {
+    for (size_t irhs = 0; irhs < graph_->RhsSize(); ++irhs) {
+      if ((*seen)[irhs])
+        continue;
+      if (!graph_->HasEdge(ilhs, irhs))
+        continue;
+      // There's an available edge from ilhs to irhs.
+      (*seen)[irhs] = 1;
+      // Next a search is performed to determine whether
+      // this edge is a dead end or leads to the sink.
+      //
+      // right_[irhs] == kUnused means that there is residual flow from
+      // right node irhs to the sink, so we can use that to finish this
+      // flow path and return success.
+      //
+      // Otherwise there is residual flow to some ilhs. We push flow
+      // along that path and call ourselves recursively to see if this
+      // ultimately leads to sink.
+      if (right_[irhs] == kUnused || TryAugment(right_[irhs], seen)) {
+        // Add flow from left_[ilhs] to right_[irhs].
+        left_[ilhs] = irhs;
+        right_[irhs] = ilhs;
+        return true;
+      }
+    }
+    return false;
+  }
+
+  const MatchMatrix* graph_;  // not owned
+  // Each element of the left_ vector represents a left hand side node
+  // (i.e. an element) and each element of right_ is a right hand side
+  // node (i.e. a matcher). The values in the left_ vector indicate
+  // outflow from that node to a node on the the right_ side. The values
+  // in the right_ indicate inflow, and specify which left_ node is
+  // feeding that right_ node, if any. For example, left_[3] == 1 means
+  // there's a flow from element #3 to matcher #1. Such a flow would also
+  // be redundantly represented in the right_ vector as right_[1] == 3.
+  // Elements of left_ and right_ are either kUnused or mutually
+  // referent. Mutually referent means that left_[right_[i]] = i and
+  // right_[left_[i]] = i.
+  ::std::vector<size_t> left_;
+  ::std::vector<size_t> right_;
+
+  GTEST_DISALLOW_ASSIGN_(MaxBipartiteMatchState);
+};
+
+const size_t MaxBipartiteMatchState::kUnused;
+
+GTEST_API_ ElementMatcherPairs
+FindMaxBipartiteMatching(const MatchMatrix& g) {
+  return MaxBipartiteMatchState(g).Compute();
+}
+
+static void LogElementMatcherPairVec(const ElementMatcherPairs& pairs,
+                                     ::std::ostream* stream) {
+  typedef ElementMatcherPairs::const_iterator Iter;
+  ::std::ostream& os = *stream;
+  os << "{";
+  const char *sep = "";
+  for (Iter it = pairs.begin(); it != pairs.end(); ++it) {
+    os << sep << "\n  ("
+       << "element #" << it->first << ", "
+       << "matcher #" << it->second << ")";
+    sep = ",";
+  }
+  os << "\n}";
+}
+
+// Tries to find a pairing, and explains the result.
+GTEST_API_ bool FindPairing(const MatchMatrix& matrix,
+                            MatchResultListener* listener) {
+  ElementMatcherPairs matches = FindMaxBipartiteMatching(matrix);
+
+  size_t max_flow = matches.size();
+  bool result = (max_flow == matrix.RhsSize());
+
+  if (!result) {
+    if (listener->IsInterested()) {
+      *listener << "where no permutation of the elements can "
+                   "satisfy all matchers, and the closest match is "
+                << max_flow << " of " << matrix.RhsSize()
+                << " matchers with the pairings:\n";
+      LogElementMatcherPairVec(matches, listener->stream());
+    }
+    return false;
+  }
+
+  if (matches.size() > 1) {
+    if (listener->IsInterested()) {
+      const char *sep = "where:\n";
+      for (size_t mi = 0; mi < matches.size(); ++mi) {
+        *listener << sep << " - element #" << matches[mi].first
+                  << " is matched by matcher #" << matches[mi].second;
+        sep = ",\n";
+      }
+    }
+  }
+  return true;
+}
+
+bool MatchMatrix::NextGraph() {
+  for (size_t ilhs = 0; ilhs < LhsSize(); ++ilhs) {
+    for (size_t irhs = 0; irhs < RhsSize(); ++irhs) {
+      char& b = matched_[SpaceIndex(ilhs, irhs)];
+      if (!b) {
+        b = 1;
+        return true;
+      }
+      b = 0;
+    }
+  }
+  return false;
+}
+
+void MatchMatrix::Randomize() {
+  for (size_t ilhs = 0; ilhs < LhsSize(); ++ilhs) {
+    for (size_t irhs = 0; irhs < RhsSize(); ++irhs) {
+      char& b = matched_[SpaceIndex(ilhs, irhs)];
+      b = static_cast<char>(rand() & 1);  // NOLINT
+    }
+  }
+}
+
+string MatchMatrix::DebugString() const {
+  ::std::stringstream ss;
+  const char *sep = "";
+  for (size_t i = 0; i < LhsSize(); ++i) {
+    ss << sep;
+    for (size_t j = 0; j < RhsSize(); ++j) {
+      ss << HasEdge(i, j);
+    }
+    sep = ";";
+  }
+  return ss.str();
+}
+
+void UnorderedElementsAreMatcherImplBase::DescribeToImpl(
+    ::std::ostream* os) const {
+  if (matcher_describers_.empty()) {
+    *os << "is empty";
+    return;
+  }
+  if (matcher_describers_.size() == 1) {
+    *os << "has " << Elements(1) << " and that element ";
+    matcher_describers_[0]->DescribeTo(os);
+    return;
+  }
+  *os << "has " << Elements(matcher_describers_.size())
+      << " and there exists some permutation of elements such that:\n";
+  const char* sep = "";
+  for (size_t i = 0; i != matcher_describers_.size(); ++i) {
+    *os << sep << " - element #" << i << " ";
+    matcher_describers_[i]->DescribeTo(os);
+    sep = ", and\n";
+  }
+}
+
+void UnorderedElementsAreMatcherImplBase::DescribeNegationToImpl(
+    ::std::ostream* os) const {
+  if (matcher_describers_.empty()) {
+    *os << "isn't empty";
+    return;
+  }
+  if (matcher_describers_.size() == 1) {
+    *os << "doesn't have " << Elements(1)
+        << ", or has " << Elements(1) << " that ";
+    matcher_describers_[0]->DescribeNegationTo(os);
+    return;
+  }
+  *os << "doesn't have " << Elements(matcher_describers_.size())
+      << ", or there exists no permutation of elements such that:\n";
+  const char* sep = "";
+  for (size_t i = 0; i != matcher_describers_.size(); ++i) {
+    *os << sep << " - element #" << i << " ";
+    matcher_describers_[i]->DescribeTo(os);
+    sep = ", and\n";
+  }
+}
+
+// Checks that all matchers match at least one element, and that all
+// elements match at least one matcher. This enables faster matching
+// and better error reporting.
+// Returns false, writing an explanation to 'listener', if and only
+// if the success criteria are not met.
+bool UnorderedElementsAreMatcherImplBase::
+VerifyAllElementsAndMatchersAreMatched(
+    const ::std::vector<string>& element_printouts,
+    const MatchMatrix& matrix,
+    MatchResultListener* listener) const {
+  bool result = true;
+  ::std::vector<char> element_matched(matrix.LhsSize(), 0);
+  ::std::vector<char> matcher_matched(matrix.RhsSize(), 0);
+
+  for (size_t ilhs = 0; ilhs < matrix.LhsSize(); ilhs++) {
+    for (size_t irhs = 0; irhs < matrix.RhsSize(); irhs++) {
+      char matched = matrix.HasEdge(ilhs, irhs);
+      element_matched[ilhs] |= matched;
+      matcher_matched[irhs] |= matched;
+    }
+  }
+
+  {
+    const char* sep =
+        "where the following matchers don't match any elements:\n";
+    for (size_t mi = 0; mi < matcher_matched.size(); ++mi) {
+      if (matcher_matched[mi])
+        continue;
+      result = false;
+      if (listener->IsInterested()) {
+        *listener << sep << "matcher #" << mi << ": ";
+        matcher_describers_[mi]->DescribeTo(listener->stream());
+        sep = ",\n";
+      }
+    }
+  }
+
+  {
+    const char* sep =
+        "where the following elements don't match any matchers:\n";
+    const char* outer_sep = "";
+    if (!result) {
+      outer_sep = "\nand ";
+    }
+    for (size_t ei = 0; ei < element_matched.size(); ++ei) {
+      if (element_matched[ei])
+        continue;
+      result = false;
+      if (listener->IsInterested()) {
+        *listener << outer_sep << sep << "element #" << ei << ": "
+                  << element_printouts[ei];
+        sep = ",\n";
+        outer_sep = "";
+      }
+    }
+  }
+  return result;
+}
+
+}  // namespace internal
+}  // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements the spec builder syntax (ON_CALL and
+// EXPECT_CALL).
+
+
+#include <stdlib.h>
+#include <iostream>  // NOLINT
+#include <map>
+#include <set>
+#include <string>
+
+#if GTEST_OS_CYGWIN || GTEST_OS_LINUX || GTEST_OS_MAC
+# include <unistd.h>  // NOLINT
+#endif
+
+namespace testing {
+namespace internal {
+
+// Protects the mock object registry (in class Mock), all function
+// mockers, and all expectations.
+GTEST_API_ GTEST_DEFINE_STATIC_MUTEX_(g_gmock_mutex);
+
+// Logs a message including file and line number information.
+GTEST_API_ void LogWithLocation(testing::internal::LogSeverity severity,
+                                const char* file, int line,
+                                const string& message) {
+  ::std::ostringstream s;
+  s << file << ":" << line << ": " << message << ::std::endl;
+  Log(severity, s.str(), 0);
+}
+
+// Constructs an ExpectationBase object.
+ExpectationBase::ExpectationBase(const char* a_file,
+                                 int a_line,
+                                 const string& a_source_text)
+    : file_(a_file),
+      line_(a_line),
+      source_text_(a_source_text),
+      cardinality_specified_(false),
+      cardinality_(Exactly(1)),
+      call_count_(0),
+      retired_(false),
+      extra_matcher_specified_(false),
+      repeated_action_specified_(false),
+      retires_on_saturation_(false),
+      last_clause_(kNone),
+      action_count_checked_(false) {}
+
+// Destructs an ExpectationBase object.
+ExpectationBase::~ExpectationBase() {}
+
+// Explicitly specifies the cardinality of this expectation.  Used by
+// the subclasses to implement the .Times() clause.
+void ExpectationBase::SpecifyCardinality(const Cardinality& a_cardinality) {
+  cardinality_specified_ = true;
+  cardinality_ = a_cardinality;
+}
+
+// Retires all pre-requisites of this expectation.
+void ExpectationBase::RetireAllPreRequisites()
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+  if (is_retired()) {
+    // We can take this short-cut as we never retire an expectation
+    // until we have retired all its pre-requisites.
+    return;
+  }
+
+  for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+       it != immediate_prerequisites_.end(); ++it) {
+    ExpectationBase* const prerequisite = it->expectation_base().get();
+    if (!prerequisite->is_retired()) {
+      prerequisite->RetireAllPreRequisites();
+      prerequisite->Retire();
+    }
+  }
+}
+
+// Returns true iff all pre-requisites of this expectation have been
+// satisfied.
+bool ExpectationBase::AllPrerequisitesAreSatisfied() const
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+  g_gmock_mutex.AssertHeld();
+  for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+       it != immediate_prerequisites_.end(); ++it) {
+    if (!(it->expectation_base()->IsSatisfied()) ||
+        !(it->expectation_base()->AllPrerequisitesAreSatisfied()))
+      return false;
+  }
+  return true;
+}
+
+// Adds unsatisfied pre-requisites of this expectation to 'result'.
+void ExpectationBase::FindUnsatisfiedPrerequisites(ExpectationSet* result) const
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+  g_gmock_mutex.AssertHeld();
+  for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+       it != immediate_prerequisites_.end(); ++it) {
+    if (it->expectation_base()->IsSatisfied()) {
+      // If *it is satisfied and has a call count of 0, some of its
+      // pre-requisites may not be satisfied yet.
+      if (it->expectation_base()->call_count_ == 0) {
+        it->expectation_base()->FindUnsatisfiedPrerequisites(result);
+      }
+    } else {
+      // Now that we know *it is unsatisfied, we are not so interested
+      // in whether its pre-requisites are satisfied.  Therefore we
+      // don't recursively call FindUnsatisfiedPrerequisites() here.
+      *result += *it;
+    }
+  }
+}
+
+// Describes how many times a function call matching this
+// expectation has occurred.
+void ExpectationBase::DescribeCallCountTo(::std::ostream* os) const
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+  g_gmock_mutex.AssertHeld();
+
+  // Describes how many times the function is expected to be called.
+  *os << "         Expected: to be ";
+  cardinality().DescribeTo(os);
+  *os << "\n           Actual: ";
+  Cardinality::DescribeActualCallCountTo(call_count(), os);
+
+  // Describes the state of the expectation (e.g. is it satisfied?
+  // is it active?).
+  *os << " - " << (IsOverSaturated() ? "over-saturated" :
+                   IsSaturated() ? "saturated" :
+                   IsSatisfied() ? "satisfied" : "unsatisfied")
+      << " and "
+      << (is_retired() ? "retired" : "active");
+}
+
+// Checks the action count (i.e. the number of WillOnce() and
+// WillRepeatedly() clauses) against the cardinality if this hasn't
+// been done before.  Prints a warning if there are too many or too
+// few actions.
+void ExpectationBase::CheckActionCountIfNotDone() const
+    GTEST_LOCK_EXCLUDED_(mutex_) {
+  bool should_check = false;
+  {
+    MutexLock l(&mutex_);
+    if (!action_count_checked_) {
+      action_count_checked_ = true;
+      should_check = true;
+    }
+  }
+
+  if (should_check) {
+    if (!cardinality_specified_) {
+      // The cardinality was inferred - no need to check the action
+      // count against it.
+      return;
+    }
+
+    // The cardinality was explicitly specified.
+    const int action_count = static_cast<int>(untyped_actions_.size());
+    const int upper_bound = cardinality().ConservativeUpperBound();
+    const int lower_bound = cardinality().ConservativeLowerBound();
+    bool too_many;  // True if there are too many actions, or false
+    // if there are too few.
+    if (action_count > upper_bound ||
+        (action_count == upper_bound && repeated_action_specified_)) {
+      too_many = true;
+    } else if (0 < action_count && action_count < lower_bound &&
+               !repeated_action_specified_) {
+      too_many = false;
+    } else {
+      return;
+    }
+
+    ::std::stringstream ss;
+    DescribeLocationTo(&ss);
+    ss << "Too " << (too_many ? "many" : "few")
+       << " actions specified in " << source_text() << "...\n"
+       << "Expected to be ";
+    cardinality().DescribeTo(&ss);
+    ss << ", but has " << (too_many ? "" : "only ")
+       << action_count << " WillOnce()"
+       << (action_count == 1 ? "" : "s");
+    if (repeated_action_specified_) {
+      ss << " and a WillRepeatedly()";
+    }
+    ss << ".";
+    Log(kWarning, ss.str(), -1);  // -1 means "don't print stack trace".
+  }
+}
+
+// Implements the .Times() clause.
+void ExpectationBase::UntypedTimes(const Cardinality& a_cardinality) {
+  if (last_clause_ == kTimes) {
+    ExpectSpecProperty(false,
+                       ".Times() cannot appear "
+                       "more than once in an EXPECT_CALL().");
+  } else {
+    ExpectSpecProperty(last_clause_ < kTimes,
+                       ".Times() cannot appear after "
+                       ".InSequence(), .WillOnce(), .WillRepeatedly(), "
+                       "or .RetiresOnSaturation().");
+  }
+  last_clause_ = kTimes;
+
+  SpecifyCardinality(a_cardinality);
+}
+
+// Points to the implicit sequence introduced by a living InSequence
+// object (if any) in the current thread or NULL.
+GTEST_API_ ThreadLocal<Sequence*> g_gmock_implicit_sequence;
+
+// Reports an uninteresting call (whose description is in msg) in the
+// manner specified by 'reaction'.
+void ReportUninterestingCall(CallReaction reaction, const string& msg) {
+  // Include a stack trace only if --gmock_verbose=info is specified.
+  const int stack_frames_to_skip =
+      GMOCK_FLAG(verbose) == kInfoVerbosity ? 3 : -1;
+  switch (reaction) {
+    case kAllow:
+      Log(kInfo, msg, stack_frames_to_skip);
+      break;
+    case kWarn:
+      Log(kWarning,
+          msg +
+          "\nNOTE: You can safely ignore the above warning unless this "
+          "call should not happen.  Do not suppress it by blindly adding "
+          "an EXPECT_CALL() if you don't mean to enforce the call.  "
+          "See https://github.com/google/googletest/blob/master/googlemock/docs/CookBook.md#"
+          "knowing-when-to-expect for details.\n",
+          stack_frames_to_skip);
+      break;
+    default:  // FAIL
+      Expect(false, NULL, -1, msg);
+  }
+}
+
+UntypedFunctionMockerBase::UntypedFunctionMockerBase()
+    : mock_obj_(NULL), name_("") {}
+
+UntypedFunctionMockerBase::~UntypedFunctionMockerBase() {}
+
+// Sets the mock object this mock method belongs to, and registers
+// this information in the global mock registry.  Will be called
+// whenever an EXPECT_CALL() or ON_CALL() is executed on this mock
+// method.
+void UntypedFunctionMockerBase::RegisterOwner(const void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+  {
+    MutexLock l(&g_gmock_mutex);
+    mock_obj_ = mock_obj;
+  }
+  Mock::Register(mock_obj, this);
+}
+
+// Sets the mock object this mock method belongs to, and sets the name
+// of the mock function.  Will be called upon each invocation of this
+// mock function.
+void UntypedFunctionMockerBase::SetOwnerAndName(const void* mock_obj,
+                                                const char* name)
+    GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+  // We protect name_ under g_gmock_mutex in case this mock function
+  // is called from two threads concurrently.
+  MutexLock l(&g_gmock_mutex);
+  mock_obj_ = mock_obj;
+  name_ = name;
+}
+
+// Returns the name of the function being mocked.  Must be called
+// after RegisterOwner() or SetOwnerAndName() has been called.
+const void* UntypedFunctionMockerBase::MockObject() const
+    GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+  const void* mock_obj;
+  {
+    // We protect mock_obj_ under g_gmock_mutex in case this mock
+    // function is called from two threads concurrently.
+    MutexLock l(&g_gmock_mutex);
+    Assert(mock_obj_ != NULL, __FILE__, __LINE__,
+           "MockObject() must not be called before RegisterOwner() or "
+           "SetOwnerAndName() has been called.");
+    mock_obj = mock_obj_;
+  }
+  return mock_obj;
+}
+
+// Returns the name of this mock method.  Must be called after
+// SetOwnerAndName() has been called.
+const char* UntypedFunctionMockerBase::Name() const
+    GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+  const char* name;
+  {
+    // We protect name_ under g_gmock_mutex in case this mock
+    // function is called from two threads concurrently.
+    MutexLock l(&g_gmock_mutex);
+    Assert(name_ != NULL, __FILE__, __LINE__,
+           "Name() must not be called before SetOwnerAndName() has "
+           "been called.");
+    name = name_;
+  }
+  return name;
+}
+
+// Calculates the result of invoking this mock function with the given
+// arguments, prints it, and returns it.  The caller is responsible
+// for deleting the result.
+UntypedActionResultHolderBase*
+UntypedFunctionMockerBase::UntypedInvokeWith(const void* const untyped_args)
+    GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
+  if (untyped_expectations_.size() == 0) {
+    // No expectation is set on this mock method - we have an
+    // uninteresting call.
+
+    // We must get Google Mock's reaction on uninteresting calls
+    // made on this mock object BEFORE performing the action,
+    // because the action may DELETE the mock object and make the
+    // following expression meaningless.
+    const CallReaction reaction =
+        Mock::GetReactionOnUninterestingCalls(MockObject());
+
+    // True iff we need to print this call's arguments and return
+    // value.  This definition must be kept in sync with
+    // the behavior of ReportUninterestingCall().
+    const bool need_to_report_uninteresting_call =
+        // If the user allows this uninteresting call, we print it
+        // only when he wants informational messages.
+        reaction == kAllow ? LogIsVisible(kInfo) :
+        // If the user wants this to be a warning, we print it only
+        // when he wants to see warnings.
+        reaction == kWarn ? LogIsVisible(kWarning) :
+        // Otherwise, the user wants this to be an error, and we
+        // should always print detailed information in the error.
+        true;
+
+    if (!need_to_report_uninteresting_call) {
+      // Perform the action without printing the call information.
+      return this->UntypedPerformDefaultAction(untyped_args, "");
+    }
+
+    // Warns about the uninteresting call.
+    ::std::stringstream ss;
+    this->UntypedDescribeUninterestingCall(untyped_args, &ss);
+
+    // Calculates the function result.
+    UntypedActionResultHolderBase* const result =
+        this->UntypedPerformDefaultAction(untyped_args, ss.str());
+
+    // Prints the function result.
+    if (result != NULL)
+      result->PrintAsActionResult(&ss);
+
+    ReportUninterestingCall(reaction, ss.str());
+    return result;
+  }
+
+  bool is_excessive = false;
+  ::std::stringstream ss;
+  ::std::stringstream why;
+  ::std::stringstream loc;
+  const void* untyped_action = NULL;
+
+  // The UntypedFindMatchingExpectation() function acquires and
+  // releases g_gmock_mutex.
+  const ExpectationBase* const untyped_expectation =
+      this->UntypedFindMatchingExpectation(
+          untyped_args, &untyped_action, &is_excessive,
+          &ss, &why);
+  const bool found = untyped_expectation != NULL;
+
+  // True iff we need to print the call's arguments and return value.
+  // This definition must be kept in sync with the uses of Expect()
+  // and Log() in this function.
+  const bool need_to_report_call =
+      !found || is_excessive || LogIsVisible(kInfo);
+  if (!need_to_report_call) {
+    // Perform the action without printing the call information.
+    return
+        untyped_action == NULL ?
+        this->UntypedPerformDefaultAction(untyped_args, "") :
+        this->UntypedPerformAction(untyped_action, untyped_args);
+  }
+
+  ss << "    Function call: " << Name();
+  this->UntypedPrintArgs(untyped_args, &ss);
+
+  // In case the action deletes a piece of the expectation, we
+  // generate the message beforehand.
+  if (found && !is_excessive) {
+    untyped_expectation->DescribeLocationTo(&loc);
+  }
+
+  UntypedActionResultHolderBase* const result =
+      untyped_action == NULL ?
+      this->UntypedPerformDefaultAction(untyped_args, ss.str()) :
+      this->UntypedPerformAction(untyped_action, untyped_args);
+  if (result != NULL)
+    result->PrintAsActionResult(&ss);
+  ss << "\n" << why.str();
+
+  if (!found) {
+    // No expectation matches this call - reports a failure.
+    Expect(false, NULL, -1, ss.str());
+  } else if (is_excessive) {
+    // We had an upper-bound violation and the failure message is in ss.
+    Expect(false, untyped_expectation->file(),
+           untyped_expectation->line(), ss.str());
+  } else {
+    // We had an expected call and the matching expectation is
+    // described in ss.
+    Log(kInfo, loc.str() + ss.str(), 2);
+  }
+
+  return result;
+}
+
+// Returns an Expectation object that references and co-owns exp,
+// which must be an expectation on this mock function.
+Expectation UntypedFunctionMockerBase::GetHandleOf(ExpectationBase* exp) {
+  for (UntypedExpectations::const_iterator it =
+           untyped_expectations_.begin();
+       it != untyped_expectations_.end(); ++it) {
+    if (it->get() == exp) {
+      return Expectation(*it);
+    }
+  }
+
+  Assert(false, __FILE__, __LINE__, "Cannot find expectation.");
+  return Expectation();
+  // The above statement is just to make the code compile, and will
+  // never be executed.
+}
+
+// Verifies that all expectations on this mock function have been
+// satisfied.  Reports one or more Google Test non-fatal failures
+// and returns false if not.
+bool UntypedFunctionMockerBase::VerifyAndClearExpectationsLocked()
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(g_gmock_mutex) {
+  g_gmock_mutex.AssertHeld();
+  bool expectations_met = true;
+  for (UntypedExpectations::const_iterator it =
+           untyped_expectations_.begin();
+       it != untyped_expectations_.end(); ++it) {
+    ExpectationBase* const untyped_expectation = it->get();
+    if (untyped_expectation->IsOverSaturated()) {
+      // There was an upper-bound violation.  Since the error was
+      // already reported when it occurred, there is no need to do
+      // anything here.
+      expectations_met = false;
+    } else if (!untyped_expectation->IsSatisfied()) {
+      expectations_met = false;
+      ::std::stringstream ss;
+      ss  << "Actual function call count doesn't match "
+          << untyped_expectation->source_text() << "...\n";
+      // No need to show the source file location of the expectation
+      // in the description, as the Expect() call that follows already
+      // takes care of it.
+      untyped_expectation->MaybeDescribeExtraMatcherTo(&ss);
+      untyped_expectation->DescribeCallCountTo(&ss);
+      Expect(false, untyped_expectation->file(),
+             untyped_expectation->line(), ss.str());
+    }
+  }
+
+  // Deleting our expectations may trigger other mock objects to be deleted, for
+  // example if an action contains a reference counted smart pointer to that
+  // mock object, and that is the last reference. So if we delete our
+  // expectations within the context of the global mutex we may deadlock when
+  // this method is called again. Instead, make a copy of the set of
+  // expectations to delete, clear our set within the mutex, and then clear the
+  // copied set outside of it.
+  UntypedExpectations expectations_to_delete;
+  untyped_expectations_.swap(expectations_to_delete);
+
+  g_gmock_mutex.Unlock();
+  expectations_to_delete.clear();
+  g_gmock_mutex.Lock();
+
+  return expectations_met;
+}
+
+}  // namespace internal
+
+// Class Mock.
+
+namespace {
+
+typedef std::set<internal::UntypedFunctionMockerBase*> FunctionMockers;
+
+// The current state of a mock object.  Such information is needed for
+// detecting leaked mock objects and explicitly verifying a mock's
+// expectations.
+struct MockObjectState {
+  MockObjectState()
+      : first_used_file(NULL), first_used_line(-1), leakable(false) {}
+
+  // Where in the source file an ON_CALL or EXPECT_CALL is first
+  // invoked on this mock object.
+  const char* first_used_file;
+  int first_used_line;
+  ::std::string first_used_test_case;
+  ::std::string first_used_test;
+  bool leakable;  // true iff it's OK to leak the object.
+  FunctionMockers function_mockers;  // All registered methods of the object.
+};
+
+// A global registry holding the state of all mock objects that are
+// alive.  A mock object is added to this registry the first time
+// Mock::AllowLeak(), ON_CALL(), or EXPECT_CALL() is called on it.  It
+// is removed from the registry in the mock object's destructor.
+class MockObjectRegistry {
+ public:
+  // Maps a mock object (identified by its address) to its state.
+  typedef std::map<const void*, MockObjectState> StateMap;
+
+  // This destructor will be called when a program exits, after all
+  // tests in it have been run.  By then, there should be no mock
+  // object alive.  Therefore we report any living object as test
+  // failure, unless the user explicitly asked us to ignore it.
+  ~MockObjectRegistry() {
+    // "using ::std::cout;" doesn't work with Symbian's STLport, where cout is
+    // a macro.
+
+    if (!GMOCK_FLAG(catch_leaked_mocks))
+      return;
+
+    int leaked_count = 0;
+    for (StateMap::const_iterator it = states_.begin(); it != states_.end();
+         ++it) {
+      if (it->second.leakable)  // The user said it's fine to leak this object.
+        continue;
+
+      // TODO(wan@google.com): Print the type of the leaked object.
+      // This can help the user identify the leaked object.
+      std::cout << "\n";
+      const MockObjectState& state = it->second;
+      std::cout << internal::FormatFileLocation(state.first_used_file,
+                                                state.first_used_line);
+      std::cout << " ERROR: this mock object";
+      if (state.first_used_test != "") {
+        std::cout << " (used in test " << state.first_used_test_case << "."
+             << state.first_used_test << ")";
+      }
+      std::cout << " should be deleted but never is. Its address is @"
+           << it->first << ".";
+      leaked_count++;
+    }
+    if (leaked_count > 0) {
+      std::cout << "\nERROR: " << leaked_count
+           << " leaked mock " << (leaked_count == 1 ? "object" : "objects")
+           << " found at program exit.\n";
+      std::cout.flush();
+      ::std::cerr.flush();
+      // RUN_ALL_TESTS() has already returned when this destructor is
+      // called.  Therefore we cannot use the normal Google Test
+      // failure reporting mechanism.
+      _exit(1);  // We cannot call exit() as it is not reentrant and
+                 // may already have been called.
+    }
+  }
+
+  StateMap& states() { return states_; }
+
+ private:
+  StateMap states_;
+};
+
+// Protected by g_gmock_mutex.
+MockObjectRegistry g_mock_object_registry;
+
+// Maps a mock object to the reaction Google Mock should have when an
+// uninteresting method is called.  Protected by g_gmock_mutex.
+std::map<const void*, internal::CallReaction> g_uninteresting_call_reaction;
+
+// Sets the reaction Google Mock should have when an uninteresting
+// method of the given mock object is called.
+void SetReactionOnUninterestingCalls(const void* mock_obj,
+                                     internal::CallReaction reaction)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  g_uninteresting_call_reaction[mock_obj] = reaction;
+}
+
+}  // namespace
+
+// Tells Google Mock to allow uninteresting calls on the given mock
+// object.
+void Mock::AllowUninterestingCalls(const void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  SetReactionOnUninterestingCalls(mock_obj, internal::kAllow);
+}
+
+// Tells Google Mock to warn the user about uninteresting calls on the
+// given mock object.
+void Mock::WarnUninterestingCalls(const void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  SetReactionOnUninterestingCalls(mock_obj, internal::kWarn);
+}
+
+// Tells Google Mock to fail uninteresting calls on the given mock
+// object.
+void Mock::FailUninterestingCalls(const void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  SetReactionOnUninterestingCalls(mock_obj, internal::kFail);
+}
+
+// Tells Google Mock the given mock object is being destroyed and its
+// entry in the call-reaction table should be removed.
+void Mock::UnregisterCallReaction(const void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  g_uninteresting_call_reaction.erase(mock_obj);
+}
+
+// Returns the reaction Google Mock will have on uninteresting calls
+// made on the given mock object.
+internal::CallReaction Mock::GetReactionOnUninterestingCalls(
+    const void* mock_obj)
+        GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  return (g_uninteresting_call_reaction.count(mock_obj) == 0) ?
+      internal::kDefault : g_uninteresting_call_reaction[mock_obj];
+}
+
+// Tells Google Mock to ignore mock_obj when checking for leaked mock
+// objects.
+void Mock::AllowLeak(const void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  g_mock_object_registry.states()[mock_obj].leakable = true;
+}
+
+// Verifies and clears all expectations on the given mock object.  If
+// the expectations aren't satisfied, generates one or more Google
+// Test non-fatal failures and returns false.
+bool Mock::VerifyAndClearExpectations(void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  return VerifyAndClearExpectationsLocked(mock_obj);
+}
+
+// Verifies all expectations on the given mock object and clears its
+// default actions and expectations.  Returns true iff the
+// verification was successful.
+bool Mock::VerifyAndClear(void* mock_obj)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  ClearDefaultActionsLocked(mock_obj);
+  return VerifyAndClearExpectationsLocked(mock_obj);
+}
+
+// Verifies and clears all expectations on the given mock object.  If
+// the expectations aren't satisfied, generates one or more Google
+// Test non-fatal failures and returns false.
+bool Mock::VerifyAndClearExpectationsLocked(void* mock_obj)
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex) {
+  internal::g_gmock_mutex.AssertHeld();
+  if (g_mock_object_registry.states().count(mock_obj) == 0) {
+    // No EXPECT_CALL() was set on the given mock object.
+    return true;
+  }
+
+  // Verifies and clears the expectations on each mock method in the
+  // given mock object.
+  bool expectations_met = true;
+  FunctionMockers& mockers =
+      g_mock_object_registry.states()[mock_obj].function_mockers;
+  for (FunctionMockers::const_iterator it = mockers.begin();
+       it != mockers.end(); ++it) {
+    if (!(*it)->VerifyAndClearExpectationsLocked()) {
+      expectations_met = false;
+    }
+  }
+
+  // We don't clear the content of mockers, as they may still be
+  // needed by ClearDefaultActionsLocked().
+  return expectations_met;
+}
+
+// Registers a mock object and a mock method it owns.
+void Mock::Register(const void* mock_obj,
+                    internal::UntypedFunctionMockerBase* mocker)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  g_mock_object_registry.states()[mock_obj].function_mockers.insert(mocker);
+}
+
+// Tells Google Mock where in the source code mock_obj is used in an
+// ON_CALL or EXPECT_CALL.  In case mock_obj is leaked, this
+// information helps the user identify which object it is.
+void Mock::RegisterUseByOnCallOrExpectCall(const void* mock_obj,
+                                           const char* file, int line)
+    GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
+  internal::MutexLock l(&internal::g_gmock_mutex);
+  MockObjectState& state = g_mock_object_registry.states()[mock_obj];
+  if (state.first_used_file == NULL) {
+    state.first_used_file = file;
+    state.first_used_line = line;
+    const TestInfo* const test_info =
+        UnitTest::GetInstance()->current_test_info();
+    if (test_info != NULL) {
+      // TODO(wan@google.com): record the test case name when the
+      // ON_CALL or EXPECT_CALL is invoked from SetUpTestCase() or
+      // TearDownTestCase().
+      state.first_used_test_case = test_info->test_case_name();
+      state.first_used_test = test_info->name();
+    }
+  }
+}
+
+// Unregisters a mock method; removes the owning mock object from the
+// registry when the last mock method associated with it has been
+// unregistered.  This is called only in the destructor of
+// FunctionMockerBase.
+void Mock::UnregisterLocked(internal::UntypedFunctionMockerBase* mocker)
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex) {
+  internal::g_gmock_mutex.AssertHeld();
+  for (MockObjectRegistry::StateMap::iterator it =
+           g_mock_object_registry.states().begin();
+       it != g_mock_object_registry.states().end(); ++it) {
+    FunctionMockers& mockers = it->second.function_mockers;
+    if (mockers.erase(mocker) > 0) {
+      // mocker was in mockers and has been just removed.
+      if (mockers.empty()) {
+        g_mock_object_registry.states().erase(it);
+      }
+      return;
+    }
+  }
+}
+
+// Clears all ON_CALL()s set on the given mock object.
+void Mock::ClearDefaultActionsLocked(void* mock_obj)
+    GTEST_EXCLUSIVE_LOCK_REQUIRED_(internal::g_gmock_mutex) {
+  internal::g_gmock_mutex.AssertHeld();
+
+  if (g_mock_object_registry.states().count(mock_obj) == 0) {
+    // No ON_CALL() was set on the given mock object.
+    return;
+  }
+
+  // Clears the default actions for each mock method in the given mock
+  // object.
+  FunctionMockers& mockers =
+      g_mock_object_registry.states()[mock_obj].function_mockers;
+  for (FunctionMockers::const_iterator it = mockers.begin();
+       it != mockers.end(); ++it) {
+    (*it)->ClearDefaultActionsLocked();
+  }
+
+  // We don't clear the content of mockers, as they may still be
+  // needed by VerifyAndClearExpectationsLocked().
+}
+
+Expectation::Expectation() {}
+
+Expectation::Expectation(
+    const internal::linked_ptr<internal::ExpectationBase>& an_expectation_base)
+    : expectation_base_(an_expectation_base) {}
+
+Expectation::~Expectation() {}
+
+// Adds an expectation to a sequence.
+void Sequence::AddExpectation(const Expectation& expectation) const {
+  if (*last_expectation_ != expectation) {
+    if (last_expectation_->expectation_base() != NULL) {
+      expectation.expectation_base()->immediate_prerequisites_
+          += *last_expectation_;
+    }
+    *last_expectation_ = expectation;
+  }
+}
+
+// Creates the implicit sequence if there isn't one.
+InSequence::InSequence() {
+  if (internal::g_gmock_implicit_sequence.get() == NULL) {
+    internal::g_gmock_implicit_sequence.set(new Sequence);
+    sequence_created_ = true;
+  } else {
+    sequence_created_ = false;
+  }
+}
+
+// Deletes the implicit sequence if it was created by the constructor
+// of this object.
+InSequence::~InSequence() {
+  if (sequence_created_) {
+    delete internal::g_gmock_implicit_sequence.get();
+    internal::g_gmock_implicit_sequence.set(NULL);
+  }
+}
+
+}  // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+
+namespace testing {
+
+// TODO(wan@google.com): support using environment variables to
+// control the flag values, like what Google Test does.
+
+GMOCK_DEFINE_bool_(catch_leaked_mocks, true,
+                   "true iff Google Mock should report leaked mock objects "
+                   "as failures.");
+
+GMOCK_DEFINE_string_(verbose, internal::kWarningVerbosity,
+                     "Controls how verbose Google Mock's output is."
+                     "  Valid values:\n"
+                     "  info    - prints all messages.\n"
+                     "  warning - prints warnings and errors.\n"
+                     "  error   - prints errors only.");
+
+namespace internal {
+
+// Parses a string as a command line flag.  The string should have the
+// format "--gmock_flag=value".  When def_optional is true, the
+// "=value" part can be omitted.
+//
+// Returns the value of the flag, or NULL if the parsing failed.
+static const char* ParseGoogleMockFlagValue(const char* str,
+                                            const char* flag,
+                                            bool def_optional) {
+  // str and flag must not be NULL.
+  if (str == NULL || flag == NULL) return NULL;
+
+  // The flag must start with "--gmock_".
+  const std::string flag_str = std::string("--gmock_") + flag;
+  const size_t flag_len = flag_str.length();
+  if (strncmp(str, flag_str.c_str(), flag_len) != 0) return NULL;
+
+  // Skips the flag name.
+  const char* flag_end = str + flag_len;
+
+  // When def_optional is true, it's OK to not have a "=value" part.
+  if (def_optional && (flag_end[0] == '\0')) {
+    return flag_end;
+  }
+
+  // If def_optional is true and there are more characters after the
+  // flag name, or if def_optional is false, there must be a '=' after
+  // the flag name.
+  if (flag_end[0] != '=') return NULL;
+
+  // Returns the string after "=".
+  return flag_end + 1;
+}
+
+// Parses a string for a Google Mock bool flag, in the form of
+// "--gmock_flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+static bool ParseGoogleMockBoolFlag(const char* str, const char* flag,
+                                    bool* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseGoogleMockFlagValue(str, flag, true);
+
+  // Aborts if the parsing failed.
+  if (value_str == NULL) return false;
+
+  // Converts the string value to a bool.
+  *value = !(*value_str == '0' || *value_str == 'f' || *value_str == 'F');
+  return true;
+}
+
+// Parses a string for a Google Mock string flag, in the form of
+// "--gmock_flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true.  On failure, returns false without changing *value.
+template <typename String>
+static bool ParseGoogleMockStringFlag(const char* str, const char* flag,
+                                      String* value) {
+  // Gets the value of the flag as a string.
+  const char* const value_str = ParseGoogleMockFlagValue(str, flag, false);
+
+  // Aborts if the parsing failed.
+  if (value_str == NULL) return false;
+
+  // Sets *value to the value of the flag.
+  *value = value_str;
+  return true;
+}
+
+// The internal implementation of InitGoogleMock().
+//
+// The type parameter CharType can be instantiated to either char or
+// wchar_t.
+template <typename CharType>
+void InitGoogleMockImpl(int* argc, CharType** argv) {
+  // Makes sure Google Test is initialized.  InitGoogleTest() is
+  // idempotent, so it's fine if the user has already called it.
+  InitGoogleTest(argc, argv);
+  if (*argc <= 0) return;
+
+  for (int i = 1; i != *argc; i++) {
+    const std::string arg_string = StreamableToString(argv[i]);
+    const char* const arg = arg_string.c_str();
+
+    // Do we see a Google Mock flag?
+    if (ParseGoogleMockBoolFlag(arg, "catch_leaked_mocks",
+                                &GMOCK_FLAG(catch_leaked_mocks)) ||
+        ParseGoogleMockStringFlag(arg, "verbose", &GMOCK_FLAG(verbose))) {
+      // Yes.  Shift the remainder of the argv list left by one.  Note
+      // that argv has (*argc + 1) elements, the last one always being
+      // NULL.  The following loop moves the trailing NULL element as
+      // well.
+      for (int j = i; j != *argc; j++) {
+        argv[j] = argv[j + 1];
+      }
+
+      // Decrements the argument count.
+      (*argc)--;
+
+      // We also need to decrement the iterator as we just removed
+      // an element.
+      i--;
+    }
+  }
+}
+
+}  // namespace internal
+
+// Initializes Google Mock.  This must be called before running the
+// tests.  In particular, it parses a command line for the flags that
+// Google Mock recognizes.  Whenever a Google Mock flag is seen, it is
+// removed from argv, and *argc is decremented.
+//
+// No value is returned.  Instead, the Google Mock flag variables are
+// updated.
+//
+// Since Google Test is needed for Google Mock to work, this function
+// also initializes Google Test and parses its flags, if that hasn't
+// been done.
+GTEST_API_ void InitGoogleMock(int* argc, char** argv) {
+  internal::InitGoogleMockImpl(argc, argv);
+}
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+GTEST_API_ void InitGoogleMock(int* argc, wchar_t** argv) {
+  internal::InitGoogleMockImpl(argc, argv);
+}
+
+}  // namespace testing
diff --git a/internal/ceres/gmock_main.cc b/internal/ceres/gmock_main.cc
new file mode 100644
index 0000000..5800dc0
--- /dev/null
+++ b/internal/ceres/gmock_main.cc
@@ -0,0 +1,69 @@
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+#include <iostream>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+// NOTE(keir): This flag is normally part of gtest within Google but isn't in
+// the open source Google Test, since it is build-system dependent. However for
+// Ceres this is needed for our tests. Add the new flag here.
+DEFINE_string(test_srcdir, "", "The location of the source code.");
+
+// MS C++ compiler/linker has a bug on Windows (not on Windows CE), which
+// causes a link error when _tmain is defined in a static library and UNICODE
+// is enabled. For this reason instead of _tmain, main function is used on
+// Windows. See the following link to track the current status of this bug:
+// http://connect.microsoft.com/VisualStudio/feedback/ViewFeedback.aspx?FeedbackID=394464  // NOLINT
+#if GTEST_OS_WINDOWS_MOBILE
+# include <tchar.h>  // NOLINT
+
+GTEST_API_ int _tmain(int argc, TCHAR** argv) {
+#else
+GTEST_API_ int main(int argc, char** argv) {
+#endif  // GTEST_OS_WINDOWS_MOBILE
+  std::cout << "Running main() from gmock_main.cc\n";
+  google::InitGoogleLogging(argv[0]);
+  // Since Google Mock depends on Google Test, InitGoogleMock() is
+  // also responsible for initializing Google Test.  Therefore there's
+  // no need for calling testing::InitGoogleTest() separately.
+  testing::InitGoogleMock(&argc, argv);
+  // On Windows, gtest passes additional non-gflags command line flags to
+  // death-tests, specifically --gtest_filter & --gtest_internal_run_death_test
+  // in order that these unknown (to gflags) flags do not invoke an error in
+  // gflags, InitGoogleTest() (called by InitGoogleMock()) must be called
+  // before ParseCommandLineFlags() to handle & remove them before gflags
+  // parses the remaining flags.
+  CERES_GFLAGS_NAMESPACE::ParseCommandLineFlags(&argc, &argv, true);
+  return RUN_ALL_TESTS();
+}
diff --git a/internal/ceres/gradient_checker.cc b/internal/ceres/gradient_checker.cc
new file mode 100644
index 0000000..c16c141
--- /dev/null
+++ b/internal/ceres/gradient_checker.cc
@@ -0,0 +1,276 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wjr@google.com (William Rucklidge),
+//          keir@google.com (Keir Mierle),
+//          dgossow@google.com (David Gossow)
+
+#include "ceres/gradient_checker.h"
+
+#include <algorithm>
+#include <cmath>
+#include <numeric>
+#include <string>
+#include <vector>
+
+#include "ceres/is_close.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+using internal::IsClose;
+using internal::StringAppendF;
+using internal::StringPrintf;
+using std::string;
+using std::vector;
+
+namespace {
+// Evaluate the cost function and transform the returned Jacobians to
+// the local space of the respective local parameterizations.
+bool EvaluateCostFunction(
+    const ceres::CostFunction* function,
+    double const* const * parameters,
+    const std::vector<const ceres::LocalParameterization*>&
+        local_parameterizations,
+    Vector* residuals,
+    std::vector<Matrix>* jacobians,
+    std::vector<Matrix>* local_jacobians) {
+  CHECK_NOTNULL(residuals);
+  CHECK_NOTNULL(jacobians);
+  CHECK_NOTNULL(local_jacobians);
+
+  const vector<int32>& block_sizes = function->parameter_block_sizes();
+  const int num_parameter_blocks = block_sizes.size();
+
+  // Allocate Jacobian matrices in local space.
+  local_jacobians->resize(num_parameter_blocks);
+  vector<double*> local_jacobian_data(num_parameter_blocks);
+  for (int i = 0; i < num_parameter_blocks; ++i) {
+    int block_size = block_sizes.at(i);
+    if (local_parameterizations.at(i) != NULL) {
+      block_size = local_parameterizations.at(i)->LocalSize();
+    }
+    local_jacobians->at(i).resize(function->num_residuals(), block_size);
+    local_jacobians->at(i).setZero();
+    local_jacobian_data.at(i) = local_jacobians->at(i).data();
+  }
+
+  // Allocate Jacobian matrices in global space.
+  jacobians->resize(num_parameter_blocks);
+  vector<double*> jacobian_data(num_parameter_blocks);
+  for (int i = 0; i < num_parameter_blocks; ++i) {
+    jacobians->at(i).resize(function->num_residuals(), block_sizes.at(i));
+    jacobians->at(i).setZero();
+    jacobian_data.at(i) = jacobians->at(i).data();
+  }
+
+  // Compute residuals & jacobians.
+  CHECK_NE(0, function->num_residuals());
+  residuals->resize(function->num_residuals());
+  residuals->setZero();
+  if (!function->Evaluate(parameters, residuals->data(),
+                          jacobian_data.data())) {
+    return false;
+  }
+
+  // Convert Jacobians from global to local space.
+  for (size_t i = 0; i < local_jacobians->size(); ++i) {
+    if (local_parameterizations.at(i) == NULL) {
+      local_jacobians->at(i) = jacobians->at(i);
+    } else {
+      int global_size = local_parameterizations.at(i)->GlobalSize();
+      int local_size = local_parameterizations.at(i)->LocalSize();
+      CHECK_EQ(jacobians->at(i).cols(), global_size);
+      Matrix global_J_local(global_size, local_size);
+      local_parameterizations.at(i)->ComputeJacobian(
+          parameters[i], global_J_local.data());
+      local_jacobians->at(i) = jacobians->at(i) * global_J_local;
+    }
+  }
+  return true;
+}
+} // namespace
+
+GradientChecker::GradientChecker(
+      const CostFunction* function,
+      const vector<const LocalParameterization*>* local_parameterizations,
+      const NumericDiffOptions& options) :
+        function_(function) {
+  CHECK_NOTNULL(function);
+  if (local_parameterizations != NULL) {
+    local_parameterizations_ = *local_parameterizations;
+  } else {
+    local_parameterizations_.resize(function->parameter_block_sizes().size(),
+                                    NULL);
+  }
+  DynamicNumericDiffCostFunction<CostFunction, CENTRAL>*
+      finite_diff_cost_function =
+      new DynamicNumericDiffCostFunction<CostFunction, CENTRAL>(
+          function, DO_NOT_TAKE_OWNERSHIP, options);
+  finite_diff_cost_function_.reset(finite_diff_cost_function);
+
+  const vector<int32>& parameter_block_sizes =
+      function->parameter_block_sizes();
+  const int num_parameter_blocks = parameter_block_sizes.size();
+  for (int i = 0; i < num_parameter_blocks; ++i) {
+    finite_diff_cost_function->AddParameterBlock(parameter_block_sizes[i]);
+  }
+  finite_diff_cost_function->SetNumResiduals(function->num_residuals());
+}
+
+bool GradientChecker::Probe(double const* const * parameters,
+                            double relative_precision,
+                            ProbeResults* results_param) const {
+  int num_residuals = function_->num_residuals();
+
+  // Make sure that we have a place to store results, no matter if the user has
+  // provided an output argument.
+  ProbeResults* results;
+  ProbeResults results_local;
+  if (results_param != NULL) {
+    results = results_param;
+    results->residuals.resize(0);
+    results->jacobians.clear();
+    results->numeric_jacobians.clear();
+    results->local_jacobians.clear();
+    results->local_numeric_jacobians.clear();
+    results->error_log.clear();
+  } else {
+    results = &results_local;
+  }
+  results->maximum_relative_error = 0.0;
+  results->return_value = true;
+
+  // Evaluate the derivative using the user supplied code.
+  vector<Matrix>& jacobians = results->jacobians;
+  vector<Matrix>& local_jacobians = results->local_jacobians;
+  if (!EvaluateCostFunction(function_, parameters, local_parameterizations_,
+                       &results->residuals, &jacobians, &local_jacobians)) {
+    results->error_log = "Function evaluation with Jacobians failed.";
+    results->return_value = false;
+  }
+
+  // Evaluate the derivative using numeric derivatives.
+  vector<Matrix>& numeric_jacobians = results->numeric_jacobians;
+  vector<Matrix>& local_numeric_jacobians = results->local_numeric_jacobians;
+  Vector finite_diff_residuals;
+  if (!EvaluateCostFunction(finite_diff_cost_function_.get(), parameters,
+                            local_parameterizations_, &finite_diff_residuals,
+                            &numeric_jacobians, &local_numeric_jacobians)) {
+    results->error_log += "\nFunction evaluation with numerical "
+        "differentiation failed.";
+    results->return_value = false;
+  }
+
+  if (!results->return_value) {
+    return false;
+  }
+
+  for (int i = 0; i < num_residuals; ++i) {
+    if (!IsClose(
+        results->residuals[i],
+        finite_diff_residuals[i],
+        relative_precision,
+        NULL,
+        NULL)) {
+      results->error_log = "Function evaluation with and without Jacobians "
+          "resulted in different residuals.";
+      LOG(INFO) << results->residuals.transpose();
+      LOG(INFO) << finite_diff_residuals.transpose();
+      return false;
+    }
+  }
+
+  // See if any elements have relative error larger than the threshold.
+  int num_bad_jacobian_components = 0;
+  double& worst_relative_error = results->maximum_relative_error;
+  worst_relative_error = 0;
+
+  // Accumulate the error message for all the jacobians, since it won't get
+  // output if there are no bad jacobian components.
+  string error_log;
+  for (int k = 0; k < function_->parameter_block_sizes().size(); k++) {
+    StringAppendF(&error_log,
+                  "========== "
+                  "Jacobian for " "block %d: (%ld by %ld)) "
+                  "==========\n",
+                  k,
+                  static_cast<long>(local_jacobians[k].rows()),
+                  static_cast<long>(local_jacobians[k].cols()));
+    // The funny spacing creates appropriately aligned column headers.
+    error_log +=
+        " block  row  col        user dx/dy    num diff dx/dy         "
+        "abs error    relative error         parameter          residual\n";
+
+    for (int i = 0; i < local_jacobians[k].rows(); i++) {
+      for (int j = 0; j < local_jacobians[k].cols(); j++) {
+        double term_jacobian = local_jacobians[k](i, j);
+        double finite_jacobian = local_numeric_jacobians[k](i, j);
+        double relative_error, absolute_error;
+        bool bad_jacobian_entry =
+            !IsClose(term_jacobian,
+                     finite_jacobian,
+                     relative_precision,
+                     &relative_error,
+                     &absolute_error);
+        worst_relative_error = std::max(worst_relative_error, relative_error);
+
+        StringAppendF(&error_log,
+                      "%6d %4d %4d %17g %17g %17g %17g %17g %17g",
+                      k, i, j,
+                      term_jacobian, finite_jacobian,
+                      absolute_error, relative_error,
+                      parameters[k][j],
+                      results->residuals[i]);
+
+        if (bad_jacobian_entry) {
+          num_bad_jacobian_components++;
+          StringAppendF(
+              &error_log,
+              " ------ (%d,%d,%d) Relative error worse than %g",
+              k, i, j, relative_precision);
+        }
+        error_log += "\n";
+      }
+    }
+  }
+
+  // Since there were some bad errors, dump comprehensive debug info.
+  if (num_bad_jacobian_components) {
+    string header = StringPrintf("\nDetected %d bad Jacobian component(s). "
+        "Worst relative error was %g.\n",
+        num_bad_jacobian_components,
+        worst_relative_error);
+     results->error_log = header + "\n" + error_log;
+    return false;
+  }
+  return true;
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/gradient_checker_test.cc b/internal/ceres/gradient_checker_test.cc
new file mode 100644
index 0000000..85d58b9
--- /dev/null
+++ b/internal/ceres/gradient_checker_test.cc
@@ -0,0 +1,586 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// This file contains tests for the GradientChecker class.
+
+#include "ceres/gradient_checker.h"
+
+#include <cmath>
+#include <cstdlib>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/problem.h"
+#include "ceres/random.h"
+#include "ceres/solver.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// We pick a (non-quadratic) function whose derivative are easy:
+//
+//    f = exp(- a' x).
+//   df = - f a.
+//
+// where 'a' is a vector of the same size as 'x'. In the block
+// version, they are both block vectors, of course.
+class GoodTestTerm : public CostFunction {
+ public:
+  GoodTestTerm(int arity, int const* dim) : arity_(arity), return_value_(true) {
+    // Make 'arity' random vectors.
+    a_.resize(arity_);
+    for (int j = 0; j < arity_; ++j) {
+      a_[j].resize(dim[j]);
+      for (int u = 0; u < dim[j]; ++u) {
+        a_[j][u] = 2.0 * RandDouble() - 1.0;
+      }
+    }
+
+    for (int i = 0; i < arity_; i++) {
+      mutable_parameter_block_sizes()->push_back(dim[i]);
+    }
+    set_num_residuals(1);
+  }
+
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    if (!return_value_) {
+      return false;
+    }
+    // Compute a . x.
+    double ax = 0;
+    for (int j = 0; j < arity_; ++j) {
+      for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+        ax += a_[j][u] * parameters[j][u];
+      }
+    }
+
+    // This is the cost, but also appears as a factor
+    // in the derivatives.
+    double f = *residuals = exp(-ax);
+
+    // Accumulate 1st order derivatives.
+    if (jacobians) {
+      for (int j = 0; j < arity_; ++j) {
+        if (jacobians[j]) {
+          for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+            // See comments before class.
+            jacobians[j][u] = -f * a_[j][u];
+          }
+        }
+      }
+    }
+
+    return true;
+  }
+
+  void SetReturnValue(bool return_value) { return_value_ = return_value; }
+
+ private:
+  int arity_;
+  bool return_value_;
+  vector<vector<double> > a_;  // our vectors.
+};
+
+class BadTestTerm : public CostFunction {
+ public:
+  BadTestTerm(int arity, int const* dim) : arity_(arity) {
+    // Make 'arity' random vectors.
+    a_.resize(arity_);
+    for (int j = 0; j < arity_; ++j) {
+      a_[j].resize(dim[j]);
+      for (int u = 0; u < dim[j]; ++u) {
+        a_[j][u] = 2.0 * RandDouble() - 1.0;
+      }
+    }
+
+    for (int i = 0; i < arity_; i++) {
+      mutable_parameter_block_sizes()->push_back(dim[i]);
+    }
+    set_num_residuals(1);
+  }
+
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    // Compute a . x.
+    double ax = 0;
+    for (int j = 0; j < arity_; ++j) {
+      for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+        ax += a_[j][u] * parameters[j][u];
+      }
+    }
+
+    // This is the cost, but also appears as a factor
+    // in the derivatives.
+    double f = *residuals = exp(-ax);
+
+    // Accumulate 1st order derivatives.
+    if (jacobians) {
+      for (int j = 0; j < arity_; ++j) {
+        if (jacobians[j]) {
+          for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+            // See comments before class.
+            jacobians[j][u] = -f * a_[j][u] + 0.001;
+          }
+        }
+      }
+    }
+
+    return true;
+  }
+
+ private:
+  int arity_;
+  vector<vector<double> > a_;  // our vectors.
+};
+
+const double kTolerance = 1e-6;
+
+void CheckDimensions(const GradientChecker::ProbeResults& results,
+                     const std::vector<int>& parameter_sizes,
+                     const std::vector<int>& local_parameter_sizes,
+                     int residual_size) {
+  CHECK_EQ(parameter_sizes.size(), local_parameter_sizes.size());
+  int num_parameters = parameter_sizes.size();
+  ASSERT_EQ(residual_size, results.residuals.size());
+  ASSERT_EQ(num_parameters, results.local_jacobians.size());
+  ASSERT_EQ(num_parameters, results.local_numeric_jacobians.size());
+  ASSERT_EQ(num_parameters, results.jacobians.size());
+  ASSERT_EQ(num_parameters, results.numeric_jacobians.size());
+  for (int i = 0; i < num_parameters; ++i) {
+    EXPECT_EQ(residual_size, results.local_jacobians.at(i).rows());
+    EXPECT_EQ(local_parameter_sizes[i], results.local_jacobians.at(i).cols());
+    EXPECT_EQ(residual_size, results.local_numeric_jacobians.at(i).rows());
+    EXPECT_EQ(local_parameter_sizes[i],
+              results.local_numeric_jacobians.at(i).cols());
+    EXPECT_EQ(residual_size, results.jacobians.at(i).rows());
+    EXPECT_EQ(parameter_sizes[i], results.jacobians.at(i).cols());
+    EXPECT_EQ(residual_size, results.numeric_jacobians.at(i).rows());
+    EXPECT_EQ(parameter_sizes[i], results.numeric_jacobians.at(i).cols());
+  }
+}
+
+TEST(GradientChecker, SmokeTest) {
+  srand(5);
+
+  // Test with 3 blocks of size 2, 3 and 4.
+  int const num_parameters = 3;
+  std::vector<int> parameter_sizes(3);
+  parameter_sizes[0] = 2;
+  parameter_sizes[1] = 3;
+  parameter_sizes[2] = 4;
+
+  // Make a random set of blocks.
+  FixedArray<double*> parameters(num_parameters);
+  for (int j = 0; j < num_parameters; ++j) {
+    parameters[j] = new double[parameter_sizes[j]];
+    for (int u = 0; u < parameter_sizes[j]; ++u) {
+      parameters[j][u] = 2.0 * RandDouble() - 1.0;
+    }
+  }
+
+  NumericDiffOptions numeric_diff_options;
+  GradientChecker::ProbeResults results;
+
+  // Test that Probe returns true for correct Jacobians.
+  GoodTestTerm good_term(num_parameters, parameter_sizes.data());
+  GradientChecker good_gradient_checker(&good_term, NULL, numeric_diff_options);
+  EXPECT_TRUE(good_gradient_checker.Probe(parameters.get(), kTolerance, NULL));
+  EXPECT_TRUE(
+      good_gradient_checker.Probe(parameters.get(), kTolerance, &results))
+      << results.error_log;
+
+  // Check that results contain sensible data.
+  ASSERT_EQ(results.return_value, true);
+  ASSERT_EQ(results.residuals.size(), 1);
+  CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+  EXPECT_GE(results.maximum_relative_error, 0.0);
+  EXPECT_TRUE(results.error_log.empty());
+
+  // Test that if the cost function return false, Probe should return false.
+  good_term.SetReturnValue(false);
+  EXPECT_FALSE(good_gradient_checker.Probe(parameters.get(), kTolerance, NULL));
+  EXPECT_FALSE(
+      good_gradient_checker.Probe(parameters.get(), kTolerance, &results))
+      << results.error_log;
+
+  // Check that results contain sensible data.
+  ASSERT_EQ(results.return_value, false);
+  ASSERT_EQ(results.residuals.size(), 1);
+  CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+  for (int i = 0; i < num_parameters; ++i) {
+    EXPECT_EQ(results.local_jacobians.at(i).norm(), 0);
+    EXPECT_EQ(results.local_numeric_jacobians.at(i).norm(), 0);
+  }
+  EXPECT_EQ(results.maximum_relative_error, 0.0);
+  EXPECT_FALSE(results.error_log.empty());
+
+  // Test that Probe returns false for incorrect Jacobians.
+  BadTestTerm bad_term(num_parameters, parameter_sizes.data());
+  GradientChecker bad_gradient_checker(&bad_term, NULL, numeric_diff_options);
+  EXPECT_FALSE(bad_gradient_checker.Probe(parameters.get(), kTolerance, NULL));
+  EXPECT_FALSE(
+      bad_gradient_checker.Probe(parameters.get(), kTolerance, &results));
+
+  // Check that results contain sensible data.
+  ASSERT_EQ(results.return_value, true);
+  ASSERT_EQ(results.residuals.size(), 1);
+  CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+  EXPECT_GT(results.maximum_relative_error, kTolerance);
+  EXPECT_FALSE(results.error_log.empty());
+
+  // Setting a high threshold should make the test pass.
+  EXPECT_TRUE(bad_gradient_checker.Probe(parameters.get(), 1.0, &results));
+
+  // Check that results contain sensible data.
+  ASSERT_EQ(results.return_value, true);
+  ASSERT_EQ(results.residuals.size(), 1);
+  CheckDimensions(results, parameter_sizes, parameter_sizes, 1);
+  EXPECT_GT(results.maximum_relative_error, 0.0);
+  EXPECT_TRUE(results.error_log.empty());
+
+  for (int j = 0; j < num_parameters; j++) {
+    delete[] parameters[j];
+  }
+}
+
+/**
+ * Helper cost function that multiplies the parameters by the given jacobians
+ * and adds a constant offset.
+ */
+class LinearCostFunction : public CostFunction {
+ public:
+  explicit LinearCostFunction(const Vector& residuals_offset)
+      : residuals_offset_(residuals_offset) {
+    set_num_residuals(residuals_offset_.size());
+  }
+
+  virtual bool Evaluate(double const* const* parameter_ptrs,
+                        double* residuals_ptr,
+                        double** residual_J_params) const {
+    CHECK_GE(residual_J_params_.size(), 0.0);
+    VectorRef residuals(residuals_ptr, residual_J_params_[0].rows());
+    residuals = residuals_offset_;
+
+    for (size_t i = 0; i < residual_J_params_.size(); ++i) {
+      const Matrix& residual_J_param = residual_J_params_[i];
+      int parameter_size = residual_J_param.cols();
+      ConstVectorRef param(parameter_ptrs[i], parameter_size);
+
+      // Compute residual.
+      residuals += residual_J_param * param;
+
+      // Return Jacobian.
+      if (residual_J_params != NULL && residual_J_params[i] != NULL) {
+        Eigen::Map<Matrix> residual_J_param_out(residual_J_params[i],
+                                                residual_J_param.rows(),
+                                                residual_J_param.cols());
+        if (jacobian_offsets_.count(i) != 0) {
+          residual_J_param_out = residual_J_param + jacobian_offsets_.at(i);
+        } else {
+          residual_J_param_out = residual_J_param;
+        }
+      }
+    }
+    return true;
+  }
+
+  void AddParameter(const Matrix& residual_J_param) {
+    CHECK_EQ(num_residuals(), residual_J_param.rows());
+    residual_J_params_.push_back(residual_J_param);
+    mutable_parameter_block_sizes()->push_back(residual_J_param.cols());
+  }
+
+  /// Add offset to the given Jacobian before returning it from Evaluate(),
+  /// thus introducing an error in the comutation.
+  void SetJacobianOffset(size_t index, Matrix offset) {
+    CHECK_LT(index, residual_J_params_.size());
+    CHECK_EQ(residual_J_params_[index].rows(), offset.rows());
+    CHECK_EQ(residual_J_params_[index].cols(), offset.cols());
+    jacobian_offsets_[index] = offset;
+  }
+
+ private:
+  std::vector<Matrix> residual_J_params_;
+  std::map<int, Matrix> jacobian_offsets_;
+  Vector residuals_offset_;
+};
+
+/**
+ * Helper local parameterization that multiplies the delta vector by the given
+ * jacobian and adds it to the parameter.
+ */
+class MatrixParameterization : public LocalParameterization {
+ public:
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const {
+    VectorRef(x_plus_delta, GlobalSize()) =
+        ConstVectorRef(x, GlobalSize()) +
+        (global_J_local * ConstVectorRef(delta, LocalSize()));
+    return true;
+  }
+
+  virtual bool ComputeJacobian(const double* /*x*/, double* jacobian) const {
+    MatrixRef(jacobian, GlobalSize(), LocalSize()) = global_J_local;
+    return true;
+  }
+
+  virtual int GlobalSize() const { return global_J_local.rows(); }
+  virtual int LocalSize() const { return global_J_local.cols(); }
+
+  Matrix global_J_local;
+};
+
+// Helper function to compare two Eigen matrices (used in the test below).
+void ExpectMatricesClose(Matrix p, Matrix q, double tolerance) {
+  ASSERT_EQ(p.rows(), q.rows());
+  ASSERT_EQ(p.cols(), q.cols());
+  ExpectArraysClose(p.size(), p.data(), q.data(), tolerance);
+}
+
+TEST(GradientChecker, TestCorrectnessWithLocalParameterizations) {
+  // Create cost function.
+  Eigen::Vector3d residual_offset(100.0, 200.0, 300.0);
+  LinearCostFunction cost_function(residual_offset);
+  Eigen::Matrix<double, 3, 3, Eigen::RowMajor> j0;
+  j0.row(0) << 1.0, 2.0, 3.0;
+  j0.row(1) << 4.0, 5.0, 6.0;
+  j0.row(2) << 7.0, 8.0, 9.0;
+  Eigen::Matrix<double, 3, 2, Eigen::RowMajor> j1;
+  j1.row(0) << 10.0, 11.0;
+  j1.row(1) << 12.0, 13.0;
+  j1.row(2) << 14.0, 15.0;
+
+  Eigen::Vector3d param0(1.0, 2.0, 3.0);
+  Eigen::Vector2d param1(4.0, 5.0);
+
+  cost_function.AddParameter(j0);
+  cost_function.AddParameter(j1);
+
+  std::vector<int> parameter_sizes(2);
+  parameter_sizes[0] = 3;
+  parameter_sizes[1] = 2;
+  std::vector<int> local_parameter_sizes(2);
+  local_parameter_sizes[0] = 2;
+  local_parameter_sizes[1] = 2;
+
+  // Test cost function for correctness.
+  Eigen::Matrix<double, 3, 3, Eigen::RowMajor> j1_out;
+  Eigen::Matrix<double, 3, 2, Eigen::RowMajor> j2_out;
+  Eigen::Vector3d residual;
+  std::vector<const double*> parameters(2);
+  parameters[0] = param0.data();
+  parameters[1] = param1.data();
+  std::vector<double*> jacobians(2);
+  jacobians[0] = j1_out.data();
+  jacobians[1] = j2_out.data();
+  cost_function.Evaluate(parameters.data(), residual.data(), jacobians.data());
+
+  Matrix residual_expected = residual_offset + j0 * param0 + j1 * param1;
+
+  ExpectMatricesClose(j1_out, j0, std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(j2_out, j1, std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(residual, residual_expected, kTolerance);
+
+  // Create local parameterization.
+  Eigen::Matrix<double, 3, 2, Eigen::RowMajor> global_J_local;
+  global_J_local.row(0) << 1.5, 2.5;
+  global_J_local.row(1) << 3.5, 4.5;
+  global_J_local.row(2) << 5.5, 6.5;
+
+  MatrixParameterization parameterization;
+  parameterization.global_J_local = global_J_local;
+
+  // Test local parameterization for correctness.
+  Eigen::Vector3d x(7.0, 8.0, 9.0);
+  Eigen::Vector2d delta(10.0, 11.0);
+
+  Eigen::Matrix<double, 3, 2, Eigen::RowMajor> global_J_local_out;
+  parameterization.ComputeJacobian(x.data(), global_J_local_out.data());
+  ExpectMatricesClose(global_J_local_out,
+                      global_J_local,
+                      std::numeric_limits<double>::epsilon());
+
+  Eigen::Vector3d x_plus_delta;
+  parameterization.Plus(x.data(), delta.data(), x_plus_delta.data());
+  Eigen::Vector3d x_plus_delta_expected = x + (global_J_local * delta);
+  ExpectMatricesClose(x_plus_delta, x_plus_delta_expected, kTolerance);
+
+  // Now test GradientChecker.
+  std::vector<const LocalParameterization*> parameterizations(2);
+  parameterizations[0] = &parameterization;
+  parameterizations[1] = NULL;
+  NumericDiffOptions numeric_diff_options;
+  GradientChecker::ProbeResults results;
+  GradientChecker gradient_checker(
+      &cost_function, &parameterizations, numeric_diff_options);
+
+  Problem::Options problem_options;
+  problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
+  problem_options.local_parameterization_ownership = DO_NOT_TAKE_OWNERSHIP;
+  Problem problem(problem_options);
+  Eigen::Vector3d param0_solver;
+  Eigen::Vector2d param1_solver;
+  problem.AddParameterBlock(param0_solver.data(), 3, &parameterization);
+  problem.AddParameterBlock(param1_solver.data(), 2);
+  problem.AddResidualBlock(
+      &cost_function, NULL, param0_solver.data(), param1_solver.data());
+  Solver::Options solver_options;
+  solver_options.check_gradients = true;
+  solver_options.initial_trust_region_radius = 1e10;
+  Solver solver;
+  Solver::Summary summary;
+
+  // First test case: everything is correct.
+  EXPECT_TRUE(gradient_checker.Probe(parameters.data(), kTolerance, NULL));
+  EXPECT_TRUE(gradient_checker.Probe(parameters.data(), kTolerance, &results))
+      << results.error_log;
+
+  // Check that results contain correct data.
+  ASSERT_EQ(results.return_value, true);
+  ExpectMatricesClose(
+      results.residuals, residual, std::numeric_limits<double>::epsilon());
+  CheckDimensions(results, parameter_sizes, local_parameter_sizes, 3);
+  ExpectMatricesClose(
+      results.local_jacobians.at(0), j0 * global_J_local, kTolerance);
+  ExpectMatricesClose(results.local_jacobians.at(1),
+                      j1,
+                      std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(
+      results.local_numeric_jacobians.at(0), j0 * global_J_local, kTolerance);
+  ExpectMatricesClose(results.local_numeric_jacobians.at(1), j1, kTolerance);
+  ExpectMatricesClose(
+      results.jacobians.at(0), j0, std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(
+      results.jacobians.at(1), j1, std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(results.numeric_jacobians.at(0), j0, kTolerance);
+  ExpectMatricesClose(results.numeric_jacobians.at(1), j1, kTolerance);
+  EXPECT_GE(results.maximum_relative_error, 0.0);
+  EXPECT_TRUE(results.error_log.empty());
+
+  // Test interaction with the 'check_gradients' option in Solver.
+  param0_solver = param0;
+  param1_solver = param1;
+  solver.Solve(solver_options, &problem, &summary);
+  EXPECT_EQ(CONVERGENCE, summary.termination_type);
+  EXPECT_LE(summary.final_cost, 1e-12);
+
+  // Second test case: Mess up reported derivatives with respect to 3rd
+  // component of 1st parameter. Check should fail.
+  Eigen::Matrix<double, 3, 3, Eigen::RowMajor> j0_offset;
+  j0_offset.setZero();
+  j0_offset.col(2).setConstant(0.001);
+  cost_function.SetJacobianOffset(0, j0_offset);
+  EXPECT_FALSE(gradient_checker.Probe(parameters.data(), kTolerance, NULL));
+  EXPECT_FALSE(gradient_checker.Probe(parameters.data(), kTolerance, &results))
+      << results.error_log;
+
+  // Check that results contain correct data.
+  ASSERT_EQ(results.return_value, true);
+  ExpectMatricesClose(
+      results.residuals, residual, std::numeric_limits<double>::epsilon());
+  CheckDimensions(results, parameter_sizes, local_parameter_sizes, 3);
+  ASSERT_EQ(results.local_jacobians.size(), 2);
+  ASSERT_EQ(results.local_numeric_jacobians.size(), 2);
+  ExpectMatricesClose(results.local_jacobians.at(0),
+                      (j0 + j0_offset) * global_J_local,
+                      kTolerance);
+  ExpectMatricesClose(results.local_jacobians.at(1),
+                      j1,
+                      std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(
+      results.local_numeric_jacobians.at(0), j0 * global_J_local, kTolerance);
+  ExpectMatricesClose(results.local_numeric_jacobians.at(1), j1, kTolerance);
+  ExpectMatricesClose(results.jacobians.at(0), j0 + j0_offset, kTolerance);
+  ExpectMatricesClose(
+      results.jacobians.at(1), j1, std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(results.numeric_jacobians.at(0), j0, kTolerance);
+  ExpectMatricesClose(results.numeric_jacobians.at(1), j1, kTolerance);
+  EXPECT_GT(results.maximum_relative_error, 0.0);
+  EXPECT_FALSE(results.error_log.empty());
+
+  // Test interaction with the 'check_gradients' option in Solver.
+  param0_solver = param0;
+  param1_solver = param1;
+  solver.Solve(solver_options, &problem, &summary);
+  EXPECT_EQ(FAILURE, summary.termination_type);
+
+  // Now, zero out the local parameterization Jacobian of the 1st parameter
+  // with respect to the 3rd component. This makes the combination of
+  // cost function and local parameterization return correct values again.
+  parameterization.global_J_local.row(2).setZero();
+
+  // Verify that the gradient checker does not treat this as an error.
+  EXPECT_TRUE(gradient_checker.Probe(parameters.data(), kTolerance, &results))
+      << results.error_log;
+
+  // Check that results contain correct data.
+  ASSERT_EQ(results.return_value, true);
+  ExpectMatricesClose(
+      results.residuals, residual, std::numeric_limits<double>::epsilon());
+  CheckDimensions(results, parameter_sizes, local_parameter_sizes, 3);
+  ASSERT_EQ(results.local_jacobians.size(), 2);
+  ASSERT_EQ(results.local_numeric_jacobians.size(), 2);
+  ExpectMatricesClose(results.local_jacobians.at(0),
+                      (j0 + j0_offset) * parameterization.global_J_local,
+                      kTolerance);
+  ExpectMatricesClose(results.local_jacobians.at(1),
+                      j1,
+                      std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(results.local_numeric_jacobians.at(0),
+                      j0 * parameterization.global_J_local,
+                      kTolerance);
+  ExpectMatricesClose(results.local_numeric_jacobians.at(1), j1, kTolerance);
+  ExpectMatricesClose(results.jacobians.at(0), j0 + j0_offset, kTolerance);
+  ExpectMatricesClose(
+      results.jacobians.at(1), j1, std::numeric_limits<double>::epsilon());
+  ExpectMatricesClose(results.numeric_jacobians.at(0), j0, kTolerance);
+  ExpectMatricesClose(results.numeric_jacobians.at(1), j1, kTolerance);
+  EXPECT_GE(results.maximum_relative_error, 0.0);
+  EXPECT_TRUE(results.error_log.empty());
+
+  // Test interaction with the 'check_gradients' option in Solver.
+  param0_solver = param0;
+  param1_solver = param1;
+  solver.Solve(solver_options, &problem, &summary);
+  EXPECT_EQ(CONVERGENCE, summary.termination_type);
+  EXPECT_LE(summary.final_cost, 1e-12);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/gradient_checking_cost_function.cc b/internal/ceres/gradient_checking_cost_function.cc
new file mode 100644
index 0000000..f2c7336
--- /dev/null
+++ b/internal/ceres/gradient_checking_cost_function.cc
@@ -0,0 +1,277 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: keir@google.com (Keir Mierle),
+//          dgossow@google.com (David Gossow)
+
+#include "ceres/gradient_checking_cost_function.h"
+
+#include <algorithm>
+#include <cmath>
+#include <numeric>
+#include <string>
+#include <vector>
+
+#include "ceres/gradient_checker.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::abs;
+using std::max;
+using std::string;
+using std::vector;
+
+namespace {
+
+class GradientCheckingCostFunction : public CostFunction {
+ public:
+  GradientCheckingCostFunction(
+      const CostFunction* function,
+      const std::vector<const LocalParameterization*>* local_parameterizations,
+      const NumericDiffOptions& options,
+      double relative_precision,
+      const string& extra_info,
+      GradientCheckingIterationCallback* callback)
+      : function_(function),
+        gradient_checker_(function, local_parameterizations, options),
+        relative_precision_(relative_precision),
+        extra_info_(extra_info),
+        callback_(callback) {
+    CHECK_NOTNULL(callback_);
+    const vector<int32>& parameter_block_sizes =
+        function->parameter_block_sizes();
+    *mutable_parameter_block_sizes() = parameter_block_sizes;
+    set_num_residuals(function->num_residuals());
+  }
+
+  virtual ~GradientCheckingCostFunction() { }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    if (!jacobians) {
+      // Nothing to check in this case; just forward.
+      return function_->Evaluate(parameters, residuals, NULL);
+    }
+
+    GradientChecker::ProbeResults results;
+    bool okay = gradient_checker_.Probe(parameters,
+                                        relative_precision_,
+                                        &results);
+
+    // If the cost function returned false, there's nothing we can say about
+    // the gradients.
+    if (results.return_value == false) {
+      return false;
+    }
+
+    // Copy the residuals.
+    const int num_residuals = function_->num_residuals();
+    MatrixRef(residuals, num_residuals, 1) = results.residuals;
+
+    // Copy the original jacobian blocks into the jacobians array.
+    const vector<int32>& block_sizes = function_->parameter_block_sizes();
+    for (int k = 0; k < block_sizes.size(); k++) {
+      if (jacobians[k] != NULL) {
+        MatrixRef(jacobians[k],
+                  results.jacobians[k].rows(),
+                  results.jacobians[k].cols()) = results.jacobians[k];
+      }
+    }
+
+    if (!okay) {
+      std::string error_log = "Gradient Error detected!\nExtra info for "
+          "this residual: " + extra_info_ + "\n" + results.error_log;
+      callback_->SetGradientErrorDetected(error_log);
+    }
+    return true;
+  }
+
+ private:
+  const CostFunction* function_;
+  GradientChecker gradient_checker_;
+  double relative_precision_;
+  string extra_info_;
+  GradientCheckingIterationCallback* callback_;
+};
+
+}  // namespace
+
+GradientCheckingIterationCallback::GradientCheckingIterationCallback()
+    : gradient_error_detected_(false) {
+}
+
+CallbackReturnType GradientCheckingIterationCallback::operator()(
+    const IterationSummary& summary) {
+  if (gradient_error_detected_) {
+    LOG(ERROR)<< "Gradient error detected. Terminating solver.";
+    return SOLVER_ABORT;
+  }
+  return SOLVER_CONTINUE;
+}
+void GradientCheckingIterationCallback::SetGradientErrorDetected(
+    std::string& error_log) {
+  mutex_.Lock();
+  gradient_error_detected_ = true;
+  error_log_ += "\n" + error_log;
+  mutex_.Unlock();
+}
+
+CostFunction* CreateGradientCheckingCostFunction(
+    const CostFunction* cost_function,
+    const std::vector<const LocalParameterization*>* local_parameterizations,
+    double relative_step_size,
+    double relative_precision,
+    const std::string& extra_info,
+    GradientCheckingIterationCallback* callback) {
+  NumericDiffOptions numeric_diff_options;
+  numeric_diff_options.relative_step_size = relative_step_size;
+
+  return new GradientCheckingCostFunction(cost_function,
+                                          local_parameterizations,
+                                          numeric_diff_options,
+                                          relative_precision, extra_info,
+                                          callback);
+}
+
+ProblemImpl* CreateGradientCheckingProblemImpl(
+    ProblemImpl* problem_impl,
+    double relative_step_size,
+    double relative_precision,
+    GradientCheckingIterationCallback* callback) {
+  CHECK_NOTNULL(callback);
+  // We create new CostFunctions by wrapping the original CostFunction
+  // in a gradient checking CostFunction. So its okay for the
+  // ProblemImpl to take ownership of it and destroy it. The
+  // LossFunctions and LocalParameterizations are reused and since
+  // they are owned by problem_impl, gradient_checking_problem_impl
+  // should not take ownership of it.
+  Problem::Options gradient_checking_problem_options;
+  gradient_checking_problem_options.cost_function_ownership = TAKE_OWNERSHIP;
+  gradient_checking_problem_options.loss_function_ownership =
+      DO_NOT_TAKE_OWNERSHIP;
+  gradient_checking_problem_options.local_parameterization_ownership =
+      DO_NOT_TAKE_OWNERSHIP;
+
+  NumericDiffOptions numeric_diff_options;
+  numeric_diff_options.relative_step_size = relative_step_size;
+
+  ProblemImpl* gradient_checking_problem_impl = new ProblemImpl(
+      gradient_checking_problem_options);
+
+  Program* program = problem_impl->mutable_program();
+
+  // For every ParameterBlock in problem_impl, create a new parameter
+  // block with the same local parameterization and constancy.
+  const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    ParameterBlock* parameter_block = parameter_blocks[i];
+    gradient_checking_problem_impl->AddParameterBlock(
+        parameter_block->mutable_user_state(),
+        parameter_block->Size(),
+        parameter_block->mutable_local_parameterization());
+
+    if (parameter_block->IsConstant()) {
+      gradient_checking_problem_impl->SetParameterBlockConstant(
+          parameter_block->mutable_user_state());
+    }
+  }
+
+  // For every ResidualBlock in problem_impl, create a new
+  // ResidualBlock by wrapping its CostFunction inside a
+  // GradientCheckingCostFunction.
+  const vector<ResidualBlock*>& residual_blocks = program->residual_blocks();
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    ResidualBlock* residual_block = residual_blocks[i];
+
+    // Build a human readable string which identifies the
+    // ResidualBlock. This is used by the GradientCheckingCostFunction
+    // when logging debugging information.
+    string extra_info = StringPrintf(
+        "Residual block id %d; depends on parameters [", i);
+    vector<double*> parameter_blocks;
+    vector<const LocalParameterization*> local_parameterizations;
+    parameter_blocks.reserve(residual_block->NumParameterBlocks());
+    local_parameterizations.reserve(residual_block->NumParameterBlocks());
+    for (int j = 0; j < residual_block->NumParameterBlocks(); ++j) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+      parameter_blocks.push_back(parameter_block->mutable_user_state());
+      StringAppendF(&extra_info, "%p", parameter_block->mutable_user_state());
+      extra_info += (j < residual_block->NumParameterBlocks() - 1) ? ", " : "]";
+      local_parameterizations.push_back(problem_impl->GetParameterization(
+          parameter_block->mutable_user_state()));
+    }
+
+    // Wrap the original CostFunction in a GradientCheckingCostFunction.
+    CostFunction* gradient_checking_cost_function =
+        new GradientCheckingCostFunction(residual_block->cost_function(),
+                                         &local_parameterizations,
+                                         numeric_diff_options,
+                                         relative_precision,
+                                         extra_info,
+                                         callback);
+
+    // The const_cast is necessary because
+    // ProblemImpl::AddResidualBlock can potentially take ownership of
+    // the LossFunction, but in this case we are guaranteed that this
+    // will not be the case, so this const_cast is harmless.
+    gradient_checking_problem_impl->AddResidualBlock(
+        gradient_checking_cost_function,
+        const_cast<LossFunction*>(residual_block->loss_function()),
+        parameter_blocks);
+  }
+
+  // Normally, when a problem is given to the solver, we guarantee
+  // that the state pointers for each parameter block point to the
+  // user provided data. Since we are creating this new problem from a
+  // problem given to us at an arbitrary stage of the solve, we cannot
+  // depend on this being the case, so we explicitly call
+  // SetParameterBlockStatePtrsToUserStatePtrs to ensure that this is
+  // the case.
+  gradient_checking_problem_impl
+      ->mutable_program()
+      ->SetParameterBlockStatePtrsToUserStatePtrs();
+
+  return gradient_checking_problem_impl;
+}
+
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/gradient_checking_cost_function.h b/internal/ceres/gradient_checking_cost_function.h
new file mode 100644
index 0000000..497f8e2
--- /dev/null
+++ b/internal/ceres/gradient_checking_cost_function.h
@@ -0,0 +1,112 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: keir@google.com (Keir Mierle),
+//          dgossow@google.com (David Gossow)
+
+#ifndef CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
+#define CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
+
+#include <string>
+
+#include "ceres/cost_function.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/mutex.h"
+
+namespace ceres {
+namespace internal {
+
+class ProblemImpl;
+
+// Callback that collects information about gradient checking errors, and
+// will abort the solve as soon as an error occurs.
+class GradientCheckingIterationCallback : public IterationCallback {
+ public:
+  GradientCheckingIterationCallback();
+
+  // Will return SOLVER_CONTINUE until a gradient error has been detected,
+  // then return SOLVER_ABORT.
+  virtual CallbackReturnType operator()(const IterationSummary& summary);
+
+  // Notify this that a gradient error has occurred (thread safe).
+  void SetGradientErrorDetected(std::string& error_log);
+
+  // Retrieve error status (not thread safe).
+  bool gradient_error_detected() const { return gradient_error_detected_; }
+  const std::string& error_log() const { return error_log_; }
+ private:
+  bool gradient_error_detected_;
+  std::string error_log_;
+  // Mutex protecting member variables.
+  ceres::internal::Mutex mutex_;
+};
+
+// Creates a CostFunction that checks the Jacobians that cost_function computes
+// with finite differences. This API is only intended for unit tests that intend
+// to  check the functionality of the GradientCheckingCostFunction
+// implementation directly.
+CostFunction* CreateGradientCheckingCostFunction(
+    const CostFunction* cost_function,
+    const std::vector<const LocalParameterization*>* local_parameterizations,
+    double relative_step_size,
+    double relative_precision,
+    const std::string& extra_info,
+    GradientCheckingIterationCallback* callback);
+
+// Create a new ProblemImpl object from the input problem_impl, where all
+// cost functions are wrapped so that each time their Evaluate method is called,
+// an additional check is performed that compares the Jacobians computed by
+// the original cost function with alternative Jacobians computed using
+// numerical differentiation. If local parameterizations are given for any
+// parameters, the Jacobians will be compared in the local space instead of the
+// ambient space. For details on the gradient checking procedure, see the
+// documentation of the GradientChecker class. If an error is detected in any
+// iteration, the respective cost function will notify the
+// GradientCheckingIterationCallback.
+//
+// The caller owns the returned ProblemImpl object.
+//
+// Note: This is quite inefficient and is intended only for debugging.
+//
+// relative_step_size and relative_precision are parameters to control
+// the numeric differentiation and the relative tolerance between the
+// jacobian computed by the CostFunctions in problem_impl and
+// jacobians obtained by numerically differentiating them. See the
+// documentation of 'numeric_derivative_relative_step_size' in solver.h for a
+// better explanation.
+ProblemImpl* CreateGradientCheckingProblemImpl(
+    ProblemImpl* problem_impl,
+    double relative_step_size,
+    double relative_precision,
+    GradientCheckingIterationCallback* callback);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
diff --git a/internal/ceres/gradient_checking_cost_function_test.cc b/internal/ceres/gradient_checking_cost_function_test.cc
new file mode 100644
index 0000000..887922e
--- /dev/null
+++ b/internal/ceres/gradient_checking_cost_function_test.cc
@@ -0,0 +1,414 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/gradient_checking_cost_function.h"
+
+#include <cmath>
+#include <vector>
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/random.h"
+#include "ceres/residual_block.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+using testing::AllOf;
+using testing::AnyNumber;
+using testing::HasSubstr;
+using testing::_;
+
+// Pick a (non-quadratic) function whose derivative are easy:
+//
+//    f = exp(- a' x).
+//   df = - f a.
+//
+// where 'a' is a vector of the same size as 'x'. In the block
+// version, they are both block vectors, of course.
+template<int bad_block = 1, int bad_variable = 2>
+class TestTerm : public CostFunction {
+ public:
+  // The constructor of this function needs to know the number
+  // of blocks desired, and the size of each block.
+  TestTerm(int arity, int const *dim) : arity_(arity) {
+    // Make 'arity' random vectors.
+    a_.resize(arity_);
+    for (int j = 0; j < arity_; ++j) {
+      a_[j].resize(dim[j]);
+      for (int u = 0; u < dim[j]; ++u) {
+        a_[j][u] = 2.0 * RandDouble() - 1.0;
+      }
+    }
+
+    for (int i = 0; i < arity_; i++) {
+      mutable_parameter_block_sizes()->push_back(dim[i]);
+    }
+    set_num_residuals(1);
+  }
+
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    // Compute a . x.
+    double ax = 0;
+    for (int j = 0; j < arity_; ++j) {
+      for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+        ax += a_[j][u] * parameters[j][u];
+      }
+    }
+
+    // This is the cost, but also appears as a factor
+    // in the derivatives.
+    double f = *residuals = exp(-ax);
+
+    // Accumulate 1st order derivatives.
+    if (jacobians) {
+      for (int j = 0; j < arity_; ++j) {
+        if (jacobians[j]) {
+          for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+            // See comments before class.
+            jacobians[j][u] = - f * a_[j][u];
+
+            if (bad_block == j && bad_variable == u) {
+              // Whoopsiedoopsie! Deliberately introduce a faulty jacobian entry
+              // like what happens when users make an error in their jacobian
+              // computations. This should get detected.
+              LOG(INFO) << "Poisoning jacobian for parameter block " << j
+                        << ", row 0, column " << u;
+              jacobians[j][u] += 500;
+            }
+          }
+        }
+      }
+    }
+
+    return true;
+  }
+
+ private:
+  int arity_;
+  vector<vector<double> > a_;
+};
+
+TEST(GradientCheckingCostFunction, ResidualsAndJacobiansArePreservedTest) {
+  srand(5);
+
+  // Test with 3 blocks of size 2, 3 and 4.
+  int const arity = 3;
+  int const dim[arity] = { 2, 3, 4 };
+
+  // Make a random set of blocks.
+  vector<double*> parameters(arity);
+  for (int j = 0; j < arity; ++j) {
+    parameters[j] = new double[dim[j]];
+    for (int u = 0; u < dim[j]; ++u) {
+      parameters[j][u] = 2.0 * RandDouble() - 1.0;
+    }
+  }
+
+  double original_residual;
+  double residual;
+  vector<double*> original_jacobians(arity);
+  vector<double*> jacobians(arity);
+
+  for (int j = 0; j < arity; ++j) {
+    // Since residual is one dimensional the jacobians have the same
+    // size as the parameter blocks.
+    jacobians[j] = new double[dim[j]];
+    original_jacobians[j] = new double[dim[j]];
+  }
+
+  const double kRelativeStepSize = 1e-6;
+  const double kRelativePrecision = 1e-4;
+
+  TestTerm<-1, -1> term(arity, dim);
+  GradientCheckingIterationCallback callback;
+  scoped_ptr<CostFunction> gradient_checking_cost_function(
+      CreateGradientCheckingCostFunction(&term, NULL,
+                                         kRelativeStepSize,
+                                         kRelativePrecision,
+                                         "Ignored.", &callback));
+  term.Evaluate(&parameters[0],
+                &original_residual,
+                &original_jacobians[0]);
+
+  gradient_checking_cost_function->Evaluate(&parameters[0],
+                                            &residual,
+                                            &jacobians[0]);
+  EXPECT_EQ(original_residual, residual);
+
+  for (int j = 0; j < arity; j++) {
+    for (int k = 0; k < dim[j]; ++k) {
+      EXPECT_EQ(original_jacobians[j][k], jacobians[j][k]);
+    }
+
+    delete[] parameters[j];
+    delete[] jacobians[j];
+    delete[] original_jacobians[j];
+  }
+}
+
+TEST(GradientCheckingCostFunction, SmokeTest) {
+  srand(5);
+
+  // Test with 3 blocks of size 2, 3 and 4.
+  int const arity = 3;
+  int const dim[arity] = { 2, 3, 4 };
+
+  // Make a random set of blocks.
+  vector<double*> parameters(arity);
+  for (int j = 0; j < arity; ++j) {
+    parameters[j] = new double[dim[j]];
+    for (int u = 0; u < dim[j]; ++u) {
+      parameters[j][u] = 2.0 * RandDouble() - 1.0;
+    }
+  }
+
+  double residual;
+  vector<double*> jacobians(arity);
+  for (int j = 0; j < arity; ++j) {
+    // Since residual is one dimensional the jacobians have the same size as the
+    // parameter blocks.
+    jacobians[j] = new double[dim[j]];
+  }
+
+  const double kRelativeStepSize = 1e-6;
+  const double kRelativePrecision = 1e-4;
+
+  // Should have one term that's bad, causing everything to get dumped.
+  LOG(INFO) << "Bad gradient";
+  {
+    TestTerm<1, 2> term(arity, dim);
+    GradientCheckingIterationCallback callback;
+    scoped_ptr<CostFunction> gradient_checking_cost_function(
+        CreateGradientCheckingCostFunction(&term, NULL,
+                                           kRelativeStepSize,
+                                           kRelativePrecision,
+                                           "Fuzzy banana", &callback));
+    EXPECT_TRUE(
+        gradient_checking_cost_function->Evaluate(&parameters[0], &residual,
+                                                  &jacobians[0]));
+    EXPECT_TRUE(callback.gradient_error_detected());
+    EXPECT_TRUE(callback.error_log().find("Fuzzy banana") != std::string::npos);
+    EXPECT_TRUE(callback.error_log().find("(1,0,2) Relative error worse than")
+                != std::string::npos);
+  }
+
+  // The gradient is correct, so no errors are reported.
+  LOG(INFO) << "Good gradient";
+  {
+    TestTerm<-1, -1> term(arity, dim);
+    GradientCheckingIterationCallback callback;
+    scoped_ptr<CostFunction> gradient_checking_cost_function(
+        CreateGradientCheckingCostFunction(&term, NULL,
+                                           kRelativeStepSize,
+                                           kRelativePrecision,
+                                           "Fuzzy banana", &callback));
+    EXPECT_TRUE(
+        gradient_checking_cost_function->Evaluate(&parameters[0], &residual,
+                                                  &jacobians[0]));
+    EXPECT_FALSE(callback.gradient_error_detected());
+  }
+
+  for (int j = 0; j < arity; j++) {
+    delete[] parameters[j];
+    delete[] jacobians[j];
+  }
+}
+
+// The following three classes are for the purposes of defining
+// function signatures. They have dummy Evaluate functions.
+
+// Trivial cost function that accepts a single argument.
+class UnaryCostFunction : public CostFunction {
+ public:
+  UnaryCostFunction(int num_residuals, int32 parameter_block_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block_size);
+  }
+  virtual ~UnaryCostFunction() {}
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 1;
+    }
+    return true;
+  }
+};
+
+// Trivial cost function that accepts two arguments.
+class BinaryCostFunction: public CostFunction {
+ public:
+  BinaryCostFunction(int num_residuals,
+                     int32 parameter_block1_size,
+                     int32 parameter_block2_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 2;
+    }
+    return true;
+  }
+};
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+  TernaryCostFunction(int num_residuals,
+                      int32 parameter_block1_size,
+                      int32 parameter_block2_size,
+                      int32 parameter_block3_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 3;
+    }
+    return true;
+  }
+};
+
+// Verify that the two ParameterBlocks are formed from the same user
+// array and have the same LocalParameterization object.
+void ParameterBlocksAreEquivalent(const ParameterBlock*  left,
+                                  const ParameterBlock* right) {
+  CHECK_NOTNULL(left);
+  CHECK_NOTNULL(right);
+  EXPECT_EQ(left->user_state(), right->user_state());
+  EXPECT_EQ(left->Size(), right->Size());
+  EXPECT_EQ(left->Size(), right->Size());
+  EXPECT_EQ(left->LocalSize(), right->LocalSize());
+  EXPECT_EQ(left->local_parameterization(), right->local_parameterization());
+  EXPECT_EQ(left->IsConstant(), right->IsConstant());
+}
+
+TEST(GradientCheckingProblemImpl, ProblemDimensionsMatch) {
+  // Parameter blocks with arbitrarily chosen initial values.
+  double x[] = {1.0, 2.0, 3.0};
+  double y[] = {4.0, 5.0, 6.0, 7.0};
+  double z[] = {8.0, 9.0, 10.0, 11.0, 12.0};
+  double w[] = {13.0, 14.0, 15.0, 16.0};
+
+  ProblemImpl problem_impl;
+  problem_impl.AddParameterBlock(x, 3);
+  problem_impl.AddParameterBlock(y, 4);
+  problem_impl.SetParameterBlockConstant(y);
+  problem_impl.AddParameterBlock(z, 5);
+  problem_impl.AddParameterBlock(w, 4, new QuaternionParameterization);
+  problem_impl.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+  problem_impl.AddResidualBlock(new BinaryCostFunction(6, 5, 4) ,
+                                NULL, z, y);
+  problem_impl.AddResidualBlock(new BinaryCostFunction(3, 3, 5),
+                                new TrivialLoss, x, z);
+  problem_impl.AddResidualBlock(new BinaryCostFunction(7, 5, 3),
+                                NULL, z, x);
+  problem_impl.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4),
+                                NULL, z, x, y);
+
+  GradientCheckingIterationCallback callback;
+  scoped_ptr<ProblemImpl> gradient_checking_problem_impl(
+      CreateGradientCheckingProblemImpl(&problem_impl, 1.0, 1.0, &callback));
+
+  // The dimensions of the two problems match.
+  EXPECT_EQ(problem_impl.NumParameterBlocks(),
+            gradient_checking_problem_impl->NumParameterBlocks());
+  EXPECT_EQ(problem_impl.NumResidualBlocks(),
+            gradient_checking_problem_impl->NumResidualBlocks());
+
+  EXPECT_EQ(problem_impl.NumParameters(),
+            gradient_checking_problem_impl->NumParameters());
+  EXPECT_EQ(problem_impl.NumResiduals(),
+            gradient_checking_problem_impl->NumResiduals());
+
+  const Program& program = problem_impl.program();
+  const Program& gradient_checking_program =
+      gradient_checking_problem_impl->program();
+
+  // Since we added the ParameterBlocks and ResidualBlocks explicitly,
+  // they should be in the same order in the two programs. It is
+  // possible that may change due to implementation changes to
+  // Program. This is not expected to be the case and writing code to
+  // anticipate that possibility not worth the extra complexity in
+  // this test.
+  for (int i = 0; i < program.parameter_blocks().size(); ++i) {
+    ParameterBlocksAreEquivalent(
+        program.parameter_blocks()[i],
+        gradient_checking_program.parameter_blocks()[i]);
+  }
+
+  for (int i = 0; i < program.residual_blocks().size(); ++i) {
+    // Compare the sizes of the two ResidualBlocks.
+    const ResidualBlock* original_residual_block =
+        program.residual_blocks()[i];
+    const ResidualBlock* new_residual_block =
+        gradient_checking_program.residual_blocks()[i];
+    EXPECT_EQ(original_residual_block->NumParameterBlocks(),
+              new_residual_block->NumParameterBlocks());
+    EXPECT_EQ(original_residual_block->NumResiduals(),
+              new_residual_block->NumResiduals());
+    EXPECT_EQ(original_residual_block->NumScratchDoublesForEvaluate(),
+              new_residual_block->NumScratchDoublesForEvaluate());
+
+    // Verify that the ParameterBlocks for the two residuals are equivalent.
+    for (int j = 0; j < original_residual_block->NumParameterBlocks(); ++j) {
+      ParameterBlocksAreEquivalent(
+          original_residual_block->parameter_blocks()[j],
+          new_residual_block->parameter_blocks()[j]);
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/gradient_problem.cc b/internal/ceres/gradient_problem.cc
new file mode 100644
index 0000000..4ebd3e6
--- /dev/null
+++ b/internal/ceres/gradient_problem.cc
@@ -0,0 +1,81 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/gradient_problem.h"
+#include "ceres/local_parameterization.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+GradientProblem::GradientProblem(FirstOrderFunction* function)
+    : function_(function),
+      parameterization_(
+          new IdentityParameterization(function_->NumParameters())),
+      scratch_(new double[function_->NumParameters()]) {
+}
+
+GradientProblem::GradientProblem(FirstOrderFunction* function,
+                                 LocalParameterization* parameterization)
+      : function_(function),
+        parameterization_(parameterization),
+        scratch_(new double[function_->NumParameters()]) {
+  CHECK_EQ(function_->NumParameters(), parameterization_->GlobalSize());
+}
+
+int GradientProblem::NumParameters() const {
+  return function_->NumParameters();
+}
+
+int GradientProblem::NumLocalParameters() const {
+  return parameterization_->LocalSize();
+}
+
+
+bool GradientProblem::Evaluate(const double* parameters,
+                               double* cost,
+                               double* gradient) const {
+  if (gradient == NULL) {
+    return function_->Evaluate(parameters, cost, NULL);
+  }
+
+  return (function_->Evaluate(parameters, cost, scratch_.get()) &&
+          parameterization_->MultiplyByJacobian(parameters,
+                                                1,
+                                                scratch_.get(),
+                                                gradient));
+}
+
+bool GradientProblem::Plus(const double* x,
+                           const double* delta,
+                           double* x_plus_delta) const {
+  return parameterization_->Plus(x, delta, x_plus_delta);
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/gradient_problem_evaluator.h b/internal/ceres/gradient_problem_evaluator.h
new file mode 100644
index 0000000..9ccd10e
--- /dev/null
+++ b/internal/ceres/gradient_problem_evaluator.h
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
+#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
+
+#include <map>
+#include <string>
+
+#include "ceres/evaluator.h"
+#include "ceres/execution_summary.h"
+#include "ceres/gradient_problem.h"
+#include "ceres/internal/port.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+class GradientProblemEvaluator : public Evaluator {
+ public:
+  explicit GradientProblemEvaluator(const GradientProblem& problem)
+      : problem_(problem) {}
+  virtual ~GradientProblemEvaluator() {}
+  virtual SparseMatrix* CreateJacobian() const { return NULL; }
+  virtual bool Evaluate(const EvaluateOptions& evaluate_options,
+                        const double* state,
+                        double* cost,
+                        double* residuals,
+                        double* gradient,
+                        SparseMatrix* jacobian) {
+    CHECK(jacobian == NULL);
+    ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
+    // The reason we use Residual and Jacobian here even when we are
+    // only computing the cost and gradient has to do with the fact
+    // that the line search minimizer code is used by both the
+    // GradientProblemSolver and the main CeresSolver coder where the
+    // Evaluator evaluates the Jacobian, and these magic strings need
+    // to be consistent across the code base for the time accounting
+    // to work.
+    ScopedExecutionTimer call_type_timer(
+        gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",
+        &execution_summary_);
+    execution_summary_.IncrementCall(gradient == NULL ? "Evaluator::Residual"
+                                                      : "Evaluator::Jacobian");
+    return problem_.Evaluate(state, cost, gradient);
+  }
+
+  virtual bool Plus(const double* state,
+                    const double* delta,
+                    double* state_plus_delta) const {
+    return problem_.Plus(state, delta, state_plus_delta);
+  }
+
+  virtual int NumParameters() const {
+    return problem_.NumParameters();
+  }
+
+  virtual int NumEffectiveParameters()  const {
+    return problem_.NumLocalParameters();
+  }
+
+  virtual int NumResiduals() const { return 1; }
+
+  virtual std::map<std::string, int> CallStatistics() const {
+    return execution_summary_.calls();
+  }
+
+  virtual std::map<std::string, double> TimeStatistics() const {
+    return execution_summary_.times();
+  }
+
+ private:
+  const GradientProblem& problem_;
+  ::ceres::internal::ExecutionSummary execution_summary_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
diff --git a/internal/ceres/gradient_problem_solver.cc b/internal/ceres/gradient_problem_solver.cc
new file mode 100644
index 0000000..488bff5
--- /dev/null
+++ b/internal/ceres/gradient_problem_solver.cc
@@ -0,0 +1,289 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/gradient_problem_solver.h"
+
+#include "ceres/callbacks.h"
+#include "ceres/gradient_problem.h"
+#include "ceres/gradient_problem_evaluator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/map_util.h"
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+#include "ceres/solver_utils.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+using internal::StringPrintf;
+using internal::StringAppendF;
+using std::string;
+
+namespace {
+
+Solver::Options GradientProblemSolverOptionsToSolverOptions(
+    const GradientProblemSolver::Options& options) {
+#define COPY_OPTION(x) solver_options.x = options.x
+
+  Solver::Options solver_options;
+  solver_options.minimizer_type = LINE_SEARCH;
+  COPY_OPTION(line_search_direction_type);
+  COPY_OPTION(line_search_type);
+  COPY_OPTION(nonlinear_conjugate_gradient_type);
+  COPY_OPTION(max_lbfgs_rank);
+  COPY_OPTION(use_approximate_eigenvalue_bfgs_scaling);
+  COPY_OPTION(line_search_interpolation_type);
+  COPY_OPTION(min_line_search_step_size);
+  COPY_OPTION(line_search_sufficient_function_decrease);
+  COPY_OPTION(max_line_search_step_contraction);
+  COPY_OPTION(min_line_search_step_contraction);
+  COPY_OPTION(max_num_line_search_step_size_iterations);
+  COPY_OPTION(max_num_line_search_direction_restarts);
+  COPY_OPTION(line_search_sufficient_curvature_decrease);
+  COPY_OPTION(max_line_search_step_expansion);
+  COPY_OPTION(max_num_iterations);
+  COPY_OPTION(max_solver_time_in_seconds);
+  COPY_OPTION(parameter_tolerance);
+  COPY_OPTION(function_tolerance);
+  COPY_OPTION(gradient_tolerance);
+  COPY_OPTION(logging_type);
+  COPY_OPTION(minimizer_progress_to_stdout);
+  COPY_OPTION(callbacks);
+  return solver_options;
+#undef COPY_OPTION
+}
+
+
+}  // namespace
+
+bool GradientProblemSolver::Options::IsValid(std::string* error) const {
+  const Solver::Options solver_options =
+      GradientProblemSolverOptionsToSolverOptions(*this);
+  return solver_options.IsValid(error);
+}
+
+GradientProblemSolver::~GradientProblemSolver() {
+}
+
+void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options,
+                                  const GradientProblem& problem,
+                                  double* parameters_ptr,
+                                  GradientProblemSolver::Summary* summary) {
+  using internal::scoped_ptr;
+  using internal::WallTimeInSeconds;
+  using internal::Minimizer;
+  using internal::GradientProblemEvaluator;
+  using internal::LoggingCallback;
+  using internal::SetSummaryFinalCost;
+
+  double start_time = WallTimeInSeconds();
+
+  *CHECK_NOTNULL(summary) = Summary();
+  summary->num_parameters                    = problem.NumParameters();
+  summary->num_local_parameters              = problem.NumLocalParameters();
+  summary->line_search_direction_type        = options.line_search_direction_type;         //  NOLINT
+  summary->line_search_interpolation_type    = options.line_search_interpolation_type;     //  NOLINT
+  summary->line_search_type                  = options.line_search_type;
+  summary->max_lbfgs_rank                    = options.max_lbfgs_rank;
+  summary->nonlinear_conjugate_gradient_type = options.nonlinear_conjugate_gradient_type;  //  NOLINT
+
+  // Check validity
+  if (!options.IsValid(&summary->message)) {
+    LOG(ERROR) << "Terminating: " << summary->message;
+    return;
+  }
+
+  // TODO(sameeragarwal): This is a bit convoluted, we should be able
+  // to convert to minimizer options directly, but this will do for
+  // now.
+  Minimizer::Options minimizer_options =
+      Minimizer::Options(GradientProblemSolverOptionsToSolverOptions(options));
+  minimizer_options.evaluator.reset(new GradientProblemEvaluator(problem));
+
+  scoped_ptr<IterationCallback> logging_callback;
+  if (options.logging_type != SILENT) {
+    logging_callback.reset(
+        new LoggingCallback(LINE_SEARCH, options.minimizer_progress_to_stdout));
+    minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+                                       logging_callback.get());
+  }
+
+  scoped_ptr<Minimizer> minimizer(Minimizer::Create(LINE_SEARCH));
+  Vector solution(problem.NumParameters());
+  VectorRef parameters(parameters_ptr, problem.NumParameters());
+  solution = parameters;
+
+  Solver::Summary solver_summary;
+  solver_summary.fixed_cost = 0.0;
+  solver_summary.preprocessor_time_in_seconds = 0.0;
+  solver_summary.postprocessor_time_in_seconds = 0.0;
+  solver_summary.line_search_polynomial_minimization_time_in_seconds = 0.0;
+
+  minimizer->Minimize(minimizer_options, solution.data(), &solver_summary);
+
+  summary->termination_type = solver_summary.termination_type;
+  summary->message          = solver_summary.message;
+  summary->initial_cost     = solver_summary.initial_cost;
+  summary->final_cost       = solver_summary.final_cost;
+  summary->iterations       = solver_summary.iterations;
+  summary->line_search_polynomial_minimization_time_in_seconds =
+      solver_summary.line_search_polynomial_minimization_time_in_seconds;
+
+  if (summary->IsSolutionUsable()) {
+    parameters = solution;
+    SetSummaryFinalCost(summary);
+  }
+
+  const std::map<string, double>& evaluator_time_statistics =
+       minimizer_options.evaluator->TimeStatistics();
+  summary->cost_evaluation_time_in_seconds =
+      FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
+  summary->gradient_evaluation_time_in_seconds =
+      FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
+  const std::map<string, int>& evaluator_call_statistics =
+       minimizer_options.evaluator->CallStatistics();
+  summary->num_cost_evaluations =
+      FindWithDefault(evaluator_call_statistics, "Evaluator::Residual", 0);
+  summary->num_gradient_evaluations =
+      FindWithDefault(evaluator_call_statistics, "Evaluator::Jacobian", 0);
+  summary->total_time_in_seconds = WallTimeInSeconds() - start_time;
+}
+
+// Invalid values for most fields, to ensure that we are not
+// accidentally reporting default values.
+GradientProblemSolver::Summary::Summary()
+    : termination_type(FAILURE),
+      message("ceres::GradientProblemSolve was not called."),
+      initial_cost(-1.0),
+      final_cost(-1.0),
+      total_time_in_seconds(-1.0),
+      cost_evaluation_time_in_seconds(-1.0),
+      gradient_evaluation_time_in_seconds(-1.0),
+      line_search_polynomial_minimization_time_in_seconds(-1.0),
+      num_parameters(-1),
+      num_local_parameters(-1),
+      line_search_direction_type(LBFGS),
+      line_search_type(ARMIJO),
+      line_search_interpolation_type(BISECTION),
+      nonlinear_conjugate_gradient_type(FLETCHER_REEVES),
+      max_lbfgs_rank(-1) {
+}
+
+bool GradientProblemSolver::Summary::IsSolutionUsable() const {
+  return internal::IsSolutionUsable(*this);
+}
+
+string GradientProblemSolver::Summary::BriefReport() const {
+  return StringPrintf("Ceres GradientProblemSolver Report: "
+                      "Iterations: %d, "
+                      "Initial cost: %e, "
+                      "Final cost: %e, "
+                      "Termination: %s",
+                      static_cast<int>(iterations.size()),
+                      initial_cost,
+                      final_cost,
+                      TerminationTypeToString(termination_type));
+}
+
+string GradientProblemSolver::Summary::FullReport() const {
+  using internal::VersionString;
+
+  string report = string("\nSolver Summary (v " + VersionString() + ")\n\n");
+
+  StringAppendF(&report, "Parameters          % 25d\n", num_parameters);
+  if (num_local_parameters != num_parameters) {
+    StringAppendF(&report, "Local parameters    % 25d\n",
+                  num_local_parameters);
+  }
+
+  string line_search_direction_string;
+  if (line_search_direction_type == LBFGS) {
+    line_search_direction_string = StringPrintf("LBFGS (%d)", max_lbfgs_rank);
+  } else if (line_search_direction_type == NONLINEAR_CONJUGATE_GRADIENT) {
+    line_search_direction_string =
+        NonlinearConjugateGradientTypeToString(
+            nonlinear_conjugate_gradient_type);
+  } else {
+    line_search_direction_string =
+        LineSearchDirectionTypeToString(line_search_direction_type);
+  }
+
+  StringAppendF(&report, "Line search direction     %19s\n",
+                line_search_direction_string.c_str());
+
+  const string line_search_type_string =
+      StringPrintf("%s %s",
+                   LineSearchInterpolationTypeToString(
+                       line_search_interpolation_type),
+                   LineSearchTypeToString(line_search_type));
+  StringAppendF(&report, "Line search type          %19s\n",
+                line_search_type_string.c_str());
+  StringAppendF(&report, "\n");
+
+  StringAppendF(&report, "\nCost:\n");
+  StringAppendF(&report, "Initial        % 30e\n", initial_cost);
+  if (termination_type != FAILURE &&
+      termination_type != USER_FAILURE) {
+    StringAppendF(&report, "Final          % 30e\n", final_cost);
+    StringAppendF(&report, "Change         % 30e\n",
+                  initial_cost - final_cost);
+  }
+
+  StringAppendF(&report, "\nMinimizer iterations         % 16d\n",
+                static_cast<int>(iterations.size()));
+
+  StringAppendF(&report, "\nTime (in seconds):\n");
+  StringAppendF(&report, "\n  Cost evaluation     %23.4f (%d)\n",
+                cost_evaluation_time_in_seconds,
+                num_cost_evaluations);
+  StringAppendF(&report, "  Gradient evaluation %23.4f (%d)\n",
+                gradient_evaluation_time_in_seconds,
+                num_gradient_evaluations);
+  StringAppendF(&report, "  Polynomial minimization   %17.4f\n",
+                line_search_polynomial_minimization_time_in_seconds);
+  StringAppendF(&report, "Total               %25.4f\n\n",
+                total_time_in_seconds);
+
+  StringAppendF(&report, "Termination:        %25s (%s)\n",
+                TerminationTypeToString(termination_type), message.c_str());
+  return report;
+}
+
+void Solve(const GradientProblemSolver::Options& options,
+           const GradientProblem& problem,
+           double* parameters,
+           GradientProblemSolver::Summary* summary) {
+  GradientProblemSolver solver;
+  solver.Solve(options, problem, parameters, summary);
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/gradient_problem_solver_test.cc b/internal/ceres/gradient_problem_solver_test.cc
new file mode 100644
index 0000000..d6332ae
--- /dev/null
+++ b/internal/ceres/gradient_problem_solver_test.cc
@@ -0,0 +1,76 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#include "ceres/gradient_problem.h"
+#include "ceres/gradient_problem_solver.h"
+
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Rosenbrock function; see http://en.wikipedia.org/wiki/Rosenbrock_function .
+class Rosenbrock : public ceres::FirstOrderFunction {
+ public:
+  virtual ~Rosenbrock() {}
+
+  virtual bool Evaluate(const double* parameters,
+                        double* cost,
+                        double* gradient) const {
+    const double x = parameters[0];
+    const double y = parameters[1];
+
+    cost[0] = (1.0 - x) * (1.0 - x) + 100.0 * (y - x * x) * (y - x * x);
+    if (gradient != NULL) {
+      gradient[0] = -2.0 * (1.0 - x) - 200.0 * (y - x * x) * 2.0 * x;
+      gradient[1] = 200.0 * (y - x * x);
+    }
+    return true;
+  }
+
+  virtual int NumParameters() const { return 2; }
+};
+
+TEST(GradientProblemSolver, SolvesRosenbrockWithDefaultOptions) {
+  const double expected_tolerance = 1e-9;
+  double parameters[2] = {-1.2, 0.0};
+
+  ceres::GradientProblemSolver::Options options;
+  ceres::GradientProblemSolver::Summary summary;
+  ceres::GradientProblem problem(new Rosenbrock());
+  ceres::Solve(options, problem, parameters, &summary);
+
+  EXPECT_EQ(CONVERGENCE, summary.termination_type);
+  EXPECT_NEAR(1.0, parameters[0], expected_tolerance);
+  EXPECT_NEAR(1.0, parameters[1], expected_tolerance);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/gradient_problem_test.cc b/internal/ceres/gradient_problem_test.cc
new file mode 100644
index 0000000..b352577
--- /dev/null
+++ b/internal/ceres/gradient_problem_test.cc
@@ -0,0 +1,111 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#include "ceres/gradient_problem.h"
+
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class QuadraticTestFunction : public ceres::FirstOrderFunction {
+ public:
+  explicit QuadraticTestFunction(bool* flag_to_set_on_destruction = NULL)
+      : flag_to_set_on_destruction_(flag_to_set_on_destruction) {}
+
+  virtual ~QuadraticTestFunction() {
+    if (flag_to_set_on_destruction_) {
+      *flag_to_set_on_destruction_ = true;
+    }
+  }
+
+  virtual bool Evaluate(const double* parameters,
+                        double* cost,
+                        double* gradient) const {
+    const double x = parameters[0];
+    cost[0] = x * x;
+    if (gradient != NULL) {
+      gradient[0] = 2.0 * x;
+    }
+    return true;
+  }
+
+  virtual int NumParameters() const { return 1; }
+
+ private:
+  bool* flag_to_set_on_destruction_;
+};
+
+TEST(GradientProblem, TakesOwnershipOfFirstOrderFunction) {
+  bool is_destructed = false;
+  {
+    ceres::GradientProblem problem(new QuadraticTestFunction(&is_destructed));
+  }
+  EXPECT_TRUE(is_destructed);
+}
+
+TEST(GradientProblem, EvaluationWithoutParameterizationOrGradient) {
+  ceres::GradientProblem problem(new QuadraticTestFunction());
+  double x = 7.0;
+  double cost = 0;
+  problem.Evaluate(&x, &cost, NULL);
+  EXPECT_EQ(x * x, cost);
+}
+
+TEST(GradientProblem, EvalutaionWithParameterizationAndNoGradient) {
+  ceres::GradientProblem problem(new QuadraticTestFunction(),
+                                 new IdentityParameterization(1));
+  double x = 7.0;
+  double cost = 0;
+  problem.Evaluate(&x, &cost, NULL);
+  EXPECT_EQ(x * x, cost);
+}
+
+TEST(GradientProblem, EvaluationWithoutParameterizationAndWithGradient) {
+  ceres::GradientProblem problem(new QuadraticTestFunction());
+  double x = 7.0;
+  double cost = 0;
+  double gradient = 0;
+  problem.Evaluate(&x, &cost, &gradient);
+  EXPECT_EQ(2.0 * x, gradient);
+}
+
+TEST(GradientProblem, EvaluationWithParameterizationAndWithGradient) {
+  ceres::GradientProblem problem(new QuadraticTestFunction(),
+                                 new IdentityParameterization(1));
+  double x = 7.0;
+  double cost = 0;
+  double gradient = 0;
+  problem.Evaluate(&x, &cost, &gradient);
+  EXPECT_EQ(2.0 * x, gradient);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/graph.h b/internal/ceres/graph.h
new file mode 100644
index 0000000..b96b672
--- /dev/null
+++ b/internal/ceres/graph.h
@@ -0,0 +1,225 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_GRAPH_H_
+#define CERES_INTERNAL_GRAPH_H_
+
+#include <limits>
+#include <utility>
+#include "ceres/integral_types.h"
+#include "ceres/map_util.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/macros.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// A unweighted undirected graph templated over the vertex ids. Vertex
+// should be hashable.
+template <typename Vertex>
+class Graph {
+ public:
+  Graph() {}
+
+  // Add a vertex.
+  void AddVertex(const Vertex& vertex) {
+    if (vertices_.insert(vertex).second) {
+      edges_[vertex] = HashSet<Vertex>();
+    }
+  }
+
+  bool RemoveVertex(const Vertex& vertex) {
+    if (vertices_.find(vertex) == vertices_.end()) {
+      return false;
+    }
+
+    vertices_.erase(vertex);
+    const HashSet<Vertex>& sinks = edges_[vertex];
+    for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
+         it != sinks.end(); ++it) {
+      edges_[*it].erase(vertex);
+    }
+
+    edges_.erase(vertex);
+    return true;
+  }
+
+  // Add an edge between the vertex1 and vertex2. Calling AddEdge on a
+  // pair of vertices which do not exist in the graph yet will result
+  // in undefined behavior.
+  //
+  // It is legal to call this method repeatedly for the same set of
+  // vertices.
+  void AddEdge(const Vertex& vertex1, const Vertex& vertex2) {
+    DCHECK(vertices_.find(vertex1) != vertices_.end());
+    DCHECK(vertices_.find(vertex2) != vertices_.end());
+
+    if (edges_[vertex1].insert(vertex2).second) {
+      edges_[vertex2].insert(vertex1);
+    }
+  }
+
+  // Calling Neighbors on a vertex not in the graph will result in
+  // undefined behaviour.
+  const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
+    return FindOrDie(edges_, vertex);
+  }
+
+  const HashSet<Vertex>& vertices() const {
+    return vertices_;
+  }
+
+ private:
+  HashSet<Vertex> vertices_;
+  HashMap<Vertex, HashSet<Vertex> > edges_;
+
+  CERES_DISALLOW_COPY_AND_ASSIGN(Graph);
+};
+
+// A weighted undirected graph templated over the vertex ids. Vertex
+// should be hashable and comparable.
+template <typename Vertex>
+class WeightedGraph {
+ public:
+  WeightedGraph() {}
+
+  // Add a weighted vertex. If the vertex already exists in the graph,
+  // its weight is set to the new weight.
+  void AddVertex(const Vertex& vertex, double weight) {
+    if (vertices_.find(vertex) == vertices_.end()) {
+      vertices_.insert(vertex);
+      edges_[vertex] = HashSet<Vertex>();
+    }
+    vertex_weights_[vertex] = weight;
+  }
+
+  // Uses weight = 1.0. If vertex already exists, its weight is set to
+  // 1.0.
+  void AddVertex(const Vertex& vertex) {
+    AddVertex(vertex, 1.0);
+  }
+
+  bool RemoveVertex(const Vertex& vertex) {
+    if (vertices_.find(vertex) == vertices_.end()) {
+      return false;
+    }
+
+    vertices_.erase(vertex);
+    vertex_weights_.erase(vertex);
+    const HashSet<Vertex>& sinks = edges_[vertex];
+    for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
+         it != sinks.end(); ++it) {
+      if (vertex < *it) {
+        edge_weights_.erase(std::make_pair(vertex, *it));
+      } else {
+        edge_weights_.erase(std::make_pair(*it, vertex));
+      }
+      edges_[*it].erase(vertex);
+    }
+
+    edges_.erase(vertex);
+    return true;
+  }
+
+  // Add a weighted edge between the vertex1 and vertex2. Calling
+  // AddEdge on a pair of vertices which do not exist in the graph yet
+  // will result in undefined behavior.
+  //
+  // It is legal to call this method repeatedly for the same set of
+  // vertices.
+  void AddEdge(const Vertex& vertex1, const Vertex& vertex2, double weight) {
+    DCHECK(vertices_.find(vertex1) != vertices_.end());
+    DCHECK(vertices_.find(vertex2) != vertices_.end());
+
+    if (edges_[vertex1].insert(vertex2).second) {
+      edges_[vertex2].insert(vertex1);
+    }
+
+    if (vertex1 < vertex2) {
+      edge_weights_[std::make_pair(vertex1, vertex2)] = weight;
+    } else {
+      edge_weights_[std::make_pair(vertex2, vertex1)] = weight;
+    }
+  }
+
+  // Uses weight = 1.0.
+  void AddEdge(const Vertex& vertex1, const Vertex& vertex2) {
+    AddEdge(vertex1, vertex2, 1.0);
+  }
+
+  // Calling VertexWeight on a vertex not in the graph will result in
+  // undefined behavior.
+  double VertexWeight(const Vertex& vertex) const {
+    return FindOrDie(vertex_weights_, vertex);
+  }
+
+  // Calling EdgeWeight on a pair of vertices where either one of the
+  // vertices is not present in the graph will result in undefined
+  // behaviour. If there is no edge connecting vertex1 and vertex2,
+  // the edge weight is zero.
+  double EdgeWeight(const Vertex& vertex1, const Vertex& vertex2) const {
+    if (vertex1 < vertex2) {
+      return FindWithDefault(edge_weights_,
+                             std::make_pair(vertex1, vertex2), 0.0);
+    } else {
+      return FindWithDefault(edge_weights_,
+                             std::make_pair(vertex2, vertex1), 0.0);
+    }
+  }
+
+  // Calling Neighbors on a vertex not in the graph will result in
+  // undefined behaviour.
+  const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
+    return FindOrDie(edges_, vertex);
+  }
+
+  const HashSet<Vertex>& vertices() const {
+    return vertices_;
+  }
+
+  static double InvalidWeight() {
+    return std::numeric_limits<double>::quiet_NaN();
+  }
+
+ private:
+  HashSet<Vertex> vertices_;
+  HashMap<Vertex, double> vertex_weights_;
+  HashMap<Vertex, HashSet<Vertex> > edges_;
+  HashMap<std::pair<Vertex, Vertex>, double> edge_weights_;
+
+  CERES_DISALLOW_COPY_AND_ASSIGN(WeightedGraph);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_GRAPH_H_
diff --git a/internal/ceres/graph_algorithms.h b/internal/ceres/graph_algorithms.h
new file mode 100644
index 0000000..d1d3f52
--- /dev/null
+++ b/internal/ceres/graph_algorithms.h
@@ -0,0 +1,364 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Various algorithms that operate on undirected graphs.
+
+#ifndef CERES_INTERNAL_GRAPH_ALGORITHMS_H_
+#define CERES_INTERNAL_GRAPH_ALGORITHMS_H_
+
+#include <algorithm>
+#include <vector>
+#include <utility>
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Compare two vertices of a graph by their degrees, if the degrees
+// are equal then order them by their ids.
+template <typename Vertex>
+class VertexTotalOrdering {
+ public:
+  explicit VertexTotalOrdering(const Graph<Vertex>& graph)
+      : graph_(graph) {}
+
+  bool operator()(const Vertex& lhs, const Vertex& rhs) const {
+    if (graph_.Neighbors(lhs).size() == graph_.Neighbors(rhs).size()) {
+      return lhs < rhs;
+    }
+    return graph_.Neighbors(lhs).size() < graph_.Neighbors(rhs).size();
+  }
+
+ private:
+  const Graph<Vertex>& graph_;
+};
+
+template <typename Vertex>
+class VertexDegreeLessThan {
+ public:
+  explicit VertexDegreeLessThan(const Graph<Vertex>& graph)
+      : graph_(graph) {}
+
+  bool operator()(const Vertex& lhs, const Vertex& rhs) const {
+    return graph_.Neighbors(lhs).size() < graph_.Neighbors(rhs).size();
+  }
+
+ private:
+  const Graph<Vertex>& graph_;
+};
+
+// Order the vertices of a graph using its (approximately) largest
+// independent set, where an independent set of a graph is a set of
+// vertices that have no edges connecting them. The maximum
+// independent set problem is NP-Hard, but there are effective
+// approximation algorithms available. The implementation here uses a
+// breadth first search that explores the vertices in order of
+// increasing degree. The same idea is used by Saad & Li in "MIQR: A
+// multilevel incomplete QR preconditioner for large sparse
+// least-squares problems", SIMAX, 2007.
+//
+// Given a undirected graph G(V,E), the algorithm is a greedy BFS
+// search where the vertices are explored in increasing order of their
+// degree. The output vector ordering contains elements of S in
+// increasing order of their degree, followed by elements of V - S in
+// increasing order of degree. The return value of the function is the
+// cardinality of S.
+template <typename Vertex>
+int IndependentSetOrdering(const Graph<Vertex>& graph,
+                           std::vector<Vertex>* ordering) {
+  const HashSet<Vertex>& vertices = graph.vertices();
+  const int num_vertices = vertices.size();
+
+  CHECK_NOTNULL(ordering);
+  ordering->clear();
+  ordering->reserve(num_vertices);
+
+  // Colors for labeling the graph during the BFS.
+  const char kWhite = 0;
+  const char kGrey = 1;
+  const char kBlack = 2;
+
+  // Mark all vertices white.
+  HashMap<Vertex, char> vertex_color;
+  std::vector<Vertex> vertex_queue;
+  for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+       it != vertices.end();
+       ++it) {
+    vertex_color[*it] = kWhite;
+    vertex_queue.push_back(*it);
+  }
+
+
+  std::sort(vertex_queue.begin(), vertex_queue.end(),
+            VertexTotalOrdering<Vertex>(graph));
+
+  // Iterate over vertex_queue. Pick the first white vertex, add it
+  // to the independent set. Mark it black and its neighbors grey.
+  for (int i = 0; i < vertex_queue.size(); ++i) {
+    const Vertex& vertex = vertex_queue[i];
+    if (vertex_color[vertex] != kWhite) {
+      continue;
+    }
+
+    ordering->push_back(vertex);
+    vertex_color[vertex] = kBlack;
+    const HashSet<Vertex>& neighbors = graph.Neighbors(vertex);
+    for (typename HashSet<Vertex>::const_iterator it = neighbors.begin();
+         it != neighbors.end();
+         ++it) {
+      vertex_color[*it] = kGrey;
+    }
+  }
+
+  int independent_set_size = ordering->size();
+
+  // Iterate over the vertices and add all the grey vertices to the
+  // ordering. At this stage there should only be black or grey
+  // vertices in the graph.
+  for (typename std::vector<Vertex>::const_iterator it = vertex_queue.begin();
+       it != vertex_queue.end();
+       ++it) {
+    const Vertex vertex = *it;
+    DCHECK(vertex_color[vertex] != kWhite);
+    if (vertex_color[vertex] != kBlack) {
+      ordering->push_back(vertex);
+    }
+  }
+
+  CHECK_EQ(ordering->size(), num_vertices);
+  return independent_set_size;
+}
+
+// Same as above with one important difference. The ordering parameter
+// is an input/output parameter which carries an initial ordering of
+// the vertices of the graph. The greedy independent set algorithm
+// starts by sorting the vertices in increasing order of their
+// degree. The input ordering is used to stabilize this sort, i.e., if
+// two vertices have the same degree then they are ordered in the same
+// order in which they occur in "ordering".
+//
+// This is useful in eliminating non-determinism from the Schur
+// ordering algorithm over all.
+template <typename Vertex>
+int StableIndependentSetOrdering(const Graph<Vertex>& graph,
+                                 std::vector<Vertex>* ordering) {
+  CHECK_NOTNULL(ordering);
+  const HashSet<Vertex>& vertices = graph.vertices();
+  const int num_vertices = vertices.size();
+  CHECK_EQ(vertices.size(), ordering->size());
+
+  // Colors for labeling the graph during the BFS.
+  const char kWhite = 0;
+  const char kGrey = 1;
+  const char kBlack = 2;
+
+  std::vector<Vertex> vertex_queue(*ordering);
+
+  std::stable_sort(vertex_queue.begin(), vertex_queue.end(),
+                  VertexDegreeLessThan<Vertex>(graph));
+
+  // Mark all vertices white.
+  HashMap<Vertex, char> vertex_color;
+  for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+       it != vertices.end();
+       ++it) {
+    vertex_color[*it] = kWhite;
+  }
+
+  ordering->clear();
+  ordering->reserve(num_vertices);
+  // Iterate over vertex_queue. Pick the first white vertex, add it
+  // to the independent set. Mark it black and its neighbors grey.
+  for (int i = 0; i < vertex_queue.size(); ++i) {
+    const Vertex& vertex = vertex_queue[i];
+    if (vertex_color[vertex] != kWhite) {
+      continue;
+    }
+
+    ordering->push_back(vertex);
+    vertex_color[vertex] = kBlack;
+    const HashSet<Vertex>& neighbors = graph.Neighbors(vertex);
+    for (typename HashSet<Vertex>::const_iterator it = neighbors.begin();
+         it != neighbors.end();
+         ++it) {
+      vertex_color[*it] = kGrey;
+    }
+  }
+
+  int independent_set_size = ordering->size();
+
+  // Iterate over the vertices and add all the grey vertices to the
+  // ordering. At this stage there should only be black or grey
+  // vertices in the graph.
+  for (typename std::vector<Vertex>::const_iterator it = vertex_queue.begin();
+       it != vertex_queue.end();
+       ++it) {
+    const Vertex vertex = *it;
+    DCHECK(vertex_color[vertex] != kWhite);
+    if (vertex_color[vertex] != kBlack) {
+      ordering->push_back(vertex);
+    }
+  }
+
+  CHECK_EQ(ordering->size(), num_vertices);
+  return independent_set_size;
+}
+
+// Find the connected component for a vertex implemented using the
+// find and update operation for disjoint-set. Recursively traverse
+// the disjoint set structure till you reach a vertex whose connected
+// component has the same id as the vertex itself. Along the way
+// update the connected components of all the vertices. This updating
+// is what gives this data structure its efficiency.
+template <typename Vertex>
+Vertex FindConnectedComponent(const Vertex& vertex,
+                              HashMap<Vertex, Vertex>* union_find) {
+  typename HashMap<Vertex, Vertex>::iterator it = union_find->find(vertex);
+  DCHECK(it != union_find->end());
+  if (it->second != vertex) {
+    it->second = FindConnectedComponent(it->second, union_find);
+  }
+
+  return it->second;
+}
+
+// Compute a degree two constrained Maximum Spanning Tree/forest of
+// the input graph. Caller owns the result.
+//
+// Finding degree 2 spanning tree of a graph is not always
+// possible. For example a star graph, i.e. a graph with n-nodes
+// where one node is connected to the other n-1 nodes does not have
+// a any spanning trees of degree less than n-1.Even if such a tree
+// exists, finding such a tree is NP-Hard.
+
+// We get around both of these problems by using a greedy, degree
+// constrained variant of Kruskal's algorithm. We start with a graph
+// G_T with the same vertex set V as the input graph G(V,E) but an
+// empty edge set. We then iterate over the edges of G in decreasing
+// order of weight, adding them to G_T if doing so does not create a
+// cycle in G_T} and the degree of all the vertices in G_T remains
+// bounded by two. This O(|E|) algorithm results in a degree-2
+// spanning forest, or a collection of linear paths that span the
+// graph G.
+template <typename Vertex>
+WeightedGraph<Vertex>*
+Degree2MaximumSpanningForest(const WeightedGraph<Vertex>& graph) {
+  // Array of edges sorted in decreasing order of their weights.
+  std::vector<std::pair<double, std::pair<Vertex, Vertex> > > weighted_edges;
+  WeightedGraph<Vertex>* forest = new WeightedGraph<Vertex>();
+
+  // Disjoint-set to keep track of the connected components in the
+  // maximum spanning tree.
+  HashMap<Vertex, Vertex> disjoint_set;
+
+  // Sort of the edges in the graph in decreasing order of their
+  // weight. Also add the vertices of the graph to the Maximum
+  // Spanning Tree graph and set each vertex to be its own connected
+  // component in the disjoint_set structure.
+  const HashSet<Vertex>& vertices = graph.vertices();
+  for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+       it != vertices.end();
+       ++it) {
+    const Vertex vertex1 = *it;
+    forest->AddVertex(vertex1, graph.VertexWeight(vertex1));
+    disjoint_set[vertex1] = vertex1;
+
+    const HashSet<Vertex>& neighbors = graph.Neighbors(vertex1);
+    for (typename HashSet<Vertex>::const_iterator it2 = neighbors.begin();
+         it2 != neighbors.end();
+         ++it2) {
+      const Vertex vertex2 = *it2;
+      if (vertex1 >= vertex2) {
+        continue;
+      }
+      const double weight = graph.EdgeWeight(vertex1, vertex2);
+      weighted_edges.push_back(
+          std::make_pair(weight, std::make_pair(vertex1, vertex2)));
+    }
+  }
+
+  // The elements of this vector, are pairs<edge_weight,
+  // edge>. Sorting it using the reverse iterators gives us the edges
+  // in decreasing order of edges.
+  std::sort(weighted_edges.rbegin(), weighted_edges.rend());
+
+  // Greedily add edges to the spanning tree/forest as long as they do
+  // not violate the degree/cycle constraint.
+  for (int i =0; i < weighted_edges.size(); ++i) {
+    const std::pair<Vertex, Vertex>& edge = weighted_edges[i].second;
+    const Vertex vertex1 = edge.first;
+    const Vertex vertex2 = edge.second;
+
+    // Check if either of the vertices are of degree 2 already, in
+    // which case adding this edge will violate the degree 2
+    // constraint.
+    if ((forest->Neighbors(vertex1).size() == 2) ||
+        (forest->Neighbors(vertex2).size() == 2)) {
+      continue;
+    }
+
+    // Find the id of the connected component to which the two
+    // vertices belong to. If the id is the same, it means that the
+    // two of them are already connected to each other via some other
+    // vertex, and adding this edge will create a cycle.
+    Vertex root1 = FindConnectedComponent(vertex1, &disjoint_set);
+    Vertex root2 = FindConnectedComponent(vertex2, &disjoint_set);
+
+    if (root1 == root2) {
+      continue;
+    }
+
+    // This edge can be added, add an edge in either direction with
+    // the same weight as the original graph.
+    const double edge_weight = graph.EdgeWeight(vertex1, vertex2);
+    forest->AddEdge(vertex1, vertex2, edge_weight);
+    forest->AddEdge(vertex2, vertex1, edge_weight);
+
+    // Connected the two connected components by updating the
+    // disjoint_set structure. Always connect the connected component
+    // with the greater index with the connected component with the
+    // smaller index. This should ensure shallower trees, for quicker
+    // lookup.
+    if (root2 < root1) {
+      std::swap(root1, root2);
+    }
+
+    disjoint_set[root2] = root1;
+  }
+  return forest;
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_GRAPH_ALGORITHMS_H_
diff --git a/internal/ceres/graph_algorithms_test.cc b/internal/ceres/graph_algorithms_test.cc
new file mode 100644
index 0000000..1071488
--- /dev/null
+++ b/internal/ceres/graph_algorithms_test.cc
@@ -0,0 +1,246 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/graph_algorithms.h"
+
+#include <algorithm>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+TEST(IndependentSetOrdering, Chain) {
+  Graph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddVertex(2);
+  graph.AddVertex(3);
+  graph.AddVertex(4);
+
+  graph.AddEdge(0, 1);
+  graph.AddEdge(1, 2);
+  graph.AddEdge(2, 3);
+  graph.AddEdge(3, 4);
+
+  // 0-1-2-3-4
+  // 0, 2, 4 should be in the independent set.
+  vector<int> ordering;
+  int independent_set_size = IndependentSetOrdering(graph, &ordering);
+
+  sort(ordering.begin(), ordering.begin() + 3);
+  sort(ordering.begin() + 3, ordering.end());
+
+  EXPECT_EQ(independent_set_size, 3);
+  EXPECT_EQ(ordering.size(), 5);
+  EXPECT_EQ(ordering[0], 0);
+  EXPECT_EQ(ordering[1], 2);
+  EXPECT_EQ(ordering[2], 4);
+  EXPECT_EQ(ordering[3], 1);
+  EXPECT_EQ(ordering[4], 3);
+}
+
+TEST(IndependentSetOrdering, Star) {
+  Graph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddVertex(2);
+  graph.AddVertex(3);
+  graph.AddVertex(4);
+
+  graph.AddEdge(0, 1);
+  graph.AddEdge(0, 2);
+  graph.AddEdge(0, 3);
+  graph.AddEdge(0, 4);
+
+  //      1
+  //      |
+  //    4-0-2
+  //      |
+  //      3
+  // 1, 2, 3, 4 should be in the independent set.
+  vector<int> ordering;
+  int independent_set_size = IndependentSetOrdering(graph, &ordering);
+  EXPECT_EQ(independent_set_size, 4);
+  EXPECT_EQ(ordering.size(), 5);
+  EXPECT_EQ(ordering[4], 0);
+  sort(ordering.begin(), ordering.begin() + 4);
+  EXPECT_EQ(ordering[0], 1);
+  EXPECT_EQ(ordering[1], 2);
+  EXPECT_EQ(ordering[2], 3);
+  EXPECT_EQ(ordering[3], 4);
+}
+
+TEST(Degree2MaximumSpanningForest, PreserveWeights) {
+  WeightedGraph<int> graph;
+  graph.AddVertex(0, 1.0);
+  graph.AddVertex(1, 2.0);
+  graph.AddEdge(0, 1, 0.5);
+  graph.AddEdge(1, 0, 0.5);
+
+  scoped_ptr<WeightedGraph<int> > forest(Degree2MaximumSpanningForest(graph));
+
+  const HashSet<int>& vertices = forest->vertices();
+  EXPECT_EQ(vertices.size(), 2);
+  EXPECT_EQ(forest->VertexWeight(0), 1.0);
+  EXPECT_EQ(forest->VertexWeight(1), 2.0);
+  EXPECT_EQ(forest->Neighbors(0).size(), 1.0);
+  EXPECT_EQ(forest->EdgeWeight(0, 1), 0.5);
+}
+
+TEST(Degree2MaximumSpanningForest, StarGraph) {
+  WeightedGraph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddVertex(2);
+  graph.AddVertex(3);
+  graph.AddVertex(4);
+
+  graph.AddEdge(0, 1, 1.0);
+  graph.AddEdge(0, 2, 2.0);
+  graph.AddEdge(0, 3, 3.0);
+  graph.AddEdge(0, 4, 4.0);
+
+  scoped_ptr<WeightedGraph<int> > forest(Degree2MaximumSpanningForest(graph));
+  const HashSet<int>& vertices = forest->vertices();
+  EXPECT_EQ(vertices.size(), 5);
+
+  {
+    const HashSet<int>& neighbors = forest->Neighbors(0);
+    EXPECT_EQ(neighbors.size(), 2);
+    EXPECT_TRUE(neighbors.find(4) != neighbors.end());
+    EXPECT_TRUE(neighbors.find(3) != neighbors.end());
+  }
+
+  {
+    const HashSet<int>& neighbors = forest->Neighbors(3);
+    EXPECT_EQ(neighbors.size(), 1);
+    EXPECT_TRUE(neighbors.find(0) != neighbors.end());
+  }
+
+  {
+    const HashSet<int>& neighbors = forest->Neighbors(4);
+    EXPECT_EQ(neighbors.size(), 1);
+    EXPECT_TRUE(neighbors.find(0) != neighbors.end());
+  }
+
+  {
+    const HashSet<int>& neighbors = forest->Neighbors(1);
+    EXPECT_EQ(neighbors.size(), 0);
+  }
+
+  {
+    const HashSet<int>& neighbors = forest->Neighbors(2);
+    EXPECT_EQ(neighbors.size(), 0);
+  }
+}
+
+TEST(VertexTotalOrdering, TotalOrdering) {
+  Graph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddVertex(2);
+  graph.AddVertex(3);
+
+  // 0-1
+  //   |
+  // 2-3
+  // 0,1 and 2 have degree 1 and 3 has degree 2.
+  graph.AddEdge(0, 1);
+  graph.AddEdge(2, 3);
+  VertexTotalOrdering<int> less_than(graph);
+
+  for (int i = 0; i < 4; ++i) {
+    EXPECT_FALSE(less_than(i, i)) << "Failing vertex: " << i;
+    for (int j = 0; j < 4; ++j) {
+      if (i != j) {
+        EXPECT_TRUE(less_than(i, j) ^ less_than(j, i))
+            << "Failing vertex pair: " << i << " " << j;
+      }
+    }
+  }
+
+  for (int i = 0; i < 3; ++i) {
+    EXPECT_TRUE(less_than(i, 3));
+    EXPECT_FALSE(less_than(3, i));
+  }
+}
+
+
+TEST(StableIndependentSet, BreakTies) {
+  Graph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddVertex(2);
+  graph.AddVertex(3);
+
+  graph.AddEdge(0, 1);
+  graph.AddEdge(0, 2);
+  graph.AddEdge(0, 3);
+  graph.AddEdge(1, 2);
+  graph.AddEdge(1, 3);
+  graph.AddEdge(2, 3);
+
+  // Since this is a completely connected graph, the independent set
+  // contains exactly one vertex. StableIndependentSetOrdering
+  // guarantees that it will always be the first vertex in the
+  // ordering vector.
+  {
+    vector<int> ordering;
+    ordering.push_back(0);
+    ordering.push_back(1);
+    ordering.push_back(2);
+    ordering.push_back(3);
+    const int independent_set_size =
+        StableIndependentSetOrdering(graph, &ordering);
+    EXPECT_EQ(independent_set_size, 1);
+    EXPECT_EQ(ordering[0], 0);
+  }
+
+  {
+    vector<int> ordering;
+    ordering.push_back(1);
+    ordering.push_back(0);
+    ordering.push_back(2);
+    ordering.push_back(3);
+    const int independent_set_size =
+        StableIndependentSetOrdering(graph, &ordering);
+    EXPECT_EQ(independent_set_size, 1);
+    EXPECT_EQ(ordering[0], 1);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/graph_test.cc b/internal/ceres/graph_test.cc
new file mode 100644
index 0000000..e9d4e1c
--- /dev/null
+++ b/internal/ceres/graph_test.cc
@@ -0,0 +1,152 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/graph.h"
+
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(Graph, EmptyGraph) {
+  Graph<int> graph;
+  EXPECT_EQ(graph.vertices().size(), 0);
+}
+
+TEST(Graph, AddVertexAndEdge) {
+  Graph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddEdge(0, 1);
+
+  const HashSet<int>& vertices = graph.vertices();
+  EXPECT_EQ(vertices.size(), 2);
+  EXPECT_EQ(graph.Neighbors(0).size(), 1);
+  EXPECT_EQ(graph.Neighbors(1).size(), 1);
+}
+
+TEST(Graph, AddVertexIdempotence) {
+  Graph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddEdge(0, 1);
+
+  const HashSet<int>& vertices = graph.vertices();
+
+  EXPECT_EQ(vertices.size(), 2);
+
+  // Try adding the vertex again with a new weight.
+  graph.AddVertex(0);
+  EXPECT_EQ(vertices.size(), 2);
+
+  // Rest of the graph remains the same.
+  EXPECT_EQ(graph.Neighbors(0).size(), 1);
+  EXPECT_EQ(graph.Neighbors(1).size(), 1);
+}
+
+TEST(Graph, DieOnNonExistentVertex) {
+  Graph<int> graph;
+  graph.AddVertex(0);
+  graph.AddVertex(1);
+  graph.AddEdge(0, 1);
+
+  EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found");
+}
+
+TEST(WeightedGraph, EmptyGraph) {
+  WeightedGraph<int> graph;
+  EXPECT_EQ(graph.vertices().size(), 0);
+}
+
+TEST(WeightedGraph, AddVertexAndEdge) {
+  WeightedGraph<int> graph;
+  graph.AddVertex(0, 1.0);
+  graph.AddVertex(1, 2.0);
+  graph.AddEdge(0, 1, 0.5);
+
+  const HashSet<int>& vertices = graph.vertices();
+  EXPECT_EQ(vertices.size(), 2);
+  EXPECT_EQ(graph.VertexWeight(0), 1.0);
+  EXPECT_EQ(graph.VertexWeight(1), 2.0);
+  EXPECT_EQ(graph.Neighbors(0).size(), 1);
+  EXPECT_EQ(graph.Neighbors(1).size(), 1);
+  EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
+  EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
+}
+
+TEST(WeightedGraph, AddVertexIdempotence) {
+  WeightedGraph<int> graph;
+  graph.AddVertex(0, 1.0);
+  graph.AddVertex(1, 2.0);
+  graph.AddEdge(0, 1, 0.5);
+
+  const HashSet<int>& vertices = graph.vertices();
+
+  EXPECT_EQ(vertices.size(), 2);
+
+  // Try adding the vertex again with a new weight.
+  graph.AddVertex(0, 3.0);
+  EXPECT_EQ(vertices.size(), 2);
+
+  // The vertex weight is reset.
+  EXPECT_EQ(graph.VertexWeight(0), 3.0);
+
+  // Rest of the graph remains the same.
+  EXPECT_EQ(graph.VertexWeight(1), 2.0);
+  EXPECT_EQ(graph.Neighbors(0).size(), 1);
+  EXPECT_EQ(graph.Neighbors(1).size(), 1);
+  EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
+  EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
+}
+
+TEST(WeightedGraph, DieOnNonExistentVertex) {
+  WeightedGraph<int> graph;
+  graph.AddVertex(0, 1.0);
+  graph.AddVertex(1, 2.0);
+  graph.AddEdge(0, 1, 0.5);
+
+  EXPECT_DEATH_IF_SUPPORTED(graph.VertexWeight(2), "key not found");
+  EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found");
+}
+
+TEST(WeightedGraph, NonExistentEdge) {
+  WeightedGraph<int> graph;
+  graph.AddVertex(0, 1.0);
+  graph.AddVertex(1, 2.0);
+  graph.AddEdge(0, 1, 0.5);
+
+  // Default value for non-existent edges is 0.
+  EXPECT_EQ(graph.EdgeWeight(2, 3), 0);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/gtest/gtest.h b/internal/ceres/gtest/gtest.h
new file mode 100644
index 0000000..aea1f51
--- /dev/null
+++ b/internal/ceres/gtest/gtest.h
@@ -0,0 +1,21202 @@
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the public API for Google Test.  It should be
+// included by any test program that uses Google Test.
+//
+// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
+// leave some internal implementation details in this header file.
+// They are clearly marked by comments like this:
+//
+//   // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+//
+// Such code is NOT meant to be used by a user directly, and is subject
+// to CHANGE WITHOUT NOTICE.  Therefore DO NOT DEPEND ON IT in a user
+// program!
+//
+// Acknowledgment: Google Test borrowed the idea of automatic test
+// registration from Barthelemy Dagenais' (barthelemy@prologique.com)
+// easyUnit framework.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_H_
+
+#include <limits>
+#include <ostream>
+#include <vector>
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file declares functions and macros used internally by
+// Google Test.  They are subject to change without notice.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan)
+//
+// Low-level types and utilities for porting Google Test to various
+// platforms.  All macros ending with _ and symbols defined in an
+// internal namespace are subject to change without notice.  Code
+// outside Google Test MUST NOT USE THEM DIRECTLY.  Macros that don't
+// end with _ are part of Google Test's public API and can be used by
+// code outside Google Test.
+//
+// This file is fundamental to Google Test.  All other Google Test source
+// files are expected to #include this.  Therefore, it cannot #include
+// any other Google Test header.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+
+// Environment-describing macros
+// -----------------------------
+//
+// Google Test can be used in many different environments.  Macros in
+// this section tell Google Test what kind of environment it is being
+// used in, such that Google Test can provide environment-specific
+// features and implementations.
+//
+// Google Test tries to automatically detect the properties of its
+// environment, so users usually don't need to worry about these
+// macros.  However, the automatic detection is not perfect.
+// Sometimes it's necessary for a user to define some of the following
+// macros in the build script to override Google Test's decisions.
+//
+// If the user doesn't define a macro in the list, Google Test will
+// provide a default definition.  After this header is #included, all
+// macros in this list will be defined to either 1 or 0.
+//
+// Notes to maintainers:
+//   - Each macro here is a user-tweakable knob; do not grow the list
+//     lightly.
+//   - Use #if to key off these macros.  Don't use #ifdef or "#if
+//     defined(...)", which will not work as these macros are ALWAYS
+//     defined.
+//
+//   GTEST_HAS_CLONE          - Define it to 1/0 to indicate that clone(2)
+//                              is/isn't available.
+//   GTEST_HAS_EXCEPTIONS     - Define it to 1/0 to indicate that exceptions
+//                              are enabled.
+//   GTEST_HAS_GLOBAL_STRING  - Define it to 1/0 to indicate that ::string
+//                              is/isn't available (some systems define
+//                              ::string, which is different to std::string).
+//   GTEST_HAS_GLOBAL_WSTRING - Define it to 1/0 to indicate that ::string
+//                              is/isn't available (some systems define
+//                              ::wstring, which is different to std::wstring).
+//   GTEST_HAS_POSIX_RE       - Define it to 1/0 to indicate that POSIX regular
+//                              expressions are/aren't available.
+//   GTEST_HAS_PTHREAD        - Define it to 1/0 to indicate that <pthread.h>
+//                              is/isn't available.
+//   GTEST_HAS_RTTI           - Define it to 1/0 to indicate that RTTI is/isn't
+//                              enabled.
+//   GTEST_HAS_STD_WSTRING    - Define it to 1/0 to indicate that
+//                              std::wstring does/doesn't work (Google Test can
+//                              be used where std::wstring is unavailable).
+//   GTEST_HAS_TR1_TUPLE      - Define it to 1/0 to indicate tr1::tuple
+//                              is/isn't available.
+//   GTEST_HAS_SEH            - Define it to 1/0 to indicate whether the
+//                              compiler supports Microsoft's "Structured
+//                              Exception Handling".
+//   GTEST_HAS_STREAM_REDIRECTION
+//                            - Define it to 1/0 to indicate whether the
+//                              platform supports I/O stream redirection using
+//                              dup() and dup2().
+//   GTEST_USE_OWN_TR1_TUPLE  - Define it to 1/0 to indicate whether Google
+//                              Test's own tr1 tuple implementation should be
+//                              used.  Unused when the user sets
+//                              GTEST_HAS_TR1_TUPLE to 0.
+//   GTEST_LANG_CXX11         - Define it to 1/0 to indicate that Google Test
+//                              is building in C++11/C++98 mode.
+//   GTEST_LINKED_AS_SHARED_LIBRARY
+//                            - Define to 1 when compiling tests that use
+//                              Google Test as a shared library (known as
+//                              DLL on Windows).
+//   GTEST_CREATE_SHARED_LIBRARY
+//                            - Define to 1 when compiling Google Test itself
+//                              as a shared library.
+
+// Platform-indicating macros
+// --------------------------
+//
+// Macros indicating the platform on which Google Test is being used
+// (a macro is defined to 1 if compiled on the given platform;
+// otherwise UNDEFINED -- it's never defined to 0.).  Google Test
+// defines these macros automatically.  Code outside Google Test MUST
+// NOT define them.
+//
+//   GTEST_OS_AIX      - IBM AIX
+//   GTEST_OS_CYGWIN   - Cygwin
+//   GTEST_OS_FREEBSD  - FreeBSD
+//   GTEST_OS_HPUX     - HP-UX
+//   GTEST_OS_LINUX    - Linux
+//     GTEST_OS_LINUX_ANDROID - Google Android
+//   GTEST_OS_MAC      - Mac OS X
+//     GTEST_OS_IOS    - iOS
+//   GTEST_OS_NACL     - Google Native Client (NaCl)
+//   GTEST_OS_OPENBSD  - OpenBSD
+//   GTEST_OS_QNX      - QNX
+//   GTEST_OS_SOLARIS  - Sun Solaris
+//   GTEST_OS_SYMBIAN  - Symbian
+//   GTEST_OS_WINDOWS  - Windows (Desktop, MinGW, or Mobile)
+//     GTEST_OS_WINDOWS_DESKTOP  - Windows Desktop
+//     GTEST_OS_WINDOWS_MINGW    - MinGW
+//     GTEST_OS_WINDOWS_MOBILE   - Windows Mobile
+//     GTEST_OS_WINDOWS_PHONE    - Windows Phone
+//     GTEST_OS_WINDOWS_RT       - Windows Store App/WinRT
+//   GTEST_OS_ZOS      - z/OS
+//
+// Among the platforms, Cygwin, Linux, Max OS X, and Windows have the
+// most stable support.  Since core members of the Google Test project
+// don't have access to other platforms, support for them may be less
+// stable.  If you notice any problems on your platform, please notify
+// googletestframework@googlegroups.com (patches for fixing them are
+// even more welcome!).
+//
+// It is possible that none of the GTEST_OS_* macros are defined.
+
+// Feature-indicating macros
+// -------------------------
+//
+// Macros indicating which Google Test features are available (a macro
+// is defined to 1 if the corresponding feature is supported;
+// otherwise UNDEFINED -- it's never defined to 0.).  Google Test
+// defines these macros automatically.  Code outside Google Test MUST
+// NOT define them.
+//
+// These macros are public so that portable tests can be written.
+// Such tests typically surround code using a feature with an #if
+// which controls that code.  For example:
+//
+// #if GTEST_HAS_DEATH_TEST
+//   EXPECT_DEATH(DoSomethingDeadly());
+// #endif
+//
+//   GTEST_HAS_COMBINE      - the Combine() function (for value-parameterized
+//                            tests)
+//   GTEST_HAS_DEATH_TEST   - death tests
+//   GTEST_HAS_PARAM_TEST   - value-parameterized tests
+//   GTEST_HAS_TYPED_TEST   - typed tests
+//   GTEST_HAS_TYPED_TEST_P - type-parameterized tests
+//   GTEST_IS_THREADSAFE    - Google Test is thread-safe.
+//   GTEST_USES_POSIX_RE    - enhanced POSIX regex is used. Do not confuse with
+//                            GTEST_HAS_POSIX_RE (see above) which users can
+//                            define themselves.
+//   GTEST_USES_SIMPLE_RE   - our own simple regex is used;
+//                            the above two are mutually exclusive.
+//   GTEST_CAN_COMPARE_NULL - accepts untyped NULL in EXPECT_EQ().
+
+// Misc public macros
+// ------------------
+//
+//   GTEST_FLAG(flag_name)  - references the variable corresponding to
+//                            the given Google Test flag.
+
+// Internal utilities
+// ------------------
+//
+// The following macros and utilities are for Google Test's INTERNAL
+// use only.  Code outside Google Test MUST NOT USE THEM DIRECTLY.
+//
+// Macros for basic C++ coding:
+//   GTEST_AMBIGUOUS_ELSE_BLOCKER_ - for disabling a gcc warning.
+//   GTEST_ATTRIBUTE_UNUSED_  - declares that a class' instances or a
+//                              variable don't have to be used.
+//   GTEST_DISALLOW_ASSIGN_   - disables operator=.
+//   GTEST_DISALLOW_COPY_AND_ASSIGN_ - disables copy ctor and operator=.
+//   GTEST_MUST_USE_RESULT_   - declares that a function's result must be used.
+//   GTEST_INTENTIONAL_CONST_COND_PUSH_ - start code section where MSVC C4127 is
+//                                        suppressed (constant conditional).
+//   GTEST_INTENTIONAL_CONST_COND_POP_  - finish code section where MSVC C4127
+//                                        is suppressed.
+//
+// C++11 feature wrappers:
+//
+//   testing::internal::move  - portability wrapper for std::move.
+//
+// Synchronization:
+//   Mutex, MutexLock, ThreadLocal, GetThreadCount()
+//                            - synchronization primitives.
+//
+// Template meta programming:
+//   is_pointer     - as in TR1; needed on Symbian and IBM XL C/C++ only.
+//   IteratorTraits - partial implementation of std::iterator_traits, which
+//                    is not available in libCstd when compiled with Sun C++.
+//
+// Smart pointers:
+//   scoped_ptr     - as in TR2.
+//
+// Regular expressions:
+//   RE             - a simple regular expression class using the POSIX
+//                    Extended Regular Expression syntax on UNIX-like
+//                    platforms, or a reduced regular exception syntax on
+//                    other platforms, including Windows.
+//
+// Logging:
+//   GTEST_LOG_()   - logs messages at the specified severity level.
+//   LogToStderr()  - directs all log messages to stderr.
+//   FlushInfoLog() - flushes informational log messages.
+//
+// Stdout and stderr capturing:
+//   CaptureStdout()     - starts capturing stdout.
+//   GetCapturedStdout() - stops capturing stdout and returns the captured
+//                         string.
+//   CaptureStderr()     - starts capturing stderr.
+//   GetCapturedStderr() - stops capturing stderr and returns the captured
+//                         string.
+//
+// Integer types:
+//   TypeWithSize   - maps an integer to a int type.
+//   Int32, UInt32, Int64, UInt64, TimeInMillis
+//                  - integers of known sizes.
+//   BiggestInt     - the biggest signed integer type.
+//
+// Command-line utilities:
+//   GTEST_DECLARE_*()  - declares a flag.
+//   GTEST_DEFINE_*()   - defines a flag.
+//   GetInjectableArgvs() - returns the command line as a vector of strings.
+//
+// Environment variable utilities:
+//   GetEnv()             - gets the value of an environment variable.
+//   BoolFromGTestEnv()   - parses a bool environment variable.
+//   Int32FromGTestEnv()  - parses an Int32 environment variable.
+//   StringFromGTestEnv() - parses a string environment variable.
+
+#include <ctype.h>   // for isspace, etc
+#include <stddef.h>  // for ptrdiff_t
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#ifndef _WIN32_WCE
+# include <sys/types.h>
+# include <sys/stat.h>
+#endif  // !_WIN32_WCE
+
+#if defined __APPLE__
+# include <AvailabilityMacros.h>
+# include <TargetConditionals.h>
+#endif
+
+#include <algorithm>  // NOLINT
+#include <iostream>  // NOLINT
+#include <sstream>  // NOLINT
+#include <string>  // NOLINT
+#include <utility>
+#include <vector>  // NOLINT
+
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the GTEST_OS_* macro.
+// It is separate from gtest-port.h so that custom/gtest-port.h can include it.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_ARCH_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_ARCH_H_
+
+// Determines the platform on which Google Test is compiled.
+#ifdef __CYGWIN__
+# define GTEST_OS_CYGWIN 1
+#elif defined __SYMBIAN32__
+# define GTEST_OS_SYMBIAN 1
+#elif defined _WIN32
+# define GTEST_OS_WINDOWS 1
+# ifdef _WIN32_WCE
+#  define GTEST_OS_WINDOWS_MOBILE 1
+# elif defined(__MINGW__) || defined(__MINGW32__)
+#  define GTEST_OS_WINDOWS_MINGW 1
+# elif defined(WINAPI_FAMILY)
+#  include <winapifamily.h>
+#  if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
+#   define GTEST_OS_WINDOWS_DESKTOP 1
+#  elif WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_PHONE_APP)
+#   define GTEST_OS_WINDOWS_PHONE 1
+#  elif WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP)
+#   define GTEST_OS_WINDOWS_RT 1
+#  else
+    // WINAPI_FAMILY defined but no known partition matched.
+    // Default to desktop.
+#   define GTEST_OS_WINDOWS_DESKTOP 1
+#  endif
+# else
+#  define GTEST_OS_WINDOWS_DESKTOP 1
+# endif  // _WIN32_WCE
+#elif defined __APPLE__
+# define GTEST_OS_MAC 1
+# if TARGET_OS_IPHONE
+#  define GTEST_OS_IOS 1
+# endif
+#elif defined __FreeBSD__
+# define GTEST_OS_FREEBSD 1
+#elif defined __linux__
+# define GTEST_OS_LINUX 1
+# if defined __ANDROID__
+#  define GTEST_OS_LINUX_ANDROID 1
+# endif
+#elif defined __MVS__
+# define GTEST_OS_ZOS 1
+#elif defined(__sun) && defined(__SVR4)
+# define GTEST_OS_SOLARIS 1
+#elif defined(_AIX)
+# define GTEST_OS_AIX 1
+#elif defined(__hpux)
+# define GTEST_OS_HPUX 1
+#elif defined __native_client__
+# define GTEST_OS_NACL 1
+#elif defined __OpenBSD__
+# define GTEST_OS_OPENBSD 1
+#elif defined __QNX__
+# define GTEST_OS_QNX 1
+#endif  // __CYGWIN__
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_ARCH_H_
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Injection point for custom user configurations.
+// The following macros can be defined:
+//
+//   Flag related macros:
+//     GTEST_FLAG(flag_name)
+//     GTEST_USE_OWN_FLAGFILE_FLAG_  - Define to 0 when the system provides its
+//                                     own flagfile flag parsing.
+//     GTEST_DECLARE_bool_(name)
+//     GTEST_DECLARE_int32_(name)
+//     GTEST_DECLARE_string_(name)
+//     GTEST_DEFINE_bool_(name, default_val, doc)
+//     GTEST_DEFINE_int32_(name, default_val, doc)
+//     GTEST_DEFINE_string_(name, default_val, doc)
+//
+//   Test filtering:
+//     GTEST_TEST_FILTER_ENV_VAR_ - The name of an environment variable that
+//                                  will be used if --GTEST_FLAG(test_filter)
+//                                  is not provided.
+//
+//   Logging:
+//     GTEST_LOG_(severity)
+//     GTEST_CHECK_(condition)
+//     Functions LogToStderr() and FlushInfoLog() have to be provided too.
+//
+//   Threading:
+//     GTEST_HAS_NOTIFICATION_ - Enabled if Notification is already provided.
+//     GTEST_HAS_MUTEX_AND_THREAD_LOCAL_ - Enabled if Mutex and ThreadLocal are
+//                                         already provided.
+//     Must also provide GTEST_DECLARE_STATIC_MUTEX_(mutex) and
+//     GTEST_DEFINE_STATIC_MUTEX_(mutex)
+//
+//     GTEST_EXCLUSIVE_LOCK_REQUIRED_(locks)
+//     GTEST_LOCK_EXCLUDED_(locks)
+//
+// ** Custom implementation starts here **
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PORT_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PORT_H_
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PORT_H_
+
+#if !defined(GTEST_DEV_EMAIL_)
+# define GTEST_DEV_EMAIL_ "googletestframework@@googlegroups.com"
+# define GTEST_FLAG_PREFIX_ "gtest_"
+# define GTEST_FLAG_PREFIX_DASH_ "gtest-"
+# define GTEST_FLAG_PREFIX_UPPER_ "GTEST_"
+# define GTEST_NAME_ "Google Test"
+# define GTEST_PROJECT_URL_ "https://github.com/google/googletest/"
+#endif  // !defined(GTEST_DEV_EMAIL_)
+
+#if !defined(GTEST_INIT_GOOGLE_TEST_NAME_)
+# define GTEST_INIT_GOOGLE_TEST_NAME_ "testing::InitGoogleTest"
+#endif  // !defined(GTEST_INIT_GOOGLE_TEST_NAME_)
+
+// Determines the version of gcc that is used to compile this.
+#ifdef __GNUC__
+// 40302 means version 4.3.2.
+# define GTEST_GCC_VER_ \
+    (__GNUC__*10000 + __GNUC_MINOR__*100 + __GNUC_PATCHLEVEL__)
+#endif  // __GNUC__
+
+// Macros for disabling Microsoft Visual C++ warnings.
+//
+//   GTEST_DISABLE_MSC_WARNINGS_PUSH_(4800 4385)
+//   /* code that triggers warnings C4800 and C4385 */
+//   GTEST_DISABLE_MSC_WARNINGS_POP_()
+#if _MSC_VER >= 1500
+# define GTEST_DISABLE_MSC_WARNINGS_PUSH_(warnings) \
+    __pragma(warning(push))                        \
+    __pragma(warning(disable: warnings))
+# define GTEST_DISABLE_MSC_WARNINGS_POP_()          \
+    __pragma(warning(pop))
+#else
+// Older versions of MSVC don't have __pragma.
+# define GTEST_DISABLE_MSC_WARNINGS_PUSH_(warnings)
+# define GTEST_DISABLE_MSC_WARNINGS_POP_()
+#endif
+
+#ifndef GTEST_LANG_CXX11
+// gcc and clang define __GXX_EXPERIMENTAL_CXX0X__ when
+// -std={c,gnu}++{0x,11} is passed.  The C++11 standard specifies a
+// value for __cplusplus, and recent versions of clang, gcc, and
+// probably other compilers set that too in C++11 mode.
+# if __GXX_EXPERIMENTAL_CXX0X__ || __cplusplus >= 201103L
+// Compiling in at least C++11 mode.
+#  define GTEST_LANG_CXX11 1
+# else
+#  define GTEST_LANG_CXX11 0
+# endif
+#endif
+
+// Distinct from C++11 language support, some environments don't provide
+// proper C++11 library support. Notably, it's possible to build in
+// C++11 mode when targeting Mac OS X 10.6, which has an old libstdc++
+// with no C++11 support.
+//
+// libstdc++ has sufficient C++11 support as of GCC 4.6.0, __GLIBCXX__
+// 20110325, but maintenance releases in the 4.4 and 4.5 series followed
+// this date, so check for those versions by their date stamps.
+// https://gcc.gnu.org/onlinedocs/libstdc++/manual/abi.html#abi.versioning
+#if GTEST_LANG_CXX11 && \
+    (!defined(__GLIBCXX__) || ( \
+        __GLIBCXX__ >= 20110325ul &&  /* GCC >= 4.6.0 */ \
+        /* Blacklist of patch releases of older branches: */ \
+        __GLIBCXX__ != 20110416ul &&  /* GCC 4.4.6 */ \
+        __GLIBCXX__ != 20120313ul &&  /* GCC 4.4.7 */ \
+        __GLIBCXX__ != 20110428ul &&  /* GCC 4.5.3 */ \
+        __GLIBCXX__ != 20120702ul))   /* GCC 4.5.4 */
+# define GTEST_STDLIB_CXX11 1
+#endif
+
+// Only use C++11 library features if the library provides them.
+#if GTEST_STDLIB_CXX11
+# define GTEST_HAS_STD_BEGIN_AND_END_ 1
+# define GTEST_HAS_STD_FORWARD_LIST_ 1
+# define GTEST_HAS_STD_FUNCTION_ 1
+# define GTEST_HAS_STD_INITIALIZER_LIST_ 1
+# define GTEST_HAS_STD_MOVE_ 1
+# define GTEST_HAS_STD_SHARED_PTR_ 1
+# define GTEST_HAS_STD_TYPE_TRAITS_ 1
+# define GTEST_HAS_STD_UNIQUE_PTR_ 1
+#endif
+
+// C++11 specifies that <tuple> provides std::tuple.
+// Some platforms still might not have it, however.
+#if GTEST_LANG_CXX11
+# define GTEST_HAS_STD_TUPLE_ 1
+# if defined(__clang__)
+// Inspired by http://clang.llvm.org/docs/LanguageExtensions.html#__has_include
+#  if defined(__has_include) && !__has_include(<tuple>)
+#   undef GTEST_HAS_STD_TUPLE_
+#  endif
+# elif defined(_MSC_VER)
+// Inspired by boost/config/stdlib/dinkumware.hpp
+#  if defined(_CPPLIB_VER) && _CPPLIB_VER < 520
+#   undef GTEST_HAS_STD_TUPLE_
+#  endif
+# elif defined(__GLIBCXX__)
+// Inspired by boost/config/stdlib/libstdcpp3.hpp,
+// http://gcc.gnu.org/gcc-4.2/changes.html and
+// http://gcc.gnu.org/onlinedocs/libstdc++/manual/bk01pt01ch01.html#manual.intro.status.standard.200x
+#  if __GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 2)
+#   undef GTEST_HAS_STD_TUPLE_
+#  endif
+# endif
+#endif
+
+// Brings in definitions for functions used in the testing::internal::posix
+// namespace (read, write, close, chdir, isatty, stat). We do not currently
+// use them on Windows Mobile.
+#if GTEST_OS_WINDOWS
+# if !GTEST_OS_WINDOWS_MOBILE
+#  include <direct.h>
+#  include <io.h>
+# endif
+// In order to avoid having to include <windows.h>, use forward declaration
+#if GTEST_OS_WINDOWS_MINGW && !defined(__MINGW64_VERSION_MAJOR)
+// MinGW defined _CRITICAL_SECTION and _RTL_CRITICAL_SECTION as two
+// separate (equivalent) structs, instead of using typedef
+typedef struct _CRITICAL_SECTION GTEST_CRITICAL_SECTION;
+#else
+// Assume CRITICAL_SECTION is a typedef of _RTL_CRITICAL_SECTION.
+// This assumption is verified by
+// WindowsTypesTest.CRITICAL_SECTIONIs_RTL_CRITICAL_SECTION.
+typedef struct _RTL_CRITICAL_SECTION GTEST_CRITICAL_SECTION;
+#endif
+#else
+// This assumes that non-Windows OSes provide unistd.h. For OSes where this
+// is not the case, we need to include headers that provide the functions
+// mentioned above.
+# include <unistd.h>
+# include <strings.h>
+#endif  // GTEST_OS_WINDOWS
+
+#if GTEST_OS_LINUX_ANDROID
+// Used to define __ANDROID_API__ matching the target NDK API level.
+#  include <android/api-level.h>  // NOLINT
+#endif
+
+// Defines this to true iff Google Test can use POSIX regular expressions.
+#ifndef GTEST_HAS_POSIX_RE
+# if GTEST_OS_LINUX_ANDROID
+// On Android, <regex.h> is only available starting with Gingerbread.
+#  define GTEST_HAS_POSIX_RE (__ANDROID_API__ >= 9)
+# else
+#  define GTEST_HAS_POSIX_RE (!GTEST_OS_WINDOWS)
+# endif
+#endif
+
+#if GTEST_USES_PCRE
+// The appropriate headers have already been included.
+
+#elif GTEST_HAS_POSIX_RE
+
+// On some platforms, <regex.h> needs someone to define size_t, and
+// won't compile otherwise.  We can #include it here as we already
+// included <stdlib.h>, which is guaranteed to define size_t through
+// <stddef.h>.
+# include <regex.h>  // NOLINT
+
+# define GTEST_USES_POSIX_RE 1
+
+#elif GTEST_OS_WINDOWS
+
+// <regex.h> is not available on Windows.  Use our own simple regex
+// implementation instead.
+# define GTEST_USES_SIMPLE_RE 1
+
+#else
+
+// <regex.h> may not be available on this platform.  Use our own
+// simple regex implementation instead.
+# define GTEST_USES_SIMPLE_RE 1
+
+#endif  // GTEST_USES_PCRE
+
+#ifndef GTEST_HAS_EXCEPTIONS
+// The user didn't tell us whether exceptions are enabled, so we need
+// to figure it out.
+# if defined(_MSC_VER) || defined(__BORLANDC__)
+// MSVC's and C++Builder's implementations of the STL use the _HAS_EXCEPTIONS
+// macro to enable exceptions, so we'll do the same.
+// Assumes that exceptions are enabled by default.
+#  ifndef _HAS_EXCEPTIONS
+#   define _HAS_EXCEPTIONS 1
+#  endif  // _HAS_EXCEPTIONS
+#  define GTEST_HAS_EXCEPTIONS _HAS_EXCEPTIONS
+# elif defined(__clang__)
+// clang defines __EXCEPTIONS iff exceptions are enabled before clang 220714,
+// but iff cleanups are enabled after that. In Obj-C++ files, there can be
+// cleanups for ObjC exceptions which also need cleanups, even if C++ exceptions
+// are disabled. clang has __has_feature(cxx_exceptions) which checks for C++
+// exceptions starting at clang r206352, but which checked for cleanups prior to
+// that. To reliably check for C++ exception availability with clang, check for
+// __EXCEPTIONS && __has_feature(cxx_exceptions).
+#  define GTEST_HAS_EXCEPTIONS (__EXCEPTIONS && __has_feature(cxx_exceptions))
+# elif defined(__GNUC__) && __EXCEPTIONS
+// gcc defines __EXCEPTIONS to 1 iff exceptions are enabled.
+#  define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__SUNPRO_CC)
+// Sun Pro CC supports exceptions.  However, there is no compile-time way of
+// detecting whether they are enabled or not.  Therefore, we assume that
+// they are enabled unless the user tells us otherwise.
+#  define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__IBMCPP__) && __EXCEPTIONS
+// xlC defines __EXCEPTIONS to 1 iff exceptions are enabled.
+#  define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__HP_aCC)
+// Exception handling is in effect by default in HP aCC compiler. It has to
+// be turned of by +noeh compiler option if desired.
+#  define GTEST_HAS_EXCEPTIONS 1
+# else
+// For other compilers, we assume exceptions are disabled to be
+// conservative.
+#  define GTEST_HAS_EXCEPTIONS 0
+# endif  // defined(_MSC_VER) || defined(__BORLANDC__)
+#endif  // GTEST_HAS_EXCEPTIONS
+
+#if !defined(GTEST_HAS_STD_STRING)
+// Even though we don't use this macro any longer, we keep it in case
+// some clients still depend on it.
+# define GTEST_HAS_STD_STRING 1
+#elif !GTEST_HAS_STD_STRING
+// The user told us that ::std::string isn't available.
+# error "Google Test cannot be used where ::std::string isn't available."
+#endif  // !defined(GTEST_HAS_STD_STRING)
+
+#ifndef GTEST_HAS_GLOBAL_STRING
+// The user didn't tell us whether ::string is available, so we need
+// to figure it out.
+
+# define GTEST_HAS_GLOBAL_STRING 0
+
+#endif  // GTEST_HAS_GLOBAL_STRING
+
+#ifndef GTEST_HAS_STD_WSTRING
+// The user didn't tell us whether ::std::wstring is available, so we need
+// to figure it out.
+// TODO(wan@google.com): uses autoconf to detect whether ::std::wstring
+//   is available.
+
+// Cygwin 1.7 and below doesn't support ::std::wstring.
+// Solaris' libc++ doesn't support it either.  Android has
+// no support for it at least as recent as Froyo (2.2).
+# define GTEST_HAS_STD_WSTRING \
+    (!(GTEST_OS_LINUX_ANDROID || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS))
+
+#endif  // GTEST_HAS_STD_WSTRING
+
+#ifndef GTEST_HAS_GLOBAL_WSTRING
+// The user didn't tell us whether ::wstring is available, so we need
+// to figure it out.
+# define GTEST_HAS_GLOBAL_WSTRING \
+    (GTEST_HAS_STD_WSTRING && GTEST_HAS_GLOBAL_STRING)
+#endif  // GTEST_HAS_GLOBAL_WSTRING
+
+// Determines whether RTTI is available.
+#ifndef GTEST_HAS_RTTI
+// The user didn't tell us whether RTTI is enabled, so we need to
+// figure it out.
+
+# ifdef _MSC_VER
+
+#  ifdef _CPPRTTI  // MSVC defines this macro iff RTTI is enabled.
+#   define GTEST_HAS_RTTI 1
+#  else
+#   define GTEST_HAS_RTTI 0
+#  endif
+
+// Starting with version 4.3.2, gcc defines __GXX_RTTI iff RTTI is enabled.
+# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40302)
+
+#  ifdef __GXX_RTTI
+// When building against STLport with the Android NDK and with
+// -frtti -fno-exceptions, the build fails at link time with undefined
+// references to __cxa_bad_typeid. Note sure if STL or toolchain bug,
+// so disable RTTI when detected.
+#   if GTEST_OS_LINUX_ANDROID && defined(_STLPORT_MAJOR) && \
+       !defined(__EXCEPTIONS)
+#    define GTEST_HAS_RTTI 0
+#   else
+#    define GTEST_HAS_RTTI 1
+#   endif  // GTEST_OS_LINUX_ANDROID && __STLPORT_MAJOR && !__EXCEPTIONS
+#  else
+#   define GTEST_HAS_RTTI 0
+#  endif  // __GXX_RTTI
+
+// Clang defines __GXX_RTTI starting with version 3.0, but its manual recommends
+// using has_feature instead. has_feature(cxx_rtti) is supported since 2.7, the
+// first version with C++ support.
+# elif defined(__clang__)
+
+#  define GTEST_HAS_RTTI __has_feature(cxx_rtti)
+
+// Starting with version 9.0 IBM Visual Age defines __RTTI_ALL__ to 1 if
+// both the typeid and dynamic_cast features are present.
+# elif defined(__IBMCPP__) && (__IBMCPP__ >= 900)
+
+#  ifdef __RTTI_ALL__
+#   define GTEST_HAS_RTTI 1
+#  else
+#   define GTEST_HAS_RTTI 0
+#  endif
+
+# else
+
+// For all other compilers, we assume RTTI is enabled.
+#  define GTEST_HAS_RTTI 1
+
+# endif  // _MSC_VER
+
+#endif  // GTEST_HAS_RTTI
+
+// It's this header's responsibility to #include <typeinfo> when RTTI
+// is enabled.
+#if GTEST_HAS_RTTI
+# include <typeinfo>
+#endif
+
+// Determines whether Google Test can use the pthreads library.
+#ifndef GTEST_HAS_PTHREAD
+// The user didn't tell us explicitly, so we make reasonable assumptions about
+// which platforms have pthreads support.
+//
+// To disable threading support in Google Test, add -DGTEST_HAS_PTHREAD=0
+// to your compiler flags.
+# define GTEST_HAS_PTHREAD (GTEST_OS_LINUX || GTEST_OS_MAC || GTEST_OS_HPUX \
+    || GTEST_OS_QNX || GTEST_OS_FREEBSD || GTEST_OS_NACL)
+#endif  // GTEST_HAS_PTHREAD
+
+#if GTEST_HAS_PTHREAD
+// gtest-port.h guarantees to #include <pthread.h> when GTEST_HAS_PTHREAD is
+// true.
+# include <pthread.h>  // NOLINT
+
+// For timespec and nanosleep, used below.
+# include <time.h>  // NOLINT
+#endif
+
+// Determines if hash_map/hash_set are available.
+// Only used for testing against those containers.
+#if !defined(GTEST_HAS_HASH_MAP_)
+# if _MSC_VER
+#  define GTEST_HAS_HASH_MAP_ 1  // Indicates that hash_map is available.
+#  define GTEST_HAS_HASH_SET_ 1  // Indicates that hash_set is available.
+# endif  // _MSC_VER
+#endif  // !defined(GTEST_HAS_HASH_MAP_)
+
+// Determines whether Google Test can use tr1/tuple.  You can define
+// this macro to 0 to prevent Google Test from using tuple (any
+// feature depending on tuple with be disabled in this mode).
+#ifndef GTEST_HAS_TR1_TUPLE
+# if GTEST_OS_LINUX_ANDROID && defined(_STLPORT_MAJOR)
+// STLport, provided with the Android NDK, has neither <tr1/tuple> or <tuple>.
+#  define GTEST_HAS_TR1_TUPLE 0
+# else
+// The user didn't tell us not to do it, so we assume it's OK.
+#  define GTEST_HAS_TR1_TUPLE 1
+# endif
+#endif  // GTEST_HAS_TR1_TUPLE
+
+// Determines whether Google Test's own tr1 tuple implementation
+// should be used.
+#ifndef GTEST_USE_OWN_TR1_TUPLE
+// The user didn't tell us, so we need to figure it out.
+
+// We use our own TR1 tuple if we aren't sure the user has an
+// implementation of it already.  At this time, libstdc++ 4.0.0+ and
+// MSVC 2010 are the only mainstream standard libraries that come
+// with a TR1 tuple implementation.  NVIDIA's CUDA NVCC compiler
+// pretends to be GCC by defining __GNUC__ and friends, but cannot
+// compile GCC's tuple implementation.  MSVC 2008 (9.0) provides TR1
+// tuple in a 323 MB Feature Pack download, which we cannot assume the
+// user has.  QNX's QCC compiler is a modified GCC but it doesn't
+// support TR1 tuple.  libc++ only provides std::tuple, in C++11 mode,
+// and it can be used with some compilers that define __GNUC__.
+# if (defined(__GNUC__) && !defined(__CUDACC__) && (GTEST_GCC_VER_ >= 40000) \
+      && !GTEST_OS_QNX && !defined(_LIBCPP_VERSION)) || _MSC_VER >= 1600
+#  define GTEST_ENV_HAS_TR1_TUPLE_ 1
+# endif
+
+// C++11 specifies that <tuple> provides std::tuple. Use that if gtest is used
+// in C++11 mode and libstdc++ isn't very old (binaries targeting OS X 10.6
+// can build with clang but need to use gcc4.2's libstdc++).
+# if GTEST_LANG_CXX11 && (!defined(__GLIBCXX__) || __GLIBCXX__ > 20110325)
+#  define GTEST_ENV_HAS_STD_TUPLE_ 1
+# endif
+
+# if GTEST_ENV_HAS_TR1_TUPLE_ || GTEST_ENV_HAS_STD_TUPLE_
+#  define GTEST_USE_OWN_TR1_TUPLE 0
+# else
+#  define GTEST_USE_OWN_TR1_TUPLE 1
+# endif
+
+#endif  // GTEST_USE_OWN_TR1_TUPLE
+
+// To avoid conditional compilation everywhere, we make it
+// gtest-port.h's responsibility to #include the header implementing
+// tuple.
+#if GTEST_HAS_STD_TUPLE_
+# include <tuple>  // IWYU pragma: export
+# define GTEST_TUPLE_NAMESPACE_ ::std
+#endif  // GTEST_HAS_STD_TUPLE_
+
+// We include tr1::tuple even if std::tuple is available to define printers for
+// them.
+#if GTEST_HAS_TR1_TUPLE
+# ifndef GTEST_TUPLE_NAMESPACE_
+#  define GTEST_TUPLE_NAMESPACE_ ::std::tr1
+# endif  // GTEST_TUPLE_NAMESPACE_
+
+# if GTEST_USE_OWN_TR1_TUPLE
+// This file was GENERATED by command:
+//     pump.py gtest-tuple.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2009 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Implements a subset of TR1 tuple needed by Google Test and Google Mock.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+
+#include <utility>  // For ::std::pair.
+
+// The compiler used in Symbian has a bug that prevents us from declaring the
+// tuple template as a friend (it complains that tuple is redefined).  This
+// hack bypasses the bug by declaring the members that should otherwise be
+// private as public.
+// Sun Studio versions < 12 also have the above bug.
+#if defined(__SYMBIAN32__) || (defined(__SUNPRO_CC) && __SUNPRO_CC < 0x590)
+# define GTEST_DECLARE_TUPLE_AS_FRIEND_ public:
+#else
+# define GTEST_DECLARE_TUPLE_AS_FRIEND_ \
+    template <GTEST_10_TYPENAMES_(U)> friend class tuple; \
+   private:
+#endif
+
+// Visual Studio 2010, 2012, and 2013 define symbols in std::tr1 that conflict
+// with our own definitions. Therefore using our own tuple does not work on
+// those compilers.
+#if defined(_MSC_VER) && _MSC_VER >= 1600  /* 1600 is Visual Studio 2010 */
+# error "gtest's tuple doesn't compile on Visual Studio 2010 or later. \
+GTEST_USE_OWN_TR1_TUPLE must be set to 0 on those compilers."
+#endif
+
+// GTEST_n_TUPLE_(T) is the type of an n-tuple.
+#define GTEST_0_TUPLE_(T) tuple<>
+#define GTEST_1_TUPLE_(T) tuple<T##0, void, void, void, void, void, void, \
+    void, void, void>
+#define GTEST_2_TUPLE_(T) tuple<T##0, T##1, void, void, void, void, void, \
+    void, void, void>
+#define GTEST_3_TUPLE_(T) tuple<T##0, T##1, T##2, void, void, void, void, \
+    void, void, void>
+#define GTEST_4_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, void, void, void, \
+    void, void, void>
+#define GTEST_5_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, void, void, \
+    void, void, void>
+#define GTEST_6_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, void, \
+    void, void, void>
+#define GTEST_7_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+    void, void, void>
+#define GTEST_8_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+    T##7, void, void>
+#define GTEST_9_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+    T##7, T##8, void>
+#define GTEST_10_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+    T##7, T##8, T##9>
+
+// GTEST_n_TYPENAMES_(T) declares a list of n typenames.
+#define GTEST_0_TYPENAMES_(T)
+#define GTEST_1_TYPENAMES_(T) typename T##0
+#define GTEST_2_TYPENAMES_(T) typename T##0, typename T##1
+#define GTEST_3_TYPENAMES_(T) typename T##0, typename T##1, typename T##2
+#define GTEST_4_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+    typename T##3
+#define GTEST_5_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+    typename T##3, typename T##4
+#define GTEST_6_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+    typename T##3, typename T##4, typename T##5
+#define GTEST_7_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+    typename T##3, typename T##4, typename T##5, typename T##6
+#define GTEST_8_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+    typename T##3, typename T##4, typename T##5, typename T##6, typename T##7
+#define GTEST_9_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+    typename T##3, typename T##4, typename T##5, typename T##6, \
+    typename T##7, typename T##8
+#define GTEST_10_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+    typename T##3, typename T##4, typename T##5, typename T##6, \
+    typename T##7, typename T##8, typename T##9
+
+// In theory, defining stuff in the ::std namespace is undefined
+// behavior.  We can do this as we are playing the role of a standard
+// library vendor.
+namespace std {
+namespace tr1 {
+
+template <typename T0 = void, typename T1 = void, typename T2 = void,
+    typename T3 = void, typename T4 = void, typename T5 = void,
+    typename T6 = void, typename T7 = void, typename T8 = void,
+    typename T9 = void>
+class tuple;
+
+// Anything in namespace gtest_internal is Google Test's INTERNAL
+// IMPLEMENTATION DETAIL and MUST NOT BE USED DIRECTLY in user code.
+namespace gtest_internal {
+
+// ByRef<T>::type is T if T is a reference; otherwise it's const T&.
+template <typename T>
+struct ByRef { typedef const T& type; };  // NOLINT
+template <typename T>
+struct ByRef<T&> { typedef T& type; };  // NOLINT
+
+// A handy wrapper for ByRef.
+#define GTEST_BY_REF_(T) typename ::std::tr1::gtest_internal::ByRef<T>::type
+
+// AddRef<T>::type is T if T is a reference; otherwise it's T&.  This
+// is the same as tr1::add_reference<T>::type.
+template <typename T>
+struct AddRef { typedef T& type; };  // NOLINT
+template <typename T>
+struct AddRef<T&> { typedef T& type; };  // NOLINT
+
+// A handy wrapper for AddRef.
+#define GTEST_ADD_REF_(T) typename ::std::tr1::gtest_internal::AddRef<T>::type
+
+// A helper for implementing get<k>().
+template <int k> class Get;
+
+// A helper for implementing tuple_element<k, T>.  kIndexValid is true
+// iff k < the number of fields in tuple type T.
+template <bool kIndexValid, int kIndex, class Tuple>
+struct TupleElement;
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 0, GTEST_10_TUPLE_(T) > {
+  typedef T0 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 1, GTEST_10_TUPLE_(T) > {
+  typedef T1 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 2, GTEST_10_TUPLE_(T) > {
+  typedef T2 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 3, GTEST_10_TUPLE_(T) > {
+  typedef T3 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 4, GTEST_10_TUPLE_(T) > {
+  typedef T4 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 5, GTEST_10_TUPLE_(T) > {
+  typedef T5 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 6, GTEST_10_TUPLE_(T) > {
+  typedef T6 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 7, GTEST_10_TUPLE_(T) > {
+  typedef T7 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 8, GTEST_10_TUPLE_(T) > {
+  typedef T8 type;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 9, GTEST_10_TUPLE_(T) > {
+  typedef T9 type;
+};
+
+}  // namespace gtest_internal
+
+template <>
+class tuple<> {
+ public:
+  tuple() {}
+  tuple(const tuple& /* t */)  {}
+  tuple& operator=(const tuple& /* t */) { return *this; }
+};
+
+template <GTEST_1_TYPENAMES_(T)>
+class GTEST_1_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0) : f0_(f0) {}
+
+  tuple(const tuple& t) : f0_(t.f0_) {}
+
+  template <GTEST_1_TYPENAMES_(U)>
+  tuple(const GTEST_1_TUPLE_(U)& t) : f0_(t.f0_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_1_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_1_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_1_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_1_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    return *this;
+  }
+
+  T0 f0_;
+};
+
+template <GTEST_2_TYPENAMES_(T)>
+class GTEST_2_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1) : f0_(f0),
+      f1_(f1) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_) {}
+
+  template <GTEST_2_TYPENAMES_(U)>
+  tuple(const GTEST_2_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_) {}
+  template <typename U0, typename U1>
+  tuple(const ::std::pair<U0, U1>& p) : f0_(p.first), f1_(p.second) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_2_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_2_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+  template <typename U0, typename U1>
+  tuple& operator=(const ::std::pair<U0, U1>& p) {
+    f0_ = p.first;
+    f1_ = p.second;
+    return *this;
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_2_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_2_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+};
+
+template <GTEST_3_TYPENAMES_(T)>
+class GTEST_3_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2) : f0_(f0), f1_(f1), f2_(f2) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
+
+  template <GTEST_3_TYPENAMES_(U)>
+  tuple(const GTEST_3_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_3_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_3_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_3_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_3_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+};
+
+template <GTEST_4_TYPENAMES_(T)>
+class GTEST_4_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_(), f3_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3) : f0_(f0), f1_(f1), f2_(f2),
+      f3_(f3) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_) {}
+
+  template <GTEST_4_TYPENAMES_(U)>
+  tuple(const GTEST_4_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+      f3_(t.f3_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_4_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_4_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_4_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_4_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    f3_ = t.f3_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+  T3 f3_;
+};
+
+template <GTEST_5_TYPENAMES_(T)>
+class GTEST_5_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_(), f3_(), f4_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3,
+      GTEST_BY_REF_(T4) f4) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+      f4_(t.f4_) {}
+
+  template <GTEST_5_TYPENAMES_(U)>
+  tuple(const GTEST_5_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+      f3_(t.f3_), f4_(t.f4_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_5_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_5_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_5_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_5_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    f3_ = t.f3_;
+    f4_ = t.f4_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+  T3 f3_;
+  T4 f4_;
+};
+
+template <GTEST_6_TYPENAMES_(T)>
+class GTEST_6_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+      GTEST_BY_REF_(T5) f5) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+      f5_(f5) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+      f4_(t.f4_), f5_(t.f5_) {}
+
+  template <GTEST_6_TYPENAMES_(U)>
+  tuple(const GTEST_6_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+      f3_(t.f3_), f4_(t.f4_), f5_(t.f5_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_6_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_6_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_6_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_6_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    f3_ = t.f3_;
+    f4_ = t.f4_;
+    f5_ = t.f5_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+  T3 f3_;
+  T4 f4_;
+  T5 f5_;
+};
+
+template <GTEST_7_TYPENAMES_(T)>
+class GTEST_7_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+      GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6) : f0_(f0), f1_(f1), f2_(f2),
+      f3_(f3), f4_(f4), f5_(f5), f6_(f6) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+      f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
+
+  template <GTEST_7_TYPENAMES_(U)>
+  tuple(const GTEST_7_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+      f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_7_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_7_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_7_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_7_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    f3_ = t.f3_;
+    f4_ = t.f4_;
+    f5_ = t.f5_;
+    f6_ = t.f6_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+  T3 f3_;
+  T4 f4_;
+  T5 f5_;
+  T6 f6_;
+};
+
+template <GTEST_8_TYPENAMES_(T)>
+class GTEST_8_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+      GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6,
+      GTEST_BY_REF_(T7) f7) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+      f5_(f5), f6_(f6), f7_(f7) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+      f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
+
+  template <GTEST_8_TYPENAMES_(U)>
+  tuple(const GTEST_8_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+      f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_8_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_8_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_8_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_8_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    f3_ = t.f3_;
+    f4_ = t.f4_;
+    f5_ = t.f5_;
+    f6_ = t.f6_;
+    f7_ = t.f7_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+  T3 f3_;
+  T4 f4_;
+  T5 f5_;
+  T6 f6_;
+  T7 f7_;
+};
+
+template <GTEST_9_TYPENAMES_(T)>
+class GTEST_9_TUPLE_(T) {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+      GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
+      GTEST_BY_REF_(T8) f8) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+      f5_(f5), f6_(f6), f7_(f7), f8_(f8) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+      f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
+
+  template <GTEST_9_TYPENAMES_(U)>
+  tuple(const GTEST_9_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+      f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_9_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_9_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_9_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_9_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    f3_ = t.f3_;
+    f4_ = t.f4_;
+    f5_ = t.f5_;
+    f6_ = t.f6_;
+    f7_ = t.f7_;
+    f8_ = t.f8_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+  T3 f3_;
+  T4 f4_;
+  T5 f5_;
+  T6 f6_;
+  T7 f7_;
+  T8 f8_;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+class tuple {
+ public:
+  template <int k> friend class gtest_internal::Get;
+
+  tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_(),
+      f9_() {}
+
+  explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+      GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+      GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
+      GTEST_BY_REF_(T8) f8, GTEST_BY_REF_(T9) f9) : f0_(f0), f1_(f1), f2_(f2),
+      f3_(f3), f4_(f4), f5_(f5), f6_(f6), f7_(f7), f8_(f8), f9_(f9) {}
+
+  tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+      f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_), f9_(t.f9_) {}
+
+  template <GTEST_10_TYPENAMES_(U)>
+  tuple(const GTEST_10_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+      f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_),
+      f9_(t.f9_) {}
+
+  tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+  template <GTEST_10_TYPENAMES_(U)>
+  tuple& operator=(const GTEST_10_TUPLE_(U)& t) {
+    return CopyFrom(t);
+  }
+
+  GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+  template <GTEST_10_TYPENAMES_(U)>
+  tuple& CopyFrom(const GTEST_10_TUPLE_(U)& t) {
+    f0_ = t.f0_;
+    f1_ = t.f1_;
+    f2_ = t.f2_;
+    f3_ = t.f3_;
+    f4_ = t.f4_;
+    f5_ = t.f5_;
+    f6_ = t.f6_;
+    f7_ = t.f7_;
+    f8_ = t.f8_;
+    f9_ = t.f9_;
+    return *this;
+  }
+
+  T0 f0_;
+  T1 f1_;
+  T2 f2_;
+  T3 f3_;
+  T4 f4_;
+  T5 f5_;
+  T6 f6_;
+  T7 f7_;
+  T8 f8_;
+  T9 f9_;
+};
+
+// 6.1.3.2 Tuple creation functions.
+
+// Known limitations: we don't support passing an
+// std::tr1::reference_wrapper<T> to make_tuple().  And we don't
+// implement tie().
+
+inline tuple<> make_tuple() { return tuple<>(); }
+
+template <GTEST_1_TYPENAMES_(T)>
+inline GTEST_1_TUPLE_(T) make_tuple(const T0& f0) {
+  return GTEST_1_TUPLE_(T)(f0);
+}
+
+template <GTEST_2_TYPENAMES_(T)>
+inline GTEST_2_TUPLE_(T) make_tuple(const T0& f0, const T1& f1) {
+  return GTEST_2_TUPLE_(T)(f0, f1);
+}
+
+template <GTEST_3_TYPENAMES_(T)>
+inline GTEST_3_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2) {
+  return GTEST_3_TUPLE_(T)(f0, f1, f2);
+}
+
+template <GTEST_4_TYPENAMES_(T)>
+inline GTEST_4_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+    const T3& f3) {
+  return GTEST_4_TUPLE_(T)(f0, f1, f2, f3);
+}
+
+template <GTEST_5_TYPENAMES_(T)>
+inline GTEST_5_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+    const T3& f3, const T4& f4) {
+  return GTEST_5_TUPLE_(T)(f0, f1, f2, f3, f4);
+}
+
+template <GTEST_6_TYPENAMES_(T)>
+inline GTEST_6_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+    const T3& f3, const T4& f4, const T5& f5) {
+  return GTEST_6_TUPLE_(T)(f0, f1, f2, f3, f4, f5);
+}
+
+template <GTEST_7_TYPENAMES_(T)>
+inline GTEST_7_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+    const T3& f3, const T4& f4, const T5& f5, const T6& f6) {
+  return GTEST_7_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6);
+}
+
+template <GTEST_8_TYPENAMES_(T)>
+inline GTEST_8_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+    const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7) {
+  return GTEST_8_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7);
+}
+
+template <GTEST_9_TYPENAMES_(T)>
+inline GTEST_9_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+    const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
+    const T8& f8) {
+  return GTEST_9_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8);
+}
+
+template <GTEST_10_TYPENAMES_(T)>
+inline GTEST_10_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+    const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
+    const T8& f8, const T9& f9) {
+  return GTEST_10_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8, f9);
+}
+
+// 6.1.3.3 Tuple helper classes.
+
+template <typename Tuple> struct tuple_size;
+
+template <GTEST_0_TYPENAMES_(T)>
+struct tuple_size<GTEST_0_TUPLE_(T) > {
+  static const int value = 0;
+};
+
+template <GTEST_1_TYPENAMES_(T)>
+struct tuple_size<GTEST_1_TUPLE_(T) > {
+  static const int value = 1;
+};
+
+template <GTEST_2_TYPENAMES_(T)>
+struct tuple_size<GTEST_2_TUPLE_(T) > {
+  static const int value = 2;
+};
+
+template <GTEST_3_TYPENAMES_(T)>
+struct tuple_size<GTEST_3_TUPLE_(T) > {
+  static const int value = 3;
+};
+
+template <GTEST_4_TYPENAMES_(T)>
+struct tuple_size<GTEST_4_TUPLE_(T) > {
+  static const int value = 4;
+};
+
+template <GTEST_5_TYPENAMES_(T)>
+struct tuple_size<GTEST_5_TUPLE_(T) > {
+  static const int value = 5;
+};
+
+template <GTEST_6_TYPENAMES_(T)>
+struct tuple_size<GTEST_6_TUPLE_(T) > {
+  static const int value = 6;
+};
+
+template <GTEST_7_TYPENAMES_(T)>
+struct tuple_size<GTEST_7_TUPLE_(T) > {
+  static const int value = 7;
+};
+
+template <GTEST_8_TYPENAMES_(T)>
+struct tuple_size<GTEST_8_TUPLE_(T) > {
+  static const int value = 8;
+};
+
+template <GTEST_9_TYPENAMES_(T)>
+struct tuple_size<GTEST_9_TUPLE_(T) > {
+  static const int value = 9;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+struct tuple_size<GTEST_10_TUPLE_(T) > {
+  static const int value = 10;
+};
+
+template <int k, class Tuple>
+struct tuple_element {
+  typedef typename gtest_internal::TupleElement<
+      k < (tuple_size<Tuple>::value), k, Tuple>::type type;
+};
+
+#define GTEST_TUPLE_ELEMENT_(k, Tuple) typename tuple_element<k, Tuple >::type
+
+// 6.1.3.4 Element access.
+
+namespace gtest_internal {
+
+template <>
+class Get<0> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
+  Field(Tuple& t) { return t.f0_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
+  ConstField(const Tuple& t) { return t.f0_; }
+};
+
+template <>
+class Get<1> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
+  Field(Tuple& t) { return t.f1_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
+  ConstField(const Tuple& t) { return t.f1_; }
+};
+
+template <>
+class Get<2> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
+  Field(Tuple& t) { return t.f2_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
+  ConstField(const Tuple& t) { return t.f2_; }
+};
+
+template <>
+class Get<3> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
+  Field(Tuple& t) { return t.f3_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
+  ConstField(const Tuple& t) { return t.f3_; }
+};
+
+template <>
+class Get<4> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
+  Field(Tuple& t) { return t.f4_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
+  ConstField(const Tuple& t) { return t.f4_; }
+};
+
+template <>
+class Get<5> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
+  Field(Tuple& t) { return t.f5_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
+  ConstField(const Tuple& t) { return t.f5_; }
+};
+
+template <>
+class Get<6> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
+  Field(Tuple& t) { return t.f6_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
+  ConstField(const Tuple& t) { return t.f6_; }
+};
+
+template <>
+class Get<7> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
+  Field(Tuple& t) { return t.f7_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
+  ConstField(const Tuple& t) { return t.f7_; }
+};
+
+template <>
+class Get<8> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
+  Field(Tuple& t) { return t.f8_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
+  ConstField(const Tuple& t) { return t.f8_; }
+};
+
+template <>
+class Get<9> {
+ public:
+  template <class Tuple>
+  static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
+  Field(Tuple& t) { return t.f9_; }  // NOLINT
+
+  template <class Tuple>
+  static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
+  ConstField(const Tuple& t) { return t.f9_; }
+};
+
+}  // namespace gtest_internal
+
+template <int k, GTEST_10_TYPENAMES_(T)>
+GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(k, GTEST_10_TUPLE_(T)))
+get(GTEST_10_TUPLE_(T)& t) {
+  return gtest_internal::Get<k>::Field(t);
+}
+
+template <int k, GTEST_10_TYPENAMES_(T)>
+GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(k,  GTEST_10_TUPLE_(T)))
+get(const GTEST_10_TUPLE_(T)& t) {
+  return gtest_internal::Get<k>::ConstField(t);
+}
+
+// 6.1.3.5 Relational operators
+
+// We only implement == and !=, as we don't have a need for the rest yet.
+
+namespace gtest_internal {
+
+// SameSizeTuplePrefixComparator<k, k>::Eq(t1, t2) returns true if the
+// first k fields of t1 equals the first k fields of t2.
+// SameSizeTuplePrefixComparator(k1, k2) would be a compiler error if
+// k1 != k2.
+template <int kSize1, int kSize2>
+struct SameSizeTuplePrefixComparator;
+
+template <>
+struct SameSizeTuplePrefixComparator<0, 0> {
+  template <class Tuple1, class Tuple2>
+  static bool Eq(const Tuple1& /* t1 */, const Tuple2& /* t2 */) {
+    return true;
+  }
+};
+
+template <int k>
+struct SameSizeTuplePrefixComparator<k, k> {
+  template <class Tuple1, class Tuple2>
+  static bool Eq(const Tuple1& t1, const Tuple2& t2) {
+    return SameSizeTuplePrefixComparator<k - 1, k - 1>::Eq(t1, t2) &&
+        ::std::tr1::get<k - 1>(t1) == ::std::tr1::get<k - 1>(t2);
+  }
+};
+
+}  // namespace gtest_internal
+
+template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
+inline bool operator==(const GTEST_10_TUPLE_(T)& t,
+                       const GTEST_10_TUPLE_(U)& u) {
+  return gtest_internal::SameSizeTuplePrefixComparator<
+      tuple_size<GTEST_10_TUPLE_(T) >::value,
+      tuple_size<GTEST_10_TUPLE_(U) >::value>::Eq(t, u);
+}
+
+template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
+inline bool operator!=(const GTEST_10_TUPLE_(T)& t,
+                       const GTEST_10_TUPLE_(U)& u) { return !(t == u); }
+
+// 6.1.4 Pairs.
+// Unimplemented.
+
+}  // namespace tr1
+}  // namespace std
+
+#undef GTEST_0_TUPLE_
+#undef GTEST_1_TUPLE_
+#undef GTEST_2_TUPLE_
+#undef GTEST_3_TUPLE_
+#undef GTEST_4_TUPLE_
+#undef GTEST_5_TUPLE_
+#undef GTEST_6_TUPLE_
+#undef GTEST_7_TUPLE_
+#undef GTEST_8_TUPLE_
+#undef GTEST_9_TUPLE_
+#undef GTEST_10_TUPLE_
+
+#undef GTEST_0_TYPENAMES_
+#undef GTEST_1_TYPENAMES_
+#undef GTEST_2_TYPENAMES_
+#undef GTEST_3_TYPENAMES_
+#undef GTEST_4_TYPENAMES_
+#undef GTEST_5_TYPENAMES_
+#undef GTEST_6_TYPENAMES_
+#undef GTEST_7_TYPENAMES_
+#undef GTEST_8_TYPENAMES_
+#undef GTEST_9_TYPENAMES_
+#undef GTEST_10_TYPENAMES_
+
+#undef GTEST_DECLARE_TUPLE_AS_FRIEND_
+#undef GTEST_BY_REF_
+#undef GTEST_ADD_REF_
+#undef GTEST_TUPLE_ELEMENT_
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+# elif GTEST_ENV_HAS_STD_TUPLE_
+#  include <tuple>
+// C++11 puts its tuple into the ::std namespace rather than
+// ::std::tr1.  gtest expects tuple to live in ::std::tr1, so put it there.
+// This causes undefined behavior, but supported compilers react in
+// the way we intend.
+namespace std {
+namespace tr1 {
+using ::std::get;
+using ::std::make_tuple;
+using ::std::tuple;
+using ::std::tuple_element;
+using ::std::tuple_size;
+}
+}
+
+# elif GTEST_OS_SYMBIAN
+
+// On Symbian, BOOST_HAS_TR1_TUPLE causes Boost's TR1 tuple library to
+// use STLport's tuple implementation, which unfortunately doesn't
+// work as the copy of STLport distributed with Symbian is incomplete.
+// By making sure BOOST_HAS_TR1_TUPLE is undefined, we force Boost to
+// use its own tuple implementation.
+#  ifdef BOOST_HAS_TR1_TUPLE
+#   undef BOOST_HAS_TR1_TUPLE
+#  endif  // BOOST_HAS_TR1_TUPLE
+
+// This prevents <boost/tr1/detail/config.hpp>, which defines
+// BOOST_HAS_TR1_TUPLE, from being #included by Boost's <tuple>.
+#  define BOOST_TR1_DETAIL_CONFIG_HPP_INCLUDED
+#  include <tuple>  // IWYU pragma: export  // NOLINT
+
+# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40000)
+// GCC 4.0+ implements tr1/tuple in the <tr1/tuple> header.  This does
+// not conform to the TR1 spec, which requires the header to be <tuple>.
+
+#  if !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
+// Until version 4.3.2, gcc has a bug that causes <tr1/functional>,
+// which is #included by <tr1/tuple>, to not compile when RTTI is
+// disabled.  _TR1_FUNCTIONAL is the header guard for
+// <tr1/functional>.  Hence the following #define is a hack to prevent
+// <tr1/functional> from being included.
+#   define _TR1_FUNCTIONAL 1
+#   include <tr1/tuple>
+#   undef _TR1_FUNCTIONAL  // Allows the user to #include
+                        // <tr1/functional> if he chooses to.
+#  else
+#   include <tr1/tuple>  // NOLINT
+#  endif  // !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
+
+# else
+// If the compiler is not GCC 4.0+, we assume the user is using a
+// spec-conforming TR1 implementation.
+#  include <tuple>  // IWYU pragma: export  // NOLINT
+# endif  // GTEST_USE_OWN_TR1_TUPLE
+
+#endif  // GTEST_HAS_TR1_TUPLE
+
+// Determines whether clone(2) is supported.
+// Usually it will only be available on Linux, excluding
+// Linux on the Itanium architecture.
+// Also see http://linux.die.net/man/2/clone.
+#ifndef GTEST_HAS_CLONE
+// The user didn't tell us, so we need to figure it out.
+
+# if GTEST_OS_LINUX && !defined(__ia64__)
+#  if GTEST_OS_LINUX_ANDROID
+// On Android, clone() became available at different API levels for each 32-bit
+// architecture.
+#    if defined(__LP64__) || \
+        (defined(__arm__) && __ANDROID_API__ >= 9) || \
+        (defined(__mips__) && __ANDROID_API__ >= 12) || \
+        (defined(__i386__) && __ANDROID_API__ >= 17)
+#     define GTEST_HAS_CLONE 1
+#    else
+#     define GTEST_HAS_CLONE 0
+#    endif
+#  else
+#   define GTEST_HAS_CLONE 1
+#  endif
+# else
+#  define GTEST_HAS_CLONE 0
+# endif  // GTEST_OS_LINUX && !defined(__ia64__)
+
+#endif  // GTEST_HAS_CLONE
+
+// Determines whether to support stream redirection. This is used to test
+// output correctness and to implement death tests.
+#ifndef GTEST_HAS_STREAM_REDIRECTION
+// By default, we assume that stream redirection is supported on all
+// platforms except known mobile ones.
+# if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || \
+    GTEST_OS_WINDOWS_PHONE || GTEST_OS_WINDOWS_RT
+#  define GTEST_HAS_STREAM_REDIRECTION 0
+# else
+#  define GTEST_HAS_STREAM_REDIRECTION 1
+# endif  // !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_SYMBIAN
+#endif  // GTEST_HAS_STREAM_REDIRECTION
+
+// Determines whether to support death tests.
+// Google Test does not support death tests for VC 7.1 and earlier as
+// abort() in a VC 7.1 application compiled as GUI in debug config
+// pops up a dialog window that cannot be suppressed programmatically.
+#if (GTEST_OS_LINUX || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS || \
+     (GTEST_OS_MAC && !GTEST_OS_IOS) || \
+     (GTEST_OS_WINDOWS_DESKTOP && _MSC_VER >= 1400) || \
+     GTEST_OS_WINDOWS_MINGW || GTEST_OS_AIX || GTEST_OS_HPUX || \
+     GTEST_OS_OPENBSD || GTEST_OS_QNX || GTEST_OS_FREEBSD)
+# define GTEST_HAS_DEATH_TEST 1
+#endif
+
+// We don't support MSVC 7.1 with exceptions disabled now.  Therefore
+// all the compilers we care about are adequate for supporting
+// value-parameterized tests.
+#define GTEST_HAS_PARAM_TEST 1
+
+// Determines whether to support type-driven tests.
+
+// Typed tests need <typeinfo> and variadic macros, which GCC, VC++ 8.0,
+// Sun Pro CC, IBM Visual Age, and HP aCC support.
+#if defined(__GNUC__) || (_MSC_VER >= 1400) || defined(__SUNPRO_CC) || \
+    defined(__IBMCPP__) || defined(__HP_aCC)
+# define GTEST_HAS_TYPED_TEST 1
+# define GTEST_HAS_TYPED_TEST_P 1
+#endif
+
+// Determines whether to support Combine(). This only makes sense when
+// value-parameterized tests are enabled.  The implementation doesn't
+// work on Sun Studio since it doesn't understand templated conversion
+// operators.
+#if GTEST_HAS_PARAM_TEST && GTEST_HAS_TR1_TUPLE && !defined(__SUNPRO_CC)
+# define GTEST_HAS_COMBINE 1
+#endif
+
+// Determines whether the system compiler uses UTF-16 for encoding wide strings.
+#define GTEST_WIDE_STRING_USES_UTF16_ \
+    (GTEST_OS_WINDOWS || GTEST_OS_CYGWIN || GTEST_OS_SYMBIAN || GTEST_OS_AIX)
+
+// Determines whether test results can be streamed to a socket.
+#if GTEST_OS_LINUX
+# define GTEST_CAN_STREAM_RESULTS_ 1
+#endif
+
+// Defines some utility macros.
+
+// The GNU compiler emits a warning if nested "if" statements are followed by
+// an "else" statement and braces are not used to explicitly disambiguate the
+// "else" binding.  This leads to problems with code like:
+//
+//   if (gate)
+//     ASSERT_*(condition) << "Some message";
+//
+// The "switch (0) case 0:" idiom is used to suppress this.
+#ifdef __INTEL_COMPILER
+# define GTEST_AMBIGUOUS_ELSE_BLOCKER_
+#else
+# define GTEST_AMBIGUOUS_ELSE_BLOCKER_ switch (0) case 0: default:  // NOLINT
+#endif
+
+// Use this annotation at the end of a struct/class definition to
+// prevent the compiler from optimizing away instances that are never
+// used.  This is useful when all interesting logic happens inside the
+// c'tor and / or d'tor.  Example:
+//
+//   struct Foo {
+//     Foo() { ... }
+//   } GTEST_ATTRIBUTE_UNUSED_;
+//
+// Also use it after a variable or parameter declaration to tell the
+// compiler the variable/parameter does not have to be used.
+#if defined(__GNUC__) && !defined(COMPILER_ICC)
+# define GTEST_ATTRIBUTE_UNUSED_ __attribute__ ((unused))
+#elif defined(__clang__)
+# if __has_attribute(unused)
+#  define GTEST_ATTRIBUTE_UNUSED_ __attribute__ ((unused))
+# endif
+#endif
+#ifndef GTEST_ATTRIBUTE_UNUSED_
+# define GTEST_ATTRIBUTE_UNUSED_
+#endif
+
+// A macro to disallow operator=
+// This should be used in the private: declarations for a class.
+#define GTEST_DISALLOW_ASSIGN_(type)\
+  void operator=(type const &)
+
+// A macro to disallow copy constructor and operator=
+// This should be used in the private: declarations for a class.
+#define GTEST_DISALLOW_COPY_AND_ASSIGN_(type)\
+  type(type const &);\
+  GTEST_DISALLOW_ASSIGN_(type)
+
+// Tell the compiler to warn about unused return values for functions declared
+// with this macro.  The macro should be used on function declarations
+// following the argument list:
+//
+//   Sprocket* AllocateSprocket() GTEST_MUST_USE_RESULT_;
+#if defined(__GNUC__) && (GTEST_GCC_VER_ >= 30400) && !defined(COMPILER_ICC)
+# define GTEST_MUST_USE_RESULT_ __attribute__ ((warn_unused_result))
+#else
+# define GTEST_MUST_USE_RESULT_
+#endif  // __GNUC__ && (GTEST_GCC_VER_ >= 30400) && !COMPILER_ICC
+
+// MS C++ compiler emits warning when a conditional expression is compile time
+// constant. In some contexts this warning is false positive and needs to be
+// suppressed. Use the following two macros in such cases:
+//
+// GTEST_INTENTIONAL_CONST_COND_PUSH_()
+// while (true) {
+// GTEST_INTENTIONAL_CONST_COND_POP_()
+// }
+# define GTEST_INTENTIONAL_CONST_COND_PUSH_() \
+    GTEST_DISABLE_MSC_WARNINGS_PUSH_(4127)
+# define GTEST_INTENTIONAL_CONST_COND_POP_() \
+    GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+// Determine whether the compiler supports Microsoft's Structured Exception
+// Handling.  This is supported by several Windows compilers but generally
+// does not exist on any other system.
+#ifndef GTEST_HAS_SEH
+// The user didn't tell us, so we need to figure it out.
+
+# if defined(_MSC_VER) || defined(__BORLANDC__)
+// These two compilers are known to support SEH.
+#  define GTEST_HAS_SEH 1
+# else
+// Assume no SEH.
+#  define GTEST_HAS_SEH 0
+# endif
+
+#define GTEST_IS_THREADSAFE \
+    (GTEST_HAS_MUTEX_AND_THREAD_LOCAL_ \
+     || (GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT) \
+     || GTEST_HAS_PTHREAD)
+
+#endif  // GTEST_HAS_SEH
+
+#ifdef _MSC_VER
+# if GTEST_LINKED_AS_SHARED_LIBRARY
+#  define GTEST_API_ __declspec(dllimport)
+# elif GTEST_CREATE_SHARED_LIBRARY
+#  define GTEST_API_ __declspec(dllexport)
+# endif
+#elif __GNUC__ >= 4 || defined(__clang__)
+# define GTEST_API_ __attribute__((visibility ("default")))
+#endif // _MSC_VER
+
+#ifndef GTEST_API_
+# define GTEST_API_
+#endif
+
+#ifdef __GNUC__
+// Ask the compiler to never inline a given function.
+# define GTEST_NO_INLINE_ __attribute__((noinline))
+#else
+# define GTEST_NO_INLINE_
+#endif
+
+// _LIBCPP_VERSION is defined by the libc++ library from the LLVM project.
+#if defined(__GLIBCXX__) || defined(_LIBCPP_VERSION)
+# define GTEST_HAS_CXXABI_H_ 1
+#else
+# define GTEST_HAS_CXXABI_H_ 0
+#endif
+
+// A function level attribute to disable checking for use of uninitialized
+// memory when built with MemorySanitizer.
+#if defined(__clang__)
+# if __has_feature(memory_sanitizer)
+#  define GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_ \
+       __attribute__((no_sanitize_memory))
+# else
+#  define GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+# endif  // __has_feature(memory_sanitizer)
+#else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_
+#endif  // __clang__
+
+// A function level attribute to disable AddressSanitizer instrumentation.
+#if defined(__clang__)
+# if __has_feature(address_sanitizer)
+#  define GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_ \
+       __attribute__((no_sanitize_address))
+# else
+#  define GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+# endif  // __has_feature(address_sanitizer)
+#else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
+#endif  // __clang__
+
+// A function level attribute to disable ThreadSanitizer instrumentation.
+#if defined(__clang__)
+# if __has_feature(thread_sanitizer)
+#  define GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_ \
+       __attribute__((no_sanitize_thread))
+# else
+#  define GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+# endif  // __has_feature(thread_sanitizer)
+#else
+# define GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_
+#endif  // __clang__
+
+namespace testing {
+
+class Message;
+
+#if defined(GTEST_TUPLE_NAMESPACE_)
+// Import tuple and friends into the ::testing namespace.
+// It is part of our interface, having them in ::testing allows us to change
+// their types as needed.
+using GTEST_TUPLE_NAMESPACE_::get;
+using GTEST_TUPLE_NAMESPACE_::make_tuple;
+using GTEST_TUPLE_NAMESPACE_::tuple;
+using GTEST_TUPLE_NAMESPACE_::tuple_size;
+using GTEST_TUPLE_NAMESPACE_::tuple_element;
+#endif  // defined(GTEST_TUPLE_NAMESPACE_)
+
+namespace internal {
+
+// A secret type that Google Test users don't know about.  It has no
+// definition on purpose.  Therefore it's impossible to create a
+// Secret object, which is what we want.
+class Secret;
+
+// The GTEST_COMPILE_ASSERT_ macro can be used to verify that a compile time
+// expression is true. For example, you could use it to verify the
+// size of a static array:
+//
+//   GTEST_COMPILE_ASSERT_(GTEST_ARRAY_SIZE_(names) == NUM_NAMES,
+//                         names_incorrect_size);
+//
+// or to make sure a struct is smaller than a certain size:
+//
+//   GTEST_COMPILE_ASSERT_(sizeof(foo) < 128, foo_too_large);
+//
+// The second argument to the macro is the name of the variable. If
+// the expression is false, most compilers will issue a warning/error
+// containing the name of the variable.
+
+#if GTEST_LANG_CXX11
+# define GTEST_COMPILE_ASSERT_(expr, msg) static_assert(expr, #msg)
+#else  // !GTEST_LANG_CXX11
+template <bool>
+  struct CompileAssert {
+};
+
+# define GTEST_COMPILE_ASSERT_(expr, msg) \
+  typedef ::testing::internal::CompileAssert<(static_cast<bool>(expr))> \
+      msg[static_cast<bool>(expr) ? 1 : -1] GTEST_ATTRIBUTE_UNUSED_
+#endif  // !GTEST_LANG_CXX11
+
+// Implementation details of GTEST_COMPILE_ASSERT_:
+//
+// (In C++11, we simply use static_assert instead of the following)
+//
+// - GTEST_COMPILE_ASSERT_ works by defining an array type that has -1
+//   elements (and thus is invalid) when the expression is false.
+//
+// - The simpler definition
+//
+//    #define GTEST_COMPILE_ASSERT_(expr, msg) typedef char msg[(expr) ? 1 : -1]
+//
+//   does not work, as gcc supports variable-length arrays whose sizes
+//   are determined at run-time (this is gcc's extension and not part
+//   of the C++ standard).  As a result, gcc fails to reject the
+//   following code with the simple definition:
+//
+//     int foo;
+//     GTEST_COMPILE_ASSERT_(foo, msg); // not supposed to compile as foo is
+//                                      // not a compile-time constant.
+//
+// - By using the type CompileAssert<(bool(expr))>, we ensures that
+//   expr is a compile-time constant.  (Template arguments must be
+//   determined at compile-time.)
+//
+// - The outter parentheses in CompileAssert<(bool(expr))> are necessary
+//   to work around a bug in gcc 3.4.4 and 4.0.1.  If we had written
+//
+//     CompileAssert<bool(expr)>
+//
+//   instead, these compilers will refuse to compile
+//
+//     GTEST_COMPILE_ASSERT_(5 > 0, some_message);
+//
+//   (They seem to think the ">" in "5 > 0" marks the end of the
+//   template argument list.)
+//
+// - The array size is (bool(expr) ? 1 : -1), instead of simply
+//
+//     ((expr) ? 1 : -1).
+//
+//   This is to avoid running into a bug in MS VC 7.1, which
+//   causes ((0.0) ? 1 : -1) to incorrectly evaluate to 1.
+
+// StaticAssertTypeEqHelper is used by StaticAssertTypeEq defined in gtest.h.
+//
+// This template is declared, but intentionally undefined.
+template <typename T1, typename T2>
+struct StaticAssertTypeEqHelper;
+
+template <typename T>
+struct StaticAssertTypeEqHelper<T, T> {
+  enum { value = true };
+};
+
+// Evaluates to the number of elements in 'array'.
+#define GTEST_ARRAY_SIZE_(array) (sizeof(array) / sizeof(array[0]))
+
+#if GTEST_HAS_GLOBAL_STRING
+typedef ::string string;
+#else
+typedef ::std::string string;
+#endif  // GTEST_HAS_GLOBAL_STRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+typedef ::wstring wstring;
+#elif GTEST_HAS_STD_WSTRING
+typedef ::std::wstring wstring;
+#endif  // GTEST_HAS_GLOBAL_WSTRING
+
+// A helper for suppressing warnings on constant condition.  It just
+// returns 'condition'.
+GTEST_API_ bool IsTrue(bool condition);
+
+// Defines scoped_ptr.
+
+// This implementation of scoped_ptr is PARTIAL - it only contains
+// enough stuff to satisfy Google Test's need.
+template <typename T>
+class scoped_ptr {
+ public:
+  typedef T element_type;
+
+  explicit scoped_ptr(T* p = NULL) : ptr_(p) {}
+  ~scoped_ptr() { reset(); }
+
+  T& operator*() const { return *ptr_; }
+  T* operator->() const { return ptr_; }
+  T* get() const { return ptr_; }
+
+  T* release() {
+    T* const ptr = ptr_;
+    ptr_ = NULL;
+    return ptr;
+  }
+
+  void reset(T* p = NULL) {
+    if (p != ptr_) {
+      if (IsTrue(sizeof(T) > 0)) {  // Makes sure T is a complete type.
+        delete ptr_;
+      }
+      ptr_ = p;
+    }
+  }
+
+  friend void swap(scoped_ptr& a, scoped_ptr& b) {
+    using std::swap;
+    swap(a.ptr_, b.ptr_);
+  }
+
+ private:
+  T* ptr_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(scoped_ptr);
+};
+
+// Defines RE.
+
+// A simple C++ wrapper for <regex.h>.  It uses the POSIX Extended
+// Regular Expression syntax.
+class GTEST_API_ RE {
+ public:
+  // A copy constructor is required by the Standard to initialize object
+  // references from r-values.
+  RE(const RE& other) { Init(other.pattern()); }
+
+  // Constructs an RE from a string.
+  RE(const ::std::string& regex) { Init(regex.c_str()); }  // NOLINT
+
+#if GTEST_HAS_GLOBAL_STRING
+
+  RE(const ::string& regex) { Init(regex.c_str()); }  // NOLINT
+
+#endif  // GTEST_HAS_GLOBAL_STRING
+
+  RE(const char* regex) { Init(regex); }  // NOLINT
+  ~RE();
+
+  // Returns the string representation of the regex.
+  const char* pattern() const { return pattern_; }
+
+  // FullMatch(str, re) returns true iff regular expression re matches
+  // the entire str.
+  // PartialMatch(str, re) returns true iff regular expression re
+  // matches a substring of str (including str itself).
+  //
+  // TODO(wan@google.com): make FullMatch() and PartialMatch() work
+  // when str contains NUL characters.
+  static bool FullMatch(const ::std::string& str, const RE& re) {
+    return FullMatch(str.c_str(), re);
+  }
+  static bool PartialMatch(const ::std::string& str, const RE& re) {
+    return PartialMatch(str.c_str(), re);
+  }
+
+#if GTEST_HAS_GLOBAL_STRING
+
+  static bool FullMatch(const ::string& str, const RE& re) {
+    return FullMatch(str.c_str(), re);
+  }
+  static bool PartialMatch(const ::string& str, const RE& re) {
+    return PartialMatch(str.c_str(), re);
+  }
+
+#endif  // GTEST_HAS_GLOBAL_STRING
+
+  static bool FullMatch(const char* str, const RE& re);
+  static bool PartialMatch(const char* str, const RE& re);
+
+ private:
+  void Init(const char* regex);
+
+  // We use a const char* instead of an std::string, as Google Test used to be
+  // used where std::string is not available.  TODO(wan@google.com): change to
+  // std::string.
+  const char* pattern_;
+  bool is_valid_;
+
+#if GTEST_USES_POSIX_RE
+
+  regex_t full_regex_;     // For FullMatch().
+  regex_t partial_regex_;  // For PartialMatch().
+
+#else  // GTEST_USES_SIMPLE_RE
+
+  const char* full_pattern_;  // For FullMatch();
+
+#endif
+
+  GTEST_DISALLOW_ASSIGN_(RE);
+};
+
+// Formats a source file path and a line number as they would appear
+// in an error message from the compiler used to compile this code.
+GTEST_API_ ::std::string FormatFileLocation(const char* file, int line);
+
+// Formats a file location for compiler-independent XML output.
+// Although this function is not platform dependent, we put it next to
+// FormatFileLocation in order to contrast the two functions.
+GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(const char* file,
+                                                               int line);
+
+// Defines logging utilities:
+//   GTEST_LOG_(severity) - logs messages at the specified severity level. The
+//                          message itself is streamed into the macro.
+//   LogToStderr()  - directs all log messages to stderr.
+//   FlushInfoLog() - flushes informational log messages.
+
+enum GTestLogSeverity {
+  GTEST_INFO,
+  GTEST_WARNING,
+  GTEST_ERROR,
+  GTEST_FATAL
+};
+
+// Formats log entry severity, provides a stream object for streaming the
+// log message, and terminates the message with a newline when going out of
+// scope.
+class GTEST_API_ GTestLog {
+ public:
+  GTestLog(GTestLogSeverity severity, const char* file, int line);
+
+  // Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
+  ~GTestLog();
+
+  ::std::ostream& GetStream() { return ::std::cerr; }
+
+ private:
+  const GTestLogSeverity severity_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestLog);
+};
+
+#if !defined(GTEST_LOG_)
+
+# define GTEST_LOG_(severity) \
+    ::testing::internal::GTestLog(::testing::internal::GTEST_##severity, \
+                                  __FILE__, __LINE__).GetStream()
+
+inline void LogToStderr() {}
+inline void FlushInfoLog() { fflush(NULL); }
+
+#endif  // !defined(GTEST_LOG_)
+
+#if !defined(GTEST_CHECK_)
+// INTERNAL IMPLEMENTATION - DO NOT USE.
+//
+// GTEST_CHECK_ is an all-mode assert. It aborts the program if the condition
+// is not satisfied.
+//  Synopsys:
+//    GTEST_CHECK_(boolean_condition);
+//     or
+//    GTEST_CHECK_(boolean_condition) << "Additional message";
+//
+//    This checks the condition and if the condition is not satisfied
+//    it prints message about the condition violation, including the
+//    condition itself, plus additional message streamed into it, if any,
+//    and then it aborts the program. It aborts the program irrespective of
+//    whether it is built in the debug mode or not.
+# define GTEST_CHECK_(condition) \
+    GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+    if (::testing::internal::IsTrue(condition)) \
+      ; \
+    else \
+      GTEST_LOG_(FATAL) << "Condition " #condition " failed. "
+#endif  // !defined(GTEST_CHECK_)
+
+// An all-mode assert to verify that the given POSIX-style function
+// call returns 0 (indicating success).  Known limitation: this
+// doesn't expand to a balanced 'if' statement, so enclose the macro
+// in {} if you need to use it as the only statement in an 'if'
+// branch.
+#define GTEST_CHECK_POSIX_SUCCESS_(posix_call) \
+  if (const int gtest_error = (posix_call)) \
+    GTEST_LOG_(FATAL) << #posix_call << "failed with error " \
+                      << gtest_error
+
+#if GTEST_HAS_STD_MOVE_
+using std::move;
+#else  // GTEST_HAS_STD_MOVE_
+template <typename T>
+const T& move(const T& t) {
+  return t;
+}
+#endif  // GTEST_HAS_STD_MOVE_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Use ImplicitCast_ as a safe version of static_cast for upcasting in
+// the type hierarchy (e.g. casting a Foo* to a SuperclassOfFoo* or a
+// const Foo*).  When you use ImplicitCast_, the compiler checks that
+// the cast is safe.  Such explicit ImplicitCast_s are necessary in
+// surprisingly many situations where C++ demands an exact type match
+// instead of an argument type convertable to a target type.
+//
+// The syntax for using ImplicitCast_ is the same as for static_cast:
+//
+//   ImplicitCast_<ToType>(expr)
+//
+// ImplicitCast_ would have been part of the C++ standard library,
+// but the proposal was submitted too late.  It will probably make
+// its way into the language in the future.
+//
+// This relatively ugly name is intentional. It prevents clashes with
+// similar functions users may have (e.g., implicit_cast). The internal
+// namespace alone is not enough because the function can be found by ADL.
+template<typename To>
+inline To ImplicitCast_(To x) { return x; }
+
+// When you upcast (that is, cast a pointer from type Foo to type
+// SuperclassOfFoo), it's fine to use ImplicitCast_<>, since upcasts
+// always succeed.  When you downcast (that is, cast a pointer from
+// type Foo to type SubclassOfFoo), static_cast<> isn't safe, because
+// how do you know the pointer is really of type SubclassOfFoo?  It
+// could be a bare Foo, or of type DifferentSubclassOfFoo.  Thus,
+// when you downcast, you should use this macro.  In debug mode, we
+// use dynamic_cast<> to double-check the downcast is legal (we die
+// if it's not).  In normal mode, we do the efficient static_cast<>
+// instead.  Thus, it's important to test in debug mode to make sure
+// the cast is legal!
+//    This is the only place in the code we should use dynamic_cast<>.
+// In particular, you SHOULDN'T be using dynamic_cast<> in order to
+// do RTTI (eg code like this:
+//    if (dynamic_cast<Subclass1>(foo)) HandleASubclass1Object(foo);
+//    if (dynamic_cast<Subclass2>(foo)) HandleASubclass2Object(foo);
+// You should design the code some other way not to need this.
+//
+// This relatively ugly name is intentional. It prevents clashes with
+// similar functions users may have (e.g., down_cast). The internal
+// namespace alone is not enough because the function can be found by ADL.
+template<typename To, typename From>  // use like this: DownCast_<T*>(foo);
+inline To DownCast_(From* f) {  // so we only accept pointers
+  // Ensures that To is a sub-type of From *.  This test is here only
+  // for compile-time type checking, and has no overhead in an
+  // optimized build at run-time, as it will be optimized away
+  // completely.
+  GTEST_INTENTIONAL_CONST_COND_PUSH_()
+  if (false) {
+  GTEST_INTENTIONAL_CONST_COND_POP_()
+    const To to = NULL;
+    ::testing::internal::ImplicitCast_<From*>(to);
+  }
+
+#if GTEST_HAS_RTTI
+  // RTTI: debug mode only!
+  GTEST_CHECK_(f == NULL || dynamic_cast<To>(f) != NULL);
+#endif
+  return static_cast<To>(f);
+}
+
+// Downcasts the pointer of type Base to Derived.
+// Derived must be a subclass of Base. The parameter MUST
+// point to a class of type Derived, not any subclass of it.
+// When RTTI is available, the function performs a runtime
+// check to enforce this.
+template <class Derived, class Base>
+Derived* CheckedDowncastToActualType(Base* base) {
+#if GTEST_HAS_RTTI
+  GTEST_CHECK_(typeid(*base) == typeid(Derived));
+#endif
+
+#if GTEST_HAS_DOWNCAST_
+  return ::down_cast<Derived*>(base);
+#elif GTEST_HAS_RTTI
+  return dynamic_cast<Derived*>(base);  // NOLINT
+#else
+  return static_cast<Derived*>(base);  // Poor man's downcast.
+#endif
+}
+
+#if GTEST_HAS_STREAM_REDIRECTION
+
+// Defines the stderr capturer:
+//   CaptureStdout     - starts capturing stdout.
+//   GetCapturedStdout - stops capturing stdout and returns the captured string.
+//   CaptureStderr     - starts capturing stderr.
+//   GetCapturedStderr - stops capturing stderr and returns the captured string.
+//
+GTEST_API_ void CaptureStdout();
+GTEST_API_ std::string GetCapturedStdout();
+GTEST_API_ void CaptureStderr();
+GTEST_API_ std::string GetCapturedStderr();
+
+#endif  // GTEST_HAS_STREAM_REDIRECTION
+
+// Returns a path to temporary directory.
+GTEST_API_ std::string TempDir();
+
+// Returns the size (in bytes) of a file.
+GTEST_API_ size_t GetFileSize(FILE* file);
+
+// Reads the entire content of a file as a string.
+GTEST_API_ std::string ReadEntireFile(FILE* file);
+
+// All command line arguments.
+GTEST_API_ const ::std::vector<testing::internal::string>& GetArgvs();
+
+#if GTEST_HAS_DEATH_TEST
+
+const ::std::vector<testing::internal::string>& GetInjectableArgvs();
+void SetInjectableArgvs(const ::std::vector<testing::internal::string>*
+                             new_argvs);
+
+
+#endif  // GTEST_HAS_DEATH_TEST
+
+// Defines synchronization primitives.
+#if GTEST_IS_THREADSAFE
+# if GTEST_HAS_PTHREAD
+// Sleeps for (roughly) n milliseconds.  This function is only for testing
+// Google Test's own constructs.  Don't use it in user tests, either
+// directly or indirectly.
+inline void SleepMilliseconds(int n) {
+  const timespec time = {
+    0,                  // 0 seconds.
+    n * 1000L * 1000L,  // And n ms.
+  };
+  nanosleep(&time, NULL);
+}
+# endif  // GTEST_HAS_PTHREAD
+
+# if GTEST_HAS_NOTIFICATION_
+// Notification has already been imported into the namespace.
+// Nothing to do here.
+
+# elif GTEST_HAS_PTHREAD
+// Allows a controller thread to pause execution of newly created
+// threads until notified.  Instances of this class must be created
+// and destroyed in the controller thread.
+//
+// This class is only for testing Google Test's own constructs. Do not
+// use it in user tests, either directly or indirectly.
+class Notification {
+ public:
+  Notification() : notified_(false) {
+    GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_init(&mutex_, NULL));
+  }
+  ~Notification() {
+    pthread_mutex_destroy(&mutex_);
+  }
+
+  // Notifies all threads created with this notification to start. Must
+  // be called from the controller thread.
+  void Notify() {
+    pthread_mutex_lock(&mutex_);
+    notified_ = true;
+    pthread_mutex_unlock(&mutex_);
+  }
+
+  // Blocks until the controller thread notifies. Must be called from a test
+  // thread.
+  void WaitForNotification() {
+    for (;;) {
+      pthread_mutex_lock(&mutex_);
+      const bool notified = notified_;
+      pthread_mutex_unlock(&mutex_);
+      if (notified)
+        break;
+      SleepMilliseconds(10);
+    }
+  }
+
+ private:
+  pthread_mutex_t mutex_;
+  bool notified_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(Notification);
+};
+
+# elif GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+
+GTEST_API_ void SleepMilliseconds(int n);
+
+// Provides leak-safe Windows kernel handle ownership.
+// Used in death tests and in threading support.
+class GTEST_API_ AutoHandle {
+ public:
+  // Assume that Win32 HANDLE type is equivalent to void*. Doing so allows us to
+  // avoid including <windows.h> in this header file. Including <windows.h> is
+  // undesirable because it defines a lot of symbols and macros that tend to
+  // conflict with client code. This assumption is verified by
+  // WindowsTypesTest.HANDLEIsVoidStar.
+  typedef void* Handle;
+  AutoHandle();
+  explicit AutoHandle(Handle handle);
+
+  ~AutoHandle();
+
+  Handle Get() const;
+  void Reset();
+  void Reset(Handle handle);
+
+ private:
+  // Returns true iff the handle is a valid handle object that can be closed.
+  bool IsCloseable() const;
+
+  Handle handle_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(AutoHandle);
+};
+
+// Allows a controller thread to pause execution of newly created
+// threads until notified.  Instances of this class must be created
+// and destroyed in the controller thread.
+//
+// This class is only for testing Google Test's own constructs. Do not
+// use it in user tests, either directly or indirectly.
+class GTEST_API_ Notification {
+ public:
+  Notification();
+  void Notify();
+  void WaitForNotification();
+
+ private:
+  AutoHandle event_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(Notification);
+};
+# endif  // GTEST_HAS_NOTIFICATION_
+
+// On MinGW, we can have both GTEST_OS_WINDOWS and GTEST_HAS_PTHREAD
+// defined, but we don't want to use MinGW's pthreads implementation, which
+// has conformance problems with some versions of the POSIX standard.
+# if GTEST_HAS_PTHREAD && !GTEST_OS_WINDOWS_MINGW
+
+// As a C-function, ThreadFuncWithCLinkage cannot be templated itself.
+// Consequently, it cannot select a correct instantiation of ThreadWithParam
+// in order to call its Run(). Introducing ThreadWithParamBase as a
+// non-templated base class for ThreadWithParam allows us to bypass this
+// problem.
+class ThreadWithParamBase {
+ public:
+  virtual ~ThreadWithParamBase() {}
+  virtual void Run() = 0;
+};
+
+// pthread_create() accepts a pointer to a function type with the C linkage.
+// According to the Standard (7.5/1), function types with different linkages
+// are different even if they are otherwise identical.  Some compilers (for
+// example, SunStudio) treat them as different types.  Since class methods
+// cannot be defined with C-linkage we need to define a free C-function to
+// pass into pthread_create().
+extern "C" inline void* ThreadFuncWithCLinkage(void* thread) {
+  static_cast<ThreadWithParamBase*>(thread)->Run();
+  return NULL;
+}
+
+// Helper class for testing Google Test's multi-threading constructs.
+// To use it, write:
+//
+//   void ThreadFunc(int param) { /* Do things with param */ }
+//   Notification thread_can_start;
+//   ...
+//   // The thread_can_start parameter is optional; you can supply NULL.
+//   ThreadWithParam<int> thread(&ThreadFunc, 5, &thread_can_start);
+//   thread_can_start.Notify();
+//
+// These classes are only for testing Google Test's own constructs. Do
+// not use them in user tests, either directly or indirectly.
+template <typename T>
+class ThreadWithParam : public ThreadWithParamBase {
+ public:
+  typedef void UserThreadFunc(T);
+
+  ThreadWithParam(UserThreadFunc* func, T param, Notification* thread_can_start)
+      : func_(func),
+        param_(param),
+        thread_can_start_(thread_can_start),
+        finished_(false) {
+    ThreadWithParamBase* const base = this;
+    // The thread can be created only after all fields except thread_
+    // have been initialized.
+    GTEST_CHECK_POSIX_SUCCESS_(
+        pthread_create(&thread_, 0, &ThreadFuncWithCLinkage, base));
+  }
+  ~ThreadWithParam() { Join(); }
+
+  void Join() {
+    if (!finished_) {
+      GTEST_CHECK_POSIX_SUCCESS_(pthread_join(thread_, 0));
+      finished_ = true;
+    }
+  }
+
+  virtual void Run() {
+    if (thread_can_start_ != NULL)
+      thread_can_start_->WaitForNotification();
+    func_(param_);
+  }
+
+ private:
+  UserThreadFunc* const func_;  // User-supplied thread function.
+  const T param_;  // User-supplied parameter to the thread function.
+  // When non-NULL, used to block execution until the controller thread
+  // notifies.
+  Notification* const thread_can_start_;
+  bool finished_;  // true iff we know that the thread function has finished.
+  pthread_t thread_;  // The native thread object.
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParam);
+};
+# endif  // !GTEST_OS_WINDOWS && GTEST_HAS_PTHREAD ||
+         // GTEST_HAS_MUTEX_AND_THREAD_LOCAL_
+
+# if GTEST_HAS_MUTEX_AND_THREAD_LOCAL_
+// Mutex and ThreadLocal have already been imported into the namespace.
+// Nothing to do here.
+
+# elif GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+
+// Mutex implements mutex on Windows platforms.  It is used in conjunction
+// with class MutexLock:
+//
+//   Mutex mutex;
+//   ...
+//   MutexLock lock(&mutex);  // Acquires the mutex and releases it at the
+//                            // end of the current scope.
+//
+// A static Mutex *must* be defined or declared using one of the following
+// macros:
+//   GTEST_DEFINE_STATIC_MUTEX_(g_some_mutex);
+//   GTEST_DECLARE_STATIC_MUTEX_(g_some_mutex);
+//
+// (A non-static Mutex is defined/declared in the usual way).
+class GTEST_API_ Mutex {
+ public:
+  enum MutexType { kStatic = 0, kDynamic = 1 };
+  // We rely on kStaticMutex being 0 as it is to what the linker initializes
+  // type_ in static mutexes.  critical_section_ will be initialized lazily
+  // in ThreadSafeLazyInit().
+  enum StaticConstructorSelector { kStaticMutex = 0 };
+
+  // This constructor intentionally does nothing.  It relies on type_ being
+  // statically initialized to 0 (effectively setting it to kStatic) and on
+  // ThreadSafeLazyInit() to lazily initialize the rest of the members.
+  explicit Mutex(StaticConstructorSelector /*dummy*/) {}
+
+  Mutex();
+  ~Mutex();
+
+  void Lock();
+
+  void Unlock();
+
+  // Does nothing if the current thread holds the mutex. Otherwise, crashes
+  // with high probability.
+  void AssertHeld();
+
+ private:
+  // Initializes owner_thread_id_ and critical_section_ in static mutexes.
+  void ThreadSafeLazyInit();
+
+  // Per http://blogs.msdn.com/b/oldnewthing/archive/2004/02/23/78395.aspx,
+  // we assume that 0 is an invalid value for thread IDs.
+  unsigned int owner_thread_id_;
+
+  // For static mutexes, we rely on these members being initialized to zeros
+  // by the linker.
+  MutexType type_;
+  long critical_section_init_phase_;  // NOLINT
+  GTEST_CRITICAL_SECTION* critical_section_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(Mutex);
+};
+
+# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+    extern ::testing::internal::Mutex mutex
+
+# define GTEST_DEFINE_STATIC_MUTEX_(mutex) \
+    ::testing::internal::Mutex mutex(::testing::internal::Mutex::kStaticMutex)
+
+// We cannot name this class MutexLock because the ctor declaration would
+// conflict with a macro named MutexLock, which is defined on some
+// platforms. That macro is used as a defensive measure to prevent against
+// inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
+// "MutexLock l(&mu)".  Hence the typedef trick below.
+class GTestMutexLock {
+ public:
+  explicit GTestMutexLock(Mutex* mutex)
+      : mutex_(mutex) { mutex_->Lock(); }
+
+  ~GTestMutexLock() { mutex_->Unlock(); }
+
+ private:
+  Mutex* const mutex_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestMutexLock);
+};
+
+typedef GTestMutexLock MutexLock;
+
+// Base class for ValueHolder<T>.  Allows a caller to hold and delete a value
+// without knowing its type.
+class ThreadLocalValueHolderBase {
+ public:
+  virtual ~ThreadLocalValueHolderBase() {}
+};
+
+// Provides a way for a thread to send notifications to a ThreadLocal
+// regardless of its parameter type.
+class ThreadLocalBase {
+ public:
+  // Creates a new ValueHolder<T> object holding a default value passed to
+  // this ThreadLocal<T>'s constructor and returns it.  It is the caller's
+  // responsibility not to call this when the ThreadLocal<T> instance already
+  // has a value on the current thread.
+  virtual ThreadLocalValueHolderBase* NewValueForCurrentThread() const = 0;
+
+ protected:
+  ThreadLocalBase() {}
+  virtual ~ThreadLocalBase() {}
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocalBase);
+};
+
+// Maps a thread to a set of ThreadLocals that have values instantiated on that
+// thread and notifies them when the thread exits.  A ThreadLocal instance is
+// expected to persist until all threads it has values on have terminated.
+class GTEST_API_ ThreadLocalRegistry {
+ public:
+  // Registers thread_local_instance as having value on the current thread.
+  // Returns a value that can be used to identify the thread from other threads.
+  static ThreadLocalValueHolderBase* GetValueOnCurrentThread(
+      const ThreadLocalBase* thread_local_instance);
+
+  // Invoked when a ThreadLocal instance is destroyed.
+  static void OnThreadLocalDestroyed(
+      const ThreadLocalBase* thread_local_instance);
+};
+
+class GTEST_API_ ThreadWithParamBase {
+ public:
+  void Join();
+
+ protected:
+  class Runnable {
+   public:
+    virtual ~Runnable() {}
+    virtual void Run() = 0;
+  };
+
+  ThreadWithParamBase(Runnable *runnable, Notification* thread_can_start);
+  virtual ~ThreadWithParamBase();
+
+ private:
+  AutoHandle thread_;
+};
+
+// Helper class for testing Google Test's multi-threading constructs.
+template <typename T>
+class ThreadWithParam : public ThreadWithParamBase {
+ public:
+  typedef void UserThreadFunc(T);
+
+  ThreadWithParam(UserThreadFunc* func, T param, Notification* thread_can_start)
+      : ThreadWithParamBase(new RunnableImpl(func, param), thread_can_start) {
+  }
+  virtual ~ThreadWithParam() {}
+
+ private:
+  class RunnableImpl : public Runnable {
+   public:
+    RunnableImpl(UserThreadFunc* func, T param)
+        : func_(func),
+          param_(param) {
+    }
+    virtual ~RunnableImpl() {}
+    virtual void Run() {
+      func_(param_);
+    }
+
+   private:
+    UserThreadFunc* const func_;
+    const T param_;
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(RunnableImpl);
+  };
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParam);
+};
+
+// Implements thread-local storage on Windows systems.
+//
+//   // Thread 1
+//   ThreadLocal<int> tl(100);  // 100 is the default value for each thread.
+//
+//   // Thread 2
+//   tl.set(150);  // Changes the value for thread 2 only.
+//   EXPECT_EQ(150, tl.get());
+//
+//   // Thread 1
+//   EXPECT_EQ(100, tl.get());  // In thread 1, tl has the original value.
+//   tl.set(200);
+//   EXPECT_EQ(200, tl.get());
+//
+// The template type argument T must have a public copy constructor.
+// In addition, the default ThreadLocal constructor requires T to have
+// a public default constructor.
+//
+// The users of a TheadLocal instance have to make sure that all but one
+// threads (including the main one) using that instance have exited before
+// destroying it. Otherwise, the per-thread objects managed for them by the
+// ThreadLocal instance are not guaranteed to be destroyed on all platforms.
+//
+// Google Test only uses global ThreadLocal objects.  That means they
+// will die after main() has returned.  Therefore, no per-thread
+// object managed by Google Test will be leaked as long as all threads
+// using Google Test have exited when main() returns.
+template <typename T>
+class ThreadLocal : public ThreadLocalBase {
+ public:
+  ThreadLocal() : default_factory_(new DefaultValueHolderFactory()) {}
+  explicit ThreadLocal(const T& value)
+      : default_factory_(new InstanceValueHolderFactory(value)) {}
+
+  ~ThreadLocal() { ThreadLocalRegistry::OnThreadLocalDestroyed(this); }
+
+  T* pointer() { return GetOrCreateValue(); }
+  const T* pointer() const { return GetOrCreateValue(); }
+  const T& get() const { return *pointer(); }
+  void set(const T& value) { *pointer() = value; }
+
+ private:
+  // Holds a value of T.  Can be deleted via its base class without the caller
+  // knowing the type of T.
+  class ValueHolder : public ThreadLocalValueHolderBase {
+   public:
+    ValueHolder() : value_() {}
+    explicit ValueHolder(const T& value) : value_(value) {}
+
+    T* pointer() { return &value_; }
+
+   private:
+    T value_;
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolder);
+  };
+
+
+  T* GetOrCreateValue() const {
+    return static_cast<ValueHolder*>(
+        ThreadLocalRegistry::GetValueOnCurrentThread(this))->pointer();
+  }
+
+  virtual ThreadLocalValueHolderBase* NewValueForCurrentThread() const {
+    return default_factory_->MakeNewHolder();
+  }
+
+  class ValueHolderFactory {
+   public:
+    ValueHolderFactory() {}
+    virtual ~ValueHolderFactory() {}
+    virtual ValueHolder* MakeNewHolder() const = 0;
+
+   private:
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolderFactory);
+  };
+
+  class DefaultValueHolderFactory : public ValueHolderFactory {
+   public:
+    DefaultValueHolderFactory() {}
+    virtual ValueHolder* MakeNewHolder() const { return new ValueHolder(); }
+
+   private:
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultValueHolderFactory);
+  };
+
+  class InstanceValueHolderFactory : public ValueHolderFactory {
+   public:
+    explicit InstanceValueHolderFactory(const T& value) : value_(value) {}
+    virtual ValueHolder* MakeNewHolder() const {
+      return new ValueHolder(value_);
+    }
+
+   private:
+    const T value_;  // The value for each thread.
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(InstanceValueHolderFactory);
+  };
+
+  scoped_ptr<ValueHolderFactory> default_factory_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocal);
+};
+
+# elif GTEST_HAS_PTHREAD
+
+// MutexBase and Mutex implement mutex on pthreads-based platforms.
+class MutexBase {
+ public:
+  // Acquires this mutex.
+  void Lock() {
+    GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_lock(&mutex_));
+    owner_ = pthread_self();
+    has_owner_ = true;
+  }
+
+  // Releases this mutex.
+  void Unlock() {
+    // Since the lock is being released the owner_ field should no longer be
+    // considered valid. We don't protect writing to has_owner_ here, as it's
+    // the caller's responsibility to ensure that the current thread holds the
+    // mutex when this is called.
+    has_owner_ = false;
+    GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_unlock(&mutex_));
+  }
+
+  // Does nothing if the current thread holds the mutex. Otherwise, crashes
+  // with high probability.
+  void AssertHeld() const {
+    GTEST_CHECK_(has_owner_ && pthread_equal(owner_, pthread_self()))
+        << "The current thread is not holding the mutex @" << this;
+  }
+
+  // A static mutex may be used before main() is entered.  It may even
+  // be used before the dynamic initialization stage.  Therefore we
+  // must be able to initialize a static mutex object at link time.
+  // This means MutexBase has to be a POD and its member variables
+  // have to be public.
+ public:
+  pthread_mutex_t mutex_;  // The underlying pthread mutex.
+  // has_owner_ indicates whether the owner_ field below contains a valid thread
+  // ID and is therefore safe to inspect (e.g., to use in pthread_equal()). All
+  // accesses to the owner_ field should be protected by a check of this field.
+  // An alternative might be to memset() owner_ to all zeros, but there's no
+  // guarantee that a zero'd pthread_t is necessarily invalid or even different
+  // from pthread_self().
+  bool has_owner_;
+  pthread_t owner_;  // The thread holding the mutex.
+};
+
+// Forward-declares a static mutex.
+#  define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+     extern ::testing::internal::MutexBase mutex
+
+// Defines and statically (i.e. at link time) initializes a static mutex.
+#  define GTEST_DEFINE_STATIC_MUTEX_(mutex) \
+     ::testing::internal::MutexBase mutex = { PTHREAD_MUTEX_INITIALIZER, false, pthread_t() }
+
+// The Mutex class can only be used for mutexes created at runtime. It
+// shares its API with MutexBase otherwise.
+class Mutex : public MutexBase {
+ public:
+  Mutex() {
+    GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_init(&mutex_, NULL));
+    has_owner_ = false;
+  }
+  ~Mutex() {
+    GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_destroy(&mutex_));
+  }
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(Mutex);
+};
+
+// We cannot name this class MutexLock because the ctor declaration would
+// conflict with a macro named MutexLock, which is defined on some
+// platforms. That macro is used as a defensive measure to prevent against
+// inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
+// "MutexLock l(&mu)".  Hence the typedef trick below.
+class GTestMutexLock {
+ public:
+  explicit GTestMutexLock(MutexBase* mutex)
+      : mutex_(mutex) { mutex_->Lock(); }
+
+  ~GTestMutexLock() { mutex_->Unlock(); }
+
+ private:
+  MutexBase* const mutex_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestMutexLock);
+};
+
+typedef GTestMutexLock MutexLock;
+
+// Helpers for ThreadLocal.
+
+// pthread_key_create() requires DeleteThreadLocalValue() to have
+// C-linkage.  Therefore it cannot be templatized to access
+// ThreadLocal<T>.  Hence the need for class
+// ThreadLocalValueHolderBase.
+class ThreadLocalValueHolderBase {
+ public:
+  virtual ~ThreadLocalValueHolderBase() {}
+};
+
+// Called by pthread to delete thread-local data stored by
+// pthread_setspecific().
+extern "C" inline void DeleteThreadLocalValue(void* value_holder) {
+  delete static_cast<ThreadLocalValueHolderBase*>(value_holder);
+}
+
+// Implements thread-local storage on pthreads-based systems.
+template <typename T>
+class ThreadLocal {
+ public:
+  ThreadLocal()
+      : key_(CreateKey()), default_factory_(new DefaultValueHolderFactory()) {}
+  explicit ThreadLocal(const T& value)
+      : key_(CreateKey()),
+        default_factory_(new InstanceValueHolderFactory(value)) {}
+
+  ~ThreadLocal() {
+    // Destroys the managed object for the current thread, if any.
+    DeleteThreadLocalValue(pthread_getspecific(key_));
+
+    // Releases resources associated with the key.  This will *not*
+    // delete managed objects for other threads.
+    GTEST_CHECK_POSIX_SUCCESS_(pthread_key_delete(key_));
+  }
+
+  T* pointer() { return GetOrCreateValue(); }
+  const T* pointer() const { return GetOrCreateValue(); }
+  const T& get() const { return *pointer(); }
+  void set(const T& value) { *pointer() = value; }
+
+ private:
+  // Holds a value of type T.
+  class ValueHolder : public ThreadLocalValueHolderBase {
+   public:
+    ValueHolder() : value_() {}
+    explicit ValueHolder(const T& value) : value_(value) {}
+
+    T* pointer() { return &value_; }
+
+   private:
+    T value_;
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolder);
+  };
+
+  static pthread_key_t CreateKey() {
+    pthread_key_t key;
+    // When a thread exits, DeleteThreadLocalValue() will be called on
+    // the object managed for that thread.
+    GTEST_CHECK_POSIX_SUCCESS_(
+        pthread_key_create(&key, &DeleteThreadLocalValue));
+    return key;
+  }
+
+  T* GetOrCreateValue() const {
+    ThreadLocalValueHolderBase* const holder =
+        static_cast<ThreadLocalValueHolderBase*>(pthread_getspecific(key_));
+    if (holder != NULL) {
+      return CheckedDowncastToActualType<ValueHolder>(holder)->pointer();
+    }
+
+    ValueHolder* const new_holder = default_factory_->MakeNewHolder();
+    ThreadLocalValueHolderBase* const holder_base = new_holder;
+    GTEST_CHECK_POSIX_SUCCESS_(pthread_setspecific(key_, holder_base));
+    return new_holder->pointer();
+  }
+
+  class ValueHolderFactory {
+   public:
+    ValueHolderFactory() {}
+    virtual ~ValueHolderFactory() {}
+    virtual ValueHolder* MakeNewHolder() const = 0;
+
+   private:
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolderFactory);
+  };
+
+  class DefaultValueHolderFactory : public ValueHolderFactory {
+   public:
+    DefaultValueHolderFactory() {}
+    virtual ValueHolder* MakeNewHolder() const { return new ValueHolder(); }
+
+   private:
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultValueHolderFactory);
+  };
+
+  class InstanceValueHolderFactory : public ValueHolderFactory {
+   public:
+    explicit InstanceValueHolderFactory(const T& value) : value_(value) {}
+    virtual ValueHolder* MakeNewHolder() const {
+      return new ValueHolder(value_);
+    }
+
+   private:
+    const T value_;  // The value for each thread.
+
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(InstanceValueHolderFactory);
+  };
+
+  // A key pthreads uses for looking up per-thread values.
+  const pthread_key_t key_;
+  scoped_ptr<ValueHolderFactory> default_factory_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocal);
+};
+
+# endif  // GTEST_HAS_MUTEX_AND_THREAD_LOCAL_
+
+#else  // GTEST_IS_THREADSAFE
+
+// A dummy implementation of synchronization primitives (mutex, lock,
+// and thread-local variable).  Necessary for compiling Google Test where
+// mutex is not supported - using Google Test in multiple threads is not
+// supported on such platforms.
+
+class Mutex {
+ public:
+  Mutex() {}
+  void Lock() {}
+  void Unlock() {}
+  void AssertHeld() const {}
+};
+
+# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+  extern ::testing::internal::Mutex mutex
+
+# define GTEST_DEFINE_STATIC_MUTEX_(mutex) ::testing::internal::Mutex mutex
+
+// We cannot name this class MutexLock because the ctor declaration would
+// conflict with a macro named MutexLock, which is defined on some
+// platforms. That macro is used as a defensive measure to prevent against
+// inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
+// "MutexLock l(&mu)".  Hence the typedef trick below.
+class GTestMutexLock {
+ public:
+  explicit GTestMutexLock(Mutex*) {}  // NOLINT
+};
+
+typedef GTestMutexLock MutexLock;
+
+template <typename T>
+class ThreadLocal {
+ public:
+  ThreadLocal() : value_() {}
+  explicit ThreadLocal(const T& value) : value_(value) {}
+  T* pointer() { return &value_; }
+  const T* pointer() const { return &value_; }
+  const T& get() const { return value_; }
+  void set(const T& value) { value_ = value; }
+ private:
+  T value_;
+};
+
+#endif  // GTEST_IS_THREADSAFE
+
+// Returns the number of threads running in the process, or 0 to indicate that
+// we cannot detect it.
+GTEST_API_ size_t GetThreadCount();
+
+// Passing non-POD classes through ellipsis (...) crashes the ARM
+// compiler and generates a warning in Sun Studio.  The Nokia Symbian
+// and the IBM XL C/C++ compiler try to instantiate a copy constructor
+// for objects passed through ellipsis (...), failing for uncopyable
+// objects.  We define this to ensure that only POD is passed through
+// ellipsis on these systems.
+#if defined(__SYMBIAN32__) || defined(__IBMCPP__) || defined(__SUNPRO_CC)
+// We lose support for NULL detection where the compiler doesn't like
+// passing non-POD classes through ellipsis (...).
+# define GTEST_ELLIPSIS_NEEDS_POD_ 1
+#else
+# define GTEST_CAN_COMPARE_NULL 1
+#endif
+
+// The Nokia Symbian and IBM XL C/C++ compilers cannot decide between
+// const T& and const T* in a function template.  These compilers
+// _can_ decide between class template specializations for T and T*,
+// so a tr1::type_traits-like is_pointer works.
+#if defined(__SYMBIAN32__) || defined(__IBMCPP__)
+# define GTEST_NEEDS_IS_POINTER_ 1
+#endif
+
+template <bool bool_value>
+struct bool_constant {
+  typedef bool_constant<bool_value> type;
+  static const bool value = bool_value;
+};
+template <bool bool_value> const bool bool_constant<bool_value>::value;
+
+typedef bool_constant<false> false_type;
+typedef bool_constant<true> true_type;
+
+template <typename T>
+struct is_pointer : public false_type {};
+
+template <typename T>
+struct is_pointer<T*> : public true_type {};
+
+template <typename Iterator>
+struct IteratorTraits {
+  typedef typename Iterator::value_type value_type;
+};
+
+template <typename T>
+struct IteratorTraits<T*> {
+  typedef T value_type;
+};
+
+template <typename T>
+struct IteratorTraits<const T*> {
+  typedef T value_type;
+};
+
+#if GTEST_OS_WINDOWS
+# define GTEST_PATH_SEP_ "\\"
+# define GTEST_HAS_ALT_PATH_SEP_ 1
+// The biggest signed integer type the compiler supports.
+typedef __int64 BiggestInt;
+#else
+# define GTEST_PATH_SEP_ "/"
+# define GTEST_HAS_ALT_PATH_SEP_ 0
+typedef long long BiggestInt;  // NOLINT
+#endif  // GTEST_OS_WINDOWS
+
+// Utilities for char.
+
+// isspace(int ch) and friends accept an unsigned char or EOF.  char
+// may be signed, depending on the compiler (or compiler flags).
+// Therefore we need to cast a char to unsigned char before calling
+// isspace(), etc.
+
+inline bool IsAlpha(char ch) {
+  return isalpha(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsAlNum(char ch) {
+  return isalnum(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsDigit(char ch) {
+  return isdigit(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsLower(char ch) {
+  return islower(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsSpace(char ch) {
+  return isspace(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsUpper(char ch) {
+  return isupper(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsXDigit(char ch) {
+  return isxdigit(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsXDigit(wchar_t ch) {
+  const unsigned char low_byte = static_cast<unsigned char>(ch);
+  return ch == low_byte && isxdigit(low_byte) != 0;
+}
+
+inline char ToLower(char ch) {
+  return static_cast<char>(tolower(static_cast<unsigned char>(ch)));
+}
+inline char ToUpper(char ch) {
+  return static_cast<char>(toupper(static_cast<unsigned char>(ch)));
+}
+
+inline std::string StripTrailingSpaces(std::string str) {
+  std::string::iterator it = str.end();
+  while (it != str.begin() && IsSpace(*--it))
+    it = str.erase(it);
+  return str;
+}
+
+// The testing::internal::posix namespace holds wrappers for common
+// POSIX functions.  These wrappers hide the differences between
+// Windows/MSVC and POSIX systems.  Since some compilers define these
+// standard functions as macros, the wrapper cannot have the same name
+// as the wrapped function.
+
+namespace posix {
+
+// Functions with a different name on Windows.
+
+#if GTEST_OS_WINDOWS
+
+typedef struct _stat StatStruct;
+
+# ifdef __BORLANDC__
+inline int IsATTY(int fd) { return isatty(fd); }
+inline int StrCaseCmp(const char* s1, const char* s2) {
+  return stricmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return strdup(src); }
+# else  // !__BORLANDC__
+#  if GTEST_OS_WINDOWS_MOBILE
+inline int IsATTY(int /* fd */) { return 0; }
+#  else
+inline int IsATTY(int fd) { return _isatty(fd); }
+#  endif  // GTEST_OS_WINDOWS_MOBILE
+inline int StrCaseCmp(const char* s1, const char* s2) {
+  return _stricmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return _strdup(src); }
+# endif  // __BORLANDC__
+
+# if GTEST_OS_WINDOWS_MOBILE
+inline int FileNo(FILE* file) { return reinterpret_cast<int>(_fileno(file)); }
+// Stat(), RmDir(), and IsDir() are not needed on Windows CE at this
+// time and thus not defined there.
+# else
+inline int FileNo(FILE* file) { return _fileno(file); }
+inline int Stat(const char* path, StatStruct* buf) { return _stat(path, buf); }
+inline int RmDir(const char* dir) { return _rmdir(dir); }
+inline bool IsDir(const StatStruct& st) {
+  return (_S_IFDIR & st.st_mode) != 0;
+}
+# endif  // GTEST_OS_WINDOWS_MOBILE
+
+#else
+
+typedef struct stat StatStruct;
+
+inline int FileNo(FILE* file) { return fileno(file); }
+inline int IsATTY(int fd) { return isatty(fd); }
+inline int Stat(const char* path, StatStruct* buf) { return stat(path, buf); }
+inline int StrCaseCmp(const char* s1, const char* s2) {
+  return strcasecmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return strdup(src); }
+inline int RmDir(const char* dir) { return rmdir(dir); }
+inline bool IsDir(const StatStruct& st) { return S_ISDIR(st.st_mode); }
+
+#endif  // GTEST_OS_WINDOWS
+
+// Functions deprecated by MSVC 8.0.
+
+GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996 /* deprecated function */)
+
+inline const char* StrNCpy(char* dest, const char* src, size_t n) {
+  return strncpy(dest, src, n);
+}
+
+// ChDir(), FReopen(), FDOpen(), Read(), Write(), Close(), and
+// StrError() aren't needed on Windows CE at this time and thus not
+// defined there.
+
+#if !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_WINDOWS_PHONE && !GTEST_OS_WINDOWS_RT
+inline int ChDir(const char* dir) { return chdir(dir); }
+#endif
+inline FILE* FOpen(const char* path, const char* mode) {
+  return fopen(path, mode);
+}
+#if !GTEST_OS_WINDOWS_MOBILE
+inline FILE *FReopen(const char* path, const char* mode, FILE* stream) {
+  return freopen(path, mode, stream);
+}
+inline FILE* FDOpen(int fd, const char* mode) { return fdopen(fd, mode); }
+#endif
+inline int FClose(FILE* fp) { return fclose(fp); }
+#if !GTEST_OS_WINDOWS_MOBILE
+inline int Read(int fd, void* buf, unsigned int count) {
+  return static_cast<int>(read(fd, buf, count));
+}
+inline int Write(int fd, const void* buf, unsigned int count) {
+  return static_cast<int>(write(fd, buf, count));
+}
+inline int Close(int fd) { return close(fd); }
+inline const char* StrError(int errnum) { return strerror(errnum); }
+#endif
+inline const char* GetEnv(const char* name) {
+#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_WINDOWS_PHONE | GTEST_OS_WINDOWS_RT
+  // We are on Windows CE, which has no environment variables.
+  static_cast<void>(name);  // To prevent 'unused argument' warning.
+  return NULL;
+#elif defined(__BORLANDC__) || defined(__SunOS_5_8) || defined(__SunOS_5_9)
+  // Environment variables which we programmatically clear will be set to the
+  // empty string rather than unset (NULL).  Handle that case.
+  const char* const env = getenv(name);
+  return (env != NULL && env[0] != '\0') ? env : NULL;
+#else
+  return getenv(name);
+#endif
+}
+
+GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+#if GTEST_OS_WINDOWS_MOBILE
+// Windows CE has no C library. The abort() function is used in
+// several places in Google Test. This implementation provides a reasonable
+// imitation of standard behaviour.
+void Abort();
+#else
+inline void Abort() { abort(); }
+#endif  // GTEST_OS_WINDOWS_MOBILE
+
+}  // namespace posix
+
+// MSVC "deprecates" snprintf and issues warnings wherever it is used.  In
+// order to avoid these warnings, we need to use _snprintf or _snprintf_s on
+// MSVC-based platforms.  We map the GTEST_SNPRINTF_ macro to the appropriate
+// function in order to achieve that.  We use macro definition here because
+// snprintf is a variadic function.
+#if _MSC_VER >= 1400 && !GTEST_OS_WINDOWS_MOBILE
+// MSVC 2005 and above support variadic macros.
+# define GTEST_SNPRINTF_(buffer, size, format, ...) \
+     _snprintf_s(buffer, size, size, format, __VA_ARGS__)
+#elif defined(_MSC_VER)
+// Windows CE does not define _snprintf_s and MSVC prior to 2005 doesn't
+// complain about _snprintf.
+# define GTEST_SNPRINTF_ _snprintf
+#else
+# define GTEST_SNPRINTF_ snprintf
+#endif
+
+// The maximum number a BiggestInt can represent.  This definition
+// works no matter BiggestInt is represented in one's complement or
+// two's complement.
+//
+// We cannot rely on numeric_limits in STL, as __int64 and long long
+// are not part of standard C++ and numeric_limits doesn't need to be
+// defined for them.
+const BiggestInt kMaxBiggestInt =
+    ~(static_cast<BiggestInt>(1) << (8*sizeof(BiggestInt) - 1));
+
+// This template class serves as a compile-time function from size to
+// type.  It maps a size in bytes to a primitive type with that
+// size. e.g.
+//
+//   TypeWithSize<4>::UInt
+//
+// is typedef-ed to be unsigned int (unsigned integer made up of 4
+// bytes).
+//
+// Such functionality should belong to STL, but I cannot find it
+// there.
+//
+// Google Test uses this class in the implementation of floating-point
+// comparison.
+//
+// For now it only handles UInt (unsigned int) as that's all Google Test
+// needs.  Other types can be easily added in the future if need
+// arises.
+template <size_t size>
+class TypeWithSize {
+ public:
+  // This prevents the user from using TypeWithSize<N> with incorrect
+  // values of N.
+  typedef void UInt;
+};
+
+// The specialization for size 4.
+template <>
+class TypeWithSize<4> {
+ public:
+  // unsigned int has size 4 in both gcc and MSVC.
+  //
+  // As base/basictypes.h doesn't compile on Windows, we cannot use
+  // uint32, uint64, and etc here.
+  typedef int Int;
+  typedef unsigned int UInt;
+};
+
+// The specialization for size 8.
+template <>
+class TypeWithSize<8> {
+ public:
+#if GTEST_OS_WINDOWS
+  typedef __int64 Int;
+  typedef unsigned __int64 UInt;
+#else
+  typedef long long Int;  // NOLINT
+  typedef unsigned long long UInt;  // NOLINT
+#endif  // GTEST_OS_WINDOWS
+};
+
+// Integer types of known sizes.
+typedef TypeWithSize<4>::Int Int32;
+typedef TypeWithSize<4>::UInt UInt32;
+typedef TypeWithSize<8>::Int Int64;
+typedef TypeWithSize<8>::UInt UInt64;
+typedef TypeWithSize<8>::Int TimeInMillis;  // Represents time in milliseconds.
+
+// Utilities for command line flags and environment variables.
+
+// Macro for referencing flags.
+#if !defined(GTEST_FLAG)
+# define GTEST_FLAG(name) FLAGS_gtest_##name
+#endif  // !defined(GTEST_FLAG)
+
+#if !defined(GTEST_USE_OWN_FLAGFILE_FLAG_)
+# define GTEST_USE_OWN_FLAGFILE_FLAG_ 1
+#endif  // !defined(GTEST_USE_OWN_FLAGFILE_FLAG_)
+
+#if !defined(GTEST_DECLARE_bool_)
+# define GTEST_FLAG_SAVER_ ::testing::internal::GTestFlagSaver
+
+// Macros for declaring flags.
+# define GTEST_DECLARE_bool_(name) GTEST_API_ extern bool GTEST_FLAG(name)
+# define GTEST_DECLARE_int32_(name) \
+    GTEST_API_ extern ::testing::internal::Int32 GTEST_FLAG(name)
+#define GTEST_DECLARE_string_(name) \
+    GTEST_API_ extern ::std::string GTEST_FLAG(name)
+
+// Macros for defining flags.
+#define GTEST_DEFINE_bool_(name, default_val, doc) \
+    GTEST_API_ bool GTEST_FLAG(name) = (default_val)
+#define GTEST_DEFINE_int32_(name, default_val, doc) \
+    GTEST_API_ ::testing::internal::Int32 GTEST_FLAG(name) = (default_val)
+#define GTEST_DEFINE_string_(name, default_val, doc) \
+    GTEST_API_ ::std::string GTEST_FLAG(name) = (default_val)
+
+#endif  // !defined(GTEST_DECLARE_bool_)
+
+// Thread annotations
+#if !defined(GTEST_EXCLUSIVE_LOCK_REQUIRED_)
+# define GTEST_EXCLUSIVE_LOCK_REQUIRED_(locks)
+# define GTEST_LOCK_EXCLUDED_(locks)
+#endif  // !defined(GTEST_EXCLUSIVE_LOCK_REQUIRED_)
+
+// Parses 'str' for a 32-bit signed integer.  If successful, writes the result
+// to *value and returns true; otherwise leaves *value unchanged and returns
+// false.
+// TODO(chandlerc): Find a better way to refactor flag and environment parsing
+// out of both gtest-port.cc and gtest.cc to avoid exporting this utility
+// function.
+bool ParseInt32(const Message& src_text, const char* str, Int32* value);
+
+// Parses a bool/Int32/string from the environment variable
+// corresponding to the given Google Test flag.
+bool BoolFromGTestEnv(const char* flag, bool default_val);
+GTEST_API_ Int32 Int32FromGTestEnv(const char* flag, Int32 default_val);
+std::string StringFromGTestEnv(const char* flag, const char* default_val);
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+
+#if GTEST_OS_LINUX
+# include <stdlib.h>
+# include <sys/types.h>
+# include <sys/wait.h>
+# include <unistd.h>
+#endif  // GTEST_OS_LINUX
+
+#if GTEST_HAS_EXCEPTIONS
+# include <stdexcept>
+#endif
+
+#include <ctype.h>
+#include <float.h>
+#include <string.h>
+#include <iomanip>
+#include <limits>
+#include <map>
+#include <set>
+#include <string>
+#include <vector>
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the Message class.
+//
+// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
+// leave some internal implementation details in this header file.
+// They are clearly marked by comments like this:
+//
+//   // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+//
+// Such code is NOT meant to be used by a user directly, and is subject
+// to CHANGE WITHOUT NOTICE.  Therefore DO NOT DEPEND ON IT in a user
+// program!
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+#define GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+
+#include <limits>
+
+
+// Ensures that there is at least one operator<< in the global namespace.
+// See Message& operator<<(...) below for why.
+void operator<<(const testing::internal::Secret&, int);
+
+namespace testing {
+
+// The Message class works like an ostream repeater.
+//
+// Typical usage:
+//
+//   1. You stream a bunch of values to a Message object.
+//      It will remember the text in a stringstream.
+//   2. Then you stream the Message object to an ostream.
+//      This causes the text in the Message to be streamed
+//      to the ostream.
+//
+// For example;
+//
+//   testing::Message foo;
+//   foo << 1 << " != " << 2;
+//   std::cout << foo;
+//
+// will print "1 != 2".
+//
+// Message is not intended to be inherited from.  In particular, its
+// destructor is not virtual.
+//
+// Note that stringstream behaves differently in gcc and in MSVC.  You
+// can stream a NULL char pointer to it in the former, but not in the
+// latter (it causes an access violation if you do).  The Message
+// class hides this difference by treating a NULL char pointer as
+// "(null)".
+class GTEST_API_ Message {
+ private:
+  // The type of basic IO manipulators (endl, ends, and flush) for
+  // narrow streams.
+  typedef std::ostream& (*BasicNarrowIoManip)(std::ostream&);
+
+ public:
+  // Constructs an empty Message.
+  Message();
+
+  // Copy constructor.
+  Message(const Message& msg) : ss_(new ::std::stringstream) {  // NOLINT
+    *ss_ << msg.GetString();
+  }
+
+  // Constructs a Message from a C-string.
+  explicit Message(const char* str) : ss_(new ::std::stringstream) {
+    *ss_ << str;
+  }
+
+#if GTEST_OS_SYMBIAN
+  // Streams a value (either a pointer or not) to this object.
+  template <typename T>
+  inline Message& operator <<(const T& value) {
+    StreamHelper(typename internal::is_pointer<T>::type(), value);
+    return *this;
+  }
+#else
+  // Streams a non-pointer value to this object.
+  template <typename T>
+  inline Message& operator <<(const T& val) {
+    // Some libraries overload << for STL containers.  These
+    // overloads are defined in the global namespace instead of ::std.
+    //
+    // C++'s symbol lookup rule (i.e. Koenig lookup) says that these
+    // overloads are visible in either the std namespace or the global
+    // namespace, but not other namespaces, including the testing
+    // namespace which Google Test's Message class is in.
+    //
+    // To allow STL containers (and other types that has a << operator
+    // defined in the global namespace) to be used in Google Test
+    // assertions, testing::Message must access the custom << operator
+    // from the global namespace.  With this using declaration,
+    // overloads of << defined in the global namespace and those
+    // visible via Koenig lookup are both exposed in this function.
+    using ::operator <<;
+    *ss_ << val;
+    return *this;
+  }
+
+  // Streams a pointer value to this object.
+  //
+  // This function is an overload of the previous one.  When you
+  // stream a pointer to a Message, this definition will be used as it
+  // is more specialized.  (The C++ Standard, section
+  // [temp.func.order].)  If you stream a non-pointer, then the
+  // previous definition will be used.
+  //
+  // The reason for this overload is that streaming a NULL pointer to
+  // ostream is undefined behavior.  Depending on the compiler, you
+  // may get "0", "(nil)", "(null)", or an access violation.  To
+  // ensure consistent result across compilers, we always treat NULL
+  // as "(null)".
+  template <typename T>
+  inline Message& operator <<(T* const& pointer) {  // NOLINT
+    if (pointer == NULL) {
+      *ss_ << "(null)";
+    } else {
+      *ss_ << pointer;
+    }
+    return *this;
+  }
+#endif  // GTEST_OS_SYMBIAN
+
+  // Since the basic IO manipulators are overloaded for both narrow
+  // and wide streams, we have to provide this specialized definition
+  // of operator <<, even though its body is the same as the
+  // templatized version above.  Without this definition, streaming
+  // endl or other basic IO manipulators to Message will confuse the
+  // compiler.
+  Message& operator <<(BasicNarrowIoManip val) {
+    *ss_ << val;
+    return *this;
+  }
+
+  // Instead of 1/0, we want to see true/false for bool values.
+  Message& operator <<(bool b) {
+    return *this << (b ? "true" : "false");
+  }
+
+  // These two overloads allow streaming a wide C string to a Message
+  // using the UTF-8 encoding.
+  Message& operator <<(const wchar_t* wide_c_str);
+  Message& operator <<(wchar_t* wide_c_str);
+
+#if GTEST_HAS_STD_WSTRING
+  // Converts the given wide string to a narrow string using the UTF-8
+  // encoding, and streams the result to this Message object.
+  Message& operator <<(const ::std::wstring& wstr);
+#endif  // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+  // Converts the given wide string to a narrow string using the UTF-8
+  // encoding, and streams the result to this Message object.
+  Message& operator <<(const ::wstring& wstr);
+#endif  // GTEST_HAS_GLOBAL_WSTRING
+
+  // Gets the text streamed to this object so far as an std::string.
+  // Each '\0' character in the buffer is replaced with "\\0".
+  //
+  // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+  std::string GetString() const;
+
+ private:
+
+#if GTEST_OS_SYMBIAN
+  // These are needed as the Nokia Symbian Compiler cannot decide between
+  // const T& and const T* in a function template. The Nokia compiler _can_
+  // decide between class template specializations for T and T*, so a
+  // tr1::type_traits-like is_pointer works, and we can overload on that.
+  template <typename T>
+  inline void StreamHelper(internal::true_type /*is_pointer*/, T* pointer) {
+    if (pointer == NULL) {
+      *ss_ << "(null)";
+    } else {
+      *ss_ << pointer;
+    }
+  }
+  template <typename T>
+  inline void StreamHelper(internal::false_type /*is_pointer*/,
+                           const T& value) {
+    // See the comments in Message& operator <<(const T&) above for why
+    // we need this using statement.
+    using ::operator <<;
+    *ss_ << value;
+  }
+#endif  // GTEST_OS_SYMBIAN
+
+  // We'll hold the text streamed to this object here.
+  const internal::scoped_ptr< ::std::stringstream> ss_;
+
+  // We declare (but don't implement) this to prevent the compiler
+  // from implementing the assignment operator.
+  void operator=(const Message&);
+};
+
+// Streams a Message to an ostream.
+inline std::ostream& operator <<(std::ostream& os, const Message& sb) {
+  return os << sb.GetString();
+}
+
+namespace internal {
+
+// Converts a streamable value to an std::string.  A NULL pointer is
+// converted to "(null)".  When the input value is a ::string,
+// ::std::string, ::wstring, or ::std::wstring object, each NUL
+// character in it is replaced with "\\0".
+template <typename T>
+std::string StreamableToString(const T& streamable) {
+  return (Message() << streamable).GetString();
+}
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file declares the String class and functions used internally by
+// Google Test.  They are subject to change without notice. They should not used
+// by code external to Google Test.
+//
+// This header file is #included by <gtest/internal/gtest-internal.h>.
+// It should not be #included by other files.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+
+#ifdef __BORLANDC__
+// string.h is not guaranteed to provide strcpy on C++ Builder.
+# include <mem.h>
+#endif
+
+#include <string.h>
+#include <string>
+
+
+namespace testing {
+namespace internal {
+
+// String - an abstract class holding static string utilities.
+class GTEST_API_ String {
+ public:
+  // Static utility methods
+
+  // Clones a 0-terminated C string, allocating memory using new.  The
+  // caller is responsible for deleting the return value using
+  // delete[].  Returns the cloned string, or NULL if the input is
+  // NULL.
+  //
+  // This is different from strdup() in string.h, which allocates
+  // memory using malloc().
+  static const char* CloneCString(const char* c_str);
+
+#if GTEST_OS_WINDOWS_MOBILE
+  // Windows CE does not have the 'ANSI' versions of Win32 APIs. To be
+  // able to pass strings to Win32 APIs on CE we need to convert them
+  // to 'Unicode', UTF-16.
+
+  // Creates a UTF-16 wide string from the given ANSI string, allocating
+  // memory using new. The caller is responsible for deleting the return
+  // value using delete[]. Returns the wide string, or NULL if the
+  // input is NULL.
+  //
+  // The wide string is created using the ANSI codepage (CP_ACP) to
+  // match the behaviour of the ANSI versions of Win32 calls and the
+  // C runtime.
+  static LPCWSTR AnsiToUtf16(const char* c_str);
+
+  // Creates an ANSI string from the given wide string, allocating
+  // memory using new. The caller is responsible for deleting the return
+  // value using delete[]. Returns the ANSI string, or NULL if the
+  // input is NULL.
+  //
+  // The returned string is created using the ANSI codepage (CP_ACP) to
+  // match the behaviour of the ANSI versions of Win32 calls and the
+  // C runtime.
+  static const char* Utf16ToAnsi(LPCWSTR utf16_str);
+#endif
+
+  // Compares two C strings.  Returns true iff they have the same content.
+  //
+  // Unlike strcmp(), this function can handle NULL argument(s).  A
+  // NULL C string is considered different to any non-NULL C string,
+  // including the empty string.
+  static bool CStringEquals(const char* lhs, const char* rhs);
+
+  // Converts a wide C string to a String using the UTF-8 encoding.
+  // NULL will be converted to "(null)".  If an error occurred during
+  // the conversion, "(failed to convert from wide string)" is
+  // returned.
+  static std::string ShowWideCString(const wchar_t* wide_c_str);
+
+  // Compares two wide C strings.  Returns true iff they have the same
+  // content.
+  //
+  // Unlike wcscmp(), this function can handle NULL argument(s).  A
+  // NULL C string is considered different to any non-NULL C string,
+  // including the empty string.
+  static bool WideCStringEquals(const wchar_t* lhs, const wchar_t* rhs);
+
+  // Compares two C strings, ignoring case.  Returns true iff they
+  // have the same content.
+  //
+  // Unlike strcasecmp(), this function can handle NULL argument(s).
+  // A NULL C string is considered different to any non-NULL C string,
+  // including the empty string.
+  static bool CaseInsensitiveCStringEquals(const char* lhs,
+                                           const char* rhs);
+
+  // Compares two wide C strings, ignoring case.  Returns true iff they
+  // have the same content.
+  //
+  // Unlike wcscasecmp(), this function can handle NULL argument(s).
+  // A NULL C string is considered different to any non-NULL wide C string,
+  // including the empty string.
+  // NB: The implementations on different platforms slightly differ.
+  // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
+  // environment variable. On GNU platform this method uses wcscasecmp
+  // which compares according to LC_CTYPE category of the current locale.
+  // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
+  // current locale.
+  static bool CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
+                                               const wchar_t* rhs);
+
+  // Returns true iff the given string ends with the given suffix, ignoring
+  // case. Any string is considered to end with an empty suffix.
+  static bool EndsWithCaseInsensitive(
+      const std::string& str, const std::string& suffix);
+
+  // Formats an int value as "%02d".
+  static std::string FormatIntWidth2(int value);  // "%02d" for width == 2
+
+  // Formats an int value as "%X".
+  static std::string FormatHexInt(int value);
+
+  // Formats a byte as "%02X".
+  static std::string FormatByte(unsigned char value);
+
+ private:
+  String();  // Not meant to be instantiated.
+};  // class String
+
+// Gets the content of the stringstream's buffer as an std::string.  Each '\0'
+// character in the buffer is replaced with "\\0".
+GTEST_API_ std::string StringStreamToString(::std::stringstream* stream);
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keith.ray@gmail.com (Keith Ray)
+//
+// Google Test filepath utilities
+//
+// This header file declares classes and functions used internally by
+// Google Test.  They are subject to change without notice.
+//
+// This file is #included in <gtest/internal/gtest-internal.h>.
+// Do not include this header file separately!
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+
+
+namespace testing {
+namespace internal {
+
+// FilePath - a class for file and directory pathname manipulation which
+// handles platform-specific conventions (like the pathname separator).
+// Used for helper functions for naming files in a directory for xml output.
+// Except for Set methods, all methods are const or static, which provides an
+// "immutable value object" -- useful for peace of mind.
+// A FilePath with a value ending in a path separator ("like/this/") represents
+// a directory, otherwise it is assumed to represent a file. In either case,
+// it may or may not represent an actual file or directory in the file system.
+// Names are NOT checked for syntax correctness -- no checking for illegal
+// characters, malformed paths, etc.
+
+class GTEST_API_ FilePath {
+ public:
+  FilePath() : pathname_("") { }
+  FilePath(const FilePath& rhs) : pathname_(rhs.pathname_) { }
+
+  explicit FilePath(const std::string& pathname) : pathname_(pathname) {
+    Normalize();
+  }
+
+  FilePath& operator=(const FilePath& rhs) {
+    Set(rhs);
+    return *this;
+  }
+
+  void Set(const FilePath& rhs) {
+    pathname_ = rhs.pathname_;
+  }
+
+  const std::string& string() const { return pathname_; }
+  const char* c_str() const { return pathname_.c_str(); }
+
+  // Returns the current working directory, or "" if unsuccessful.
+  static FilePath GetCurrentDir();
+
+  // Given directory = "dir", base_name = "test", number = 0,
+  // extension = "xml", returns "dir/test.xml". If number is greater
+  // than zero (e.g., 12), returns "dir/test_12.xml".
+  // On Windows platform, uses \ as the separator rather than /.
+  static FilePath MakeFileName(const FilePath& directory,
+                               const FilePath& base_name,
+                               int number,
+                               const char* extension);
+
+  // Given directory = "dir", relative_path = "test.xml",
+  // returns "dir/test.xml".
+  // On Windows, uses \ as the separator rather than /.
+  static FilePath ConcatPaths(const FilePath& directory,
+                              const FilePath& relative_path);
+
+  // Returns a pathname for a file that does not currently exist. The pathname
+  // will be directory/base_name.extension or
+  // directory/base_name_<number>.extension if directory/base_name.extension
+  // already exists. The number will be incremented until a pathname is found
+  // that does not already exist.
+  // Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
+  // There could be a race condition if two or more processes are calling this
+  // function at the same time -- they could both pick the same filename.
+  static FilePath GenerateUniqueFileName(const FilePath& directory,
+                                         const FilePath& base_name,
+                                         const char* extension);
+
+  // Returns true iff the path is "".
+  bool IsEmpty() const { return pathname_.empty(); }
+
+  // If input name has a trailing separator character, removes it and returns
+  // the name, otherwise return the name string unmodified.
+  // On Windows platform, uses \ as the separator, other platforms use /.
+  FilePath RemoveTrailingPathSeparator() const;
+
+  // Returns a copy of the FilePath with the directory part removed.
+  // Example: FilePath("path/to/file").RemoveDirectoryName() returns
+  // FilePath("file"). If there is no directory part ("just_a_file"), it returns
+  // the FilePath unmodified. If there is no file part ("just_a_dir/") it
+  // returns an empty FilePath ("").
+  // On Windows platform, '\' is the path separator, otherwise it is '/'.
+  FilePath RemoveDirectoryName() const;
+
+  // RemoveFileName returns the directory path with the filename removed.
+  // Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
+  // If the FilePath is "a_file" or "/a_file", RemoveFileName returns
+  // FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
+  // not have a file, like "just/a/dir/", it returns the FilePath unmodified.
+  // On Windows platform, '\' is the path separator, otherwise it is '/'.
+  FilePath RemoveFileName() const;
+
+  // Returns a copy of the FilePath with the case-insensitive extension removed.
+  // Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
+  // FilePath("dir/file"). If a case-insensitive extension is not
+  // found, returns a copy of the original FilePath.
+  FilePath RemoveExtension(const char* extension) const;
+
+  // Creates directories so that path exists. Returns true if successful or if
+  // the directories already exist; returns false if unable to create
+  // directories for any reason. Will also return false if the FilePath does
+  // not represent a directory (that is, it doesn't end with a path separator).
+  bool CreateDirectoriesRecursively() const;
+
+  // Create the directory so that path exists. Returns true if successful or
+  // if the directory already exists; returns false if unable to create the
+  // directory for any reason, including if the parent directory does not
+  // exist. Not named "CreateDirectory" because that's a macro on Windows.
+  bool CreateFolder() const;
+
+  // Returns true if FilePath describes something in the file-system,
+  // either a file, directory, or whatever, and that something exists.
+  bool FileOrDirectoryExists() const;
+
+  // Returns true if pathname describes a directory in the file-system
+  // that exists.
+  bool DirectoryExists() const;
+
+  // Returns true if FilePath ends with a path separator, which indicates that
+  // it is intended to represent a directory. Returns false otherwise.
+  // This does NOT check that a directory (or file) actually exists.
+  bool IsDirectory() const;
+
+  // Returns true if pathname describes a root directory. (Windows has one
+  // root directory per disk drive.)
+  bool IsRootDirectory() const;
+
+  // Returns true if pathname describes an absolute path.
+  bool IsAbsolutePath() const;
+
+ private:
+  // Replaces multiple consecutive separators with a single separator.
+  // For example, "bar///foo" becomes "bar/foo". Does not eliminate other
+  // redundancies that might be in a pathname involving "." or "..".
+  //
+  // A pathname with multiple consecutive separators may occur either through
+  // user error or as a result of some scripts or APIs that generate a pathname
+  // with a trailing separator. On other platforms the same API or script
+  // may NOT generate a pathname with a trailing "/". Then elsewhere that
+  // pathname may have another "/" and pathname components added to it,
+  // without checking for the separator already being there.
+  // The script language and operating system may allow paths like "foo//bar"
+  // but some of the functions in FilePath will not handle that correctly. In
+  // particular, RemoveTrailingPathSeparator() only removes one separator, and
+  // it is called in CreateDirectoriesRecursively() assuming that it will change
+  // a pathname from directory syntax (trailing separator) to filename syntax.
+  //
+  // On Windows this method also replaces the alternate path separator '/' with
+  // the primary path separator '\\', so that for example "bar\\/\\foo" becomes
+  // "bar\\foo".
+
+  void Normalize();
+
+  // Returns a pointer to the last occurence of a valid path separator in
+  // the FilePath. On Windows, for example, both '/' and '\' are valid path
+  // separators. Returns NULL if no path separator was found.
+  const char* FindLastPathSeparator() const;
+
+  std::string pathname_;
+};  // class FilePath
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+// This file was GENERATED by command:
+//     pump.py gtest-type-util.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Type utilities needed for implementing typed and type-parameterized
+// tests.  This file is generated by a SCRIPT.  DO NOT EDIT BY HAND!
+//
+// Currently we support at most 50 types in a list, and at most 50
+// type-parameterized tests in one type-parameterized test case.
+// Please contact googletestframework@googlegroups.com if you need
+// more.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+
+
+// #ifdef __GNUC__ is too general here.  It is possible to use gcc without using
+// libstdc++ (which is where cxxabi.h comes from).
+# if GTEST_HAS_CXXABI_H_
+#  include <cxxabi.h>
+# elif defined(__HP_aCC)
+#  include <acxx_demangle.h>
+# endif  // GTEST_HASH_CXXABI_H_
+
+namespace testing {
+namespace internal {
+
+// GetTypeName<T>() returns a human-readable name of type T.
+// NB: This function is also used in Google Mock, so don't move it inside of
+// the typed-test-only section below.
+template <typename T>
+std::string GetTypeName() {
+# if GTEST_HAS_RTTI
+
+  const char* const name = typeid(T).name();
+#  if GTEST_HAS_CXXABI_H_ || defined(__HP_aCC)
+  int status = 0;
+  // gcc's implementation of typeid(T).name() mangles the type name,
+  // so we have to demangle it.
+#   if GTEST_HAS_CXXABI_H_
+  using abi::__cxa_demangle;
+#   endif  // GTEST_HAS_CXXABI_H_
+  char* const readable_name = __cxa_demangle(name, 0, 0, &status);
+  const std::string name_str(status == 0 ? readable_name : name);
+  free(readable_name);
+  return name_str;
+#  else
+  return name;
+#  endif  // GTEST_HAS_CXXABI_H_ || __HP_aCC
+
+# else
+
+  return "<type>";
+
+# endif  // GTEST_HAS_RTTI
+}
+
+#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// AssertyTypeEq<T1, T2>::type is defined iff T1 and T2 are the same
+// type.  This can be used as a compile-time assertion to ensure that
+// two types are equal.
+
+template <typename T1, typename T2>
+struct AssertTypeEq;
+
+template <typename T>
+struct AssertTypeEq<T, T> {
+  typedef bool type;
+};
+
+// A unique type used as the default value for the arguments of class
+// template Types.  This allows us to simulate variadic templates
+// (e.g. Types<int>, Type<int, double>, and etc), which C++ doesn't
+// support directly.
+struct None {};
+
+// The following family of struct and struct templates are used to
+// represent type lists.  In particular, TypesN<T1, T2, ..., TN>
+// represents a type list with N types (T1, T2, ..., and TN) in it.
+// Except for Types0, every struct in the family has two member types:
+// Head for the first type in the list, and Tail for the rest of the
+// list.
+
+// The empty type list.
+struct Types0 {};
+
+// Type lists of length 1, 2, 3, and so on.
+
+template <typename T1>
+struct Types1 {
+  typedef T1 Head;
+  typedef Types0 Tail;
+};
+template <typename T1, typename T2>
+struct Types2 {
+  typedef T1 Head;
+  typedef Types1<T2> Tail;
+};
+
+template <typename T1, typename T2, typename T3>
+struct Types3 {
+  typedef T1 Head;
+  typedef Types2<T2, T3> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4>
+struct Types4 {
+  typedef T1 Head;
+  typedef Types3<T2, T3, T4> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+struct Types5 {
+  typedef T1 Head;
+  typedef Types4<T2, T3, T4, T5> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6>
+struct Types6 {
+  typedef T1 Head;
+  typedef Types5<T2, T3, T4, T5, T6> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7>
+struct Types7 {
+  typedef T1 Head;
+  typedef Types6<T2, T3, T4, T5, T6, T7> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8>
+struct Types8 {
+  typedef T1 Head;
+  typedef Types7<T2, T3, T4, T5, T6, T7, T8> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9>
+struct Types9 {
+  typedef T1 Head;
+  typedef Types8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10>
+struct Types10 {
+  typedef T1 Head;
+  typedef Types9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11>
+struct Types11 {
+  typedef T1 Head;
+  typedef Types10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12>
+struct Types12 {
+  typedef T1 Head;
+  typedef Types11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13>
+struct Types13 {
+  typedef T1 Head;
+  typedef Types12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14>
+struct Types14 {
+  typedef T1 Head;
+  typedef Types13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15>
+struct Types15 {
+  typedef T1 Head;
+  typedef Types14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16>
+struct Types16 {
+  typedef T1 Head;
+  typedef Types15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17>
+struct Types17 {
+  typedef T1 Head;
+  typedef Types16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18>
+struct Types18 {
+  typedef T1 Head;
+  typedef Types17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19>
+struct Types19 {
+  typedef T1 Head;
+  typedef Types18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20>
+struct Types20 {
+  typedef T1 Head;
+  typedef Types19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21>
+struct Types21 {
+  typedef T1 Head;
+  typedef Types20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22>
+struct Types22 {
+  typedef T1 Head;
+  typedef Types21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23>
+struct Types23 {
+  typedef T1 Head;
+  typedef Types22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24>
+struct Types24 {
+  typedef T1 Head;
+  typedef Types23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25>
+struct Types25 {
+  typedef T1 Head;
+  typedef Types24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26>
+struct Types26 {
+  typedef T1 Head;
+  typedef Types25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27>
+struct Types27 {
+  typedef T1 Head;
+  typedef Types26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28>
+struct Types28 {
+  typedef T1 Head;
+  typedef Types27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29>
+struct Types29 {
+  typedef T1 Head;
+  typedef Types28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30>
+struct Types30 {
+  typedef T1 Head;
+  typedef Types29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31>
+struct Types31 {
+  typedef T1 Head;
+  typedef Types30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32>
+struct Types32 {
+  typedef T1 Head;
+  typedef Types31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33>
+struct Types33 {
+  typedef T1 Head;
+  typedef Types32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34>
+struct Types34 {
+  typedef T1 Head;
+  typedef Types33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35>
+struct Types35 {
+  typedef T1 Head;
+  typedef Types34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36>
+struct Types36 {
+  typedef T1 Head;
+  typedef Types35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37>
+struct Types37 {
+  typedef T1 Head;
+  typedef Types36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38>
+struct Types38 {
+  typedef T1 Head;
+  typedef Types37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39>
+struct Types39 {
+  typedef T1 Head;
+  typedef Types38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40>
+struct Types40 {
+  typedef T1 Head;
+  typedef Types39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41>
+struct Types41 {
+  typedef T1 Head;
+  typedef Types40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42>
+struct Types42 {
+  typedef T1 Head;
+  typedef Types41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43>
+struct Types43 {
+  typedef T1 Head;
+  typedef Types42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44>
+struct Types44 {
+  typedef T1 Head;
+  typedef Types43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+      T44> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45>
+struct Types45 {
+  typedef T1 Head;
+  typedef Types44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+      T44, T45> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46>
+struct Types46 {
+  typedef T1 Head;
+  typedef Types45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+      T44, T45, T46> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47>
+struct Types47 {
+  typedef T1 Head;
+  typedef Types46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+      T44, T45, T46, T47> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48>
+struct Types48 {
+  typedef T1 Head;
+  typedef Types47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+      T44, T45, T46, T47, T48> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49>
+struct Types49 {
+  typedef T1 Head;
+  typedef Types48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+      T44, T45, T46, T47, T48, T49> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49, typename T50>
+struct Types50 {
+  typedef T1 Head;
+  typedef Types49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+      T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+      T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+      T44, T45, T46, T47, T48, T49, T50> Tail;
+};
+
+
+}  // namespace internal
+
+// We don't want to require the users to write TypesN<...> directly,
+// as that would require them to count the length.  Types<...> is much
+// easier to write, but generates horrible messages when there is a
+// compiler error, as gcc insists on printing out each template
+// argument, even if it has the default value (this means Types<int>
+// will appear as Types<int, None, None, ..., None> in the compiler
+// errors).
+//
+// Our solution is to combine the best part of the two approaches: a
+// user would write Types<T1, ..., TN>, and Google Test will translate
+// that to TypesN<T1, ..., TN> internally to make error messages
+// readable.  The translation is done by the 'type' member of the
+// Types template.
+template <typename T1 = internal::None, typename T2 = internal::None,
+    typename T3 = internal::None, typename T4 = internal::None,
+    typename T5 = internal::None, typename T6 = internal::None,
+    typename T7 = internal::None, typename T8 = internal::None,
+    typename T9 = internal::None, typename T10 = internal::None,
+    typename T11 = internal::None, typename T12 = internal::None,
+    typename T13 = internal::None, typename T14 = internal::None,
+    typename T15 = internal::None, typename T16 = internal::None,
+    typename T17 = internal::None, typename T18 = internal::None,
+    typename T19 = internal::None, typename T20 = internal::None,
+    typename T21 = internal::None, typename T22 = internal::None,
+    typename T23 = internal::None, typename T24 = internal::None,
+    typename T25 = internal::None, typename T26 = internal::None,
+    typename T27 = internal::None, typename T28 = internal::None,
+    typename T29 = internal::None, typename T30 = internal::None,
+    typename T31 = internal::None, typename T32 = internal::None,
+    typename T33 = internal::None, typename T34 = internal::None,
+    typename T35 = internal::None, typename T36 = internal::None,
+    typename T37 = internal::None, typename T38 = internal::None,
+    typename T39 = internal::None, typename T40 = internal::None,
+    typename T41 = internal::None, typename T42 = internal::None,
+    typename T43 = internal::None, typename T44 = internal::None,
+    typename T45 = internal::None, typename T46 = internal::None,
+    typename T47 = internal::None, typename T48 = internal::None,
+    typename T49 = internal::None, typename T50 = internal::None>
+struct Types {
+  typedef internal::Types50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
+};
+
+template <>
+struct Types<internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types0 type;
+};
+template <typename T1>
+struct Types<T1, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types1<T1> type;
+};
+template <typename T1, typename T2>
+struct Types<T1, T2, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types2<T1, T2> type;
+};
+template <typename T1, typename T2, typename T3>
+struct Types<T1, T2, T3, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types3<T1, T2, T3> type;
+};
+template <typename T1, typename T2, typename T3, typename T4>
+struct Types<T1, T2, T3, T4, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types4<T1, T2, T3, T4> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+struct Types<T1, T2, T3, T4, T5, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types5<T1, T2, T3, T4, T5> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6>
+struct Types<T1, T2, T3, T4, T5, T6, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types6<T1, T2, T3, T4, T5, T6> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7>
+struct Types<T1, T2, T3, T4, T5, T6, T7, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types7<T1, T2, T3, T4, T5, T6, T7> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types8<T1, T2, T3, T4, T5, T6, T7, T8> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, internal::None,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None, internal::None> {
+  typedef internal::Types43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None, internal::None> {
+  typedef internal::Types44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+    internal::None, internal::None, internal::None, internal::None,
+    internal::None> {
+  typedef internal::Types45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44, T45> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+    T46, internal::None, internal::None, internal::None, internal::None> {
+  typedef internal::Types46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44, T45, T46> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+    T46, T47, internal::None, internal::None, internal::None> {
+  typedef internal::Types47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44, T45, T46, T47> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+    T46, T47, T48, internal::None, internal::None> {
+  typedef internal::Types48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44, T45, T46, T47, T48> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+    T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+    T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+    T46, T47, T48, T49, internal::None> {
+  typedef internal::Types49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44, T45, T46, T47, T48, T49> type;
+};
+
+namespace internal {
+
+# define GTEST_TEMPLATE_ template <typename T> class
+
+// The template "selector" struct TemplateSel<Tmpl> is used to
+// represent Tmpl, which must be a class template with one type
+// parameter, as a type.  TemplateSel<Tmpl>::Bind<T>::type is defined
+// as the type Tmpl<T>.  This allows us to actually instantiate the
+// template "selected" by TemplateSel<Tmpl>.
+//
+// This trick is necessary for simulating typedef for class templates,
+// which C++ doesn't support directly.
+template <GTEST_TEMPLATE_ Tmpl>
+struct TemplateSel {
+  template <typename T>
+  struct Bind {
+    typedef Tmpl<T> type;
+  };
+};
+
+# define GTEST_BIND_(TmplSel, T) \
+  TmplSel::template Bind<T>::type
+
+// A unique struct template used as the default value for the
+// arguments of class template Templates.  This allows us to simulate
+// variadic templates (e.g. Templates<int>, Templates<int, double>,
+// and etc), which C++ doesn't support directly.
+template <typename T>
+struct NoneT {};
+
+// The following family of struct and struct templates are used to
+// represent template lists.  In particular, TemplatesN<T1, T2, ...,
+// TN> represents a list of N templates (T1, T2, ..., and TN).  Except
+// for Templates0, every struct in the family has two member types:
+// Head for the selector of the first template in the list, and Tail
+// for the rest of the list.
+
+// The empty template list.
+struct Templates0 {};
+
+// Template lists of length 1, 2, 3, and so on.
+
+template <GTEST_TEMPLATE_ T1>
+struct Templates1 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates0 Tail;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
+struct Templates2 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates1<T2> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
+struct Templates3 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates2<T2, T3> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4>
+struct Templates4 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates3<T2, T3, T4> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
+struct Templates5 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates4<T2, T3, T4, T5> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
+struct Templates6 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates5<T2, T3, T4, T5, T6> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7>
+struct Templates7 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates6<T2, T3, T4, T5, T6, T7> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
+struct Templates8 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates7<T2, T3, T4, T5, T6, T7, T8> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
+struct Templates9 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10>
+struct Templates10 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
+struct Templates11 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
+struct Templates12 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13>
+struct Templates13 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
+struct Templates14 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
+struct Templates15 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16>
+struct Templates16 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
+struct Templates17 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
+struct Templates18 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19>
+struct Templates19 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
+struct Templates20 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
+struct Templates21 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22>
+struct Templates22 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
+struct Templates23 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
+struct Templates24 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25>
+struct Templates25 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
+struct Templates26 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
+struct Templates27 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28>
+struct Templates28 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
+struct Templates29 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
+struct Templates30 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31>
+struct Templates31 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
+struct Templates32 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
+struct Templates33 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34>
+struct Templates34 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
+struct Templates35 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
+struct Templates36 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37>
+struct Templates37 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
+struct Templates38 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
+struct Templates39 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40>
+struct Templates40 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
+struct Templates41 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
+struct Templates42 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43>
+struct Templates43 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
+struct Templates44 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43, T44> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
+struct Templates45 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43, T44, T45> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46>
+struct Templates46 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43, T44, T45, T46> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
+struct Templates47 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43, T44, T45, T46, T47> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
+struct Templates48 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43, T44, T45, T46, T47, T48> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+    GTEST_TEMPLATE_ T49>
+struct Templates49 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43, T44, T45, T46, T47, T48, T49> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+    GTEST_TEMPLATE_ T49, GTEST_TEMPLATE_ T50>
+struct Templates50 {
+  typedef TemplateSel<T1> Head;
+  typedef Templates49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+      T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+      T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+      T43, T44, T45, T46, T47, T48, T49, T50> Tail;
+};
+
+
+// We don't want to require the users to write TemplatesN<...> directly,
+// as that would require them to count the length.  Templates<...> is much
+// easier to write, but generates horrible messages when there is a
+// compiler error, as gcc insists on printing out each template
+// argument, even if it has the default value (this means Templates<list>
+// will appear as Templates<list, NoneT, NoneT, ..., NoneT> in the compiler
+// errors).
+//
+// Our solution is to combine the best part of the two approaches: a
+// user would write Templates<T1, ..., TN>, and Google Test will translate
+// that to TemplatesN<T1, ..., TN> internally to make error messages
+// readable.  The translation is done by the 'type' member of the
+// Templates template.
+template <GTEST_TEMPLATE_ T1 = NoneT, GTEST_TEMPLATE_ T2 = NoneT,
+    GTEST_TEMPLATE_ T3 = NoneT, GTEST_TEMPLATE_ T4 = NoneT,
+    GTEST_TEMPLATE_ T5 = NoneT, GTEST_TEMPLATE_ T6 = NoneT,
+    GTEST_TEMPLATE_ T7 = NoneT, GTEST_TEMPLATE_ T8 = NoneT,
+    GTEST_TEMPLATE_ T9 = NoneT, GTEST_TEMPLATE_ T10 = NoneT,
+    GTEST_TEMPLATE_ T11 = NoneT, GTEST_TEMPLATE_ T12 = NoneT,
+    GTEST_TEMPLATE_ T13 = NoneT, GTEST_TEMPLATE_ T14 = NoneT,
+    GTEST_TEMPLATE_ T15 = NoneT, GTEST_TEMPLATE_ T16 = NoneT,
+    GTEST_TEMPLATE_ T17 = NoneT, GTEST_TEMPLATE_ T18 = NoneT,
+    GTEST_TEMPLATE_ T19 = NoneT, GTEST_TEMPLATE_ T20 = NoneT,
+    GTEST_TEMPLATE_ T21 = NoneT, GTEST_TEMPLATE_ T22 = NoneT,
+    GTEST_TEMPLATE_ T23 = NoneT, GTEST_TEMPLATE_ T24 = NoneT,
+    GTEST_TEMPLATE_ T25 = NoneT, GTEST_TEMPLATE_ T26 = NoneT,
+    GTEST_TEMPLATE_ T27 = NoneT, GTEST_TEMPLATE_ T28 = NoneT,
+    GTEST_TEMPLATE_ T29 = NoneT, GTEST_TEMPLATE_ T30 = NoneT,
+    GTEST_TEMPLATE_ T31 = NoneT, GTEST_TEMPLATE_ T32 = NoneT,
+    GTEST_TEMPLATE_ T33 = NoneT, GTEST_TEMPLATE_ T34 = NoneT,
+    GTEST_TEMPLATE_ T35 = NoneT, GTEST_TEMPLATE_ T36 = NoneT,
+    GTEST_TEMPLATE_ T37 = NoneT, GTEST_TEMPLATE_ T38 = NoneT,
+    GTEST_TEMPLATE_ T39 = NoneT, GTEST_TEMPLATE_ T40 = NoneT,
+    GTEST_TEMPLATE_ T41 = NoneT, GTEST_TEMPLATE_ T42 = NoneT,
+    GTEST_TEMPLATE_ T43 = NoneT, GTEST_TEMPLATE_ T44 = NoneT,
+    GTEST_TEMPLATE_ T45 = NoneT, GTEST_TEMPLATE_ T46 = NoneT,
+    GTEST_TEMPLATE_ T47 = NoneT, GTEST_TEMPLATE_ T48 = NoneT,
+    GTEST_TEMPLATE_ T49 = NoneT, GTEST_TEMPLATE_ T50 = NoneT>
+struct Templates {
+  typedef Templates50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
+};
+
+template <>
+struct Templates<NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT> {
+  typedef Templates0 type;
+};
+template <GTEST_TEMPLATE_ T1>
+struct Templates<T1, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT> {
+  typedef Templates1<T1> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
+struct Templates<T1, T2, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT> {
+  typedef Templates2<T1, T2> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
+struct Templates<T1, T2, T3, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates3<T1, T2, T3> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4>
+struct Templates<T1, T2, T3, T4, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates4<T1, T2, T3, T4> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
+struct Templates<T1, T2, T3, T4, T5, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates5<T1, T2, T3, T4, T5> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
+struct Templates<T1, T2, T3, T4, T5, T6, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates6<T1, T2, T3, T4, T5, T6> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates7<T1, T2, T3, T4, T5, T6, T7> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates8<T1, T2, T3, T4, T5, T6, T7, T8> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT> {
+  typedef Templates22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT> {
+  typedef Templates23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT> {
+  typedef Templates24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT> {
+  typedef Templates25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT> {
+  typedef Templates26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT> {
+  typedef Templates27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT> {
+  typedef Templates28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT> {
+  typedef Templates29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, NoneT, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, NoneT, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, NoneT, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, NoneT, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, NoneT,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+    NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43, T44> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+    T45, NoneT, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43, T44, T45> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+    T45, T46, NoneT, NoneT, NoneT, NoneT> {
+  typedef Templates46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43, T44, T45, T46> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+    T45, T46, T47, NoneT, NoneT, NoneT> {
+  typedef Templates47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43, T44, T45, T46, T47> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+    T45, T46, T47, T48, NoneT, NoneT> {
+  typedef Templates48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43, T44, T45, T46, T47, T48> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+    GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+    GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+    GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+    GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+    GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+    GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+    GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+    GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+    GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+    GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+    GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+    GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+    GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+    GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+    GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+    GTEST_TEMPLATE_ T49>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+    T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+    T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+    T45, T46, T47, T48, T49, NoneT> {
+  typedef Templates49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+      T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+      T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+      T42, T43, T44, T45, T46, T47, T48, T49> type;
+};
+
+// The TypeList template makes it possible to use either a single type
+// or a Types<...> list in TYPED_TEST_CASE() and
+// INSTANTIATE_TYPED_TEST_CASE_P().
+
+template <typename T>
+struct TypeList {
+  typedef Types1<T> type;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49, typename T50>
+struct TypeList<Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44, T45, T46, T47, T48, T49, T50> > {
+  typedef typename Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+      T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+      T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+      T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>::type type;
+};
+
+#endif  // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+
+// Due to C++ preprocessor weirdness, we need double indirection to
+// concatenate two tokens when one of them is __LINE__.  Writing
+//
+//   foo ## __LINE__
+//
+// will result in the token foo__LINE__, instead of foo followed by
+// the current line number.  For more details, see
+// http://www.parashift.com/c++-faq-lite/misc-technical-issues.html#faq-39.6
+#define GTEST_CONCAT_TOKEN_(foo, bar) GTEST_CONCAT_TOKEN_IMPL_(foo, bar)
+#define GTEST_CONCAT_TOKEN_IMPL_(foo, bar) foo ## bar
+
+class ProtocolMessage;
+namespace proto2 { class Message; }
+
+namespace testing {
+
+// Forward declarations.
+
+class AssertionResult;                 // Result of an assertion.
+class Message;                         // Represents a failure message.
+class Test;                            // Represents a test.
+class TestInfo;                        // Information about a test.
+class TestPartResult;                  // Result of a test part.
+class UnitTest;                        // A collection of test cases.
+
+template <typename T>
+::std::string PrintToString(const T& value);
+
+namespace internal {
+
+struct TraceInfo;                      // Information about a trace point.
+class ScopedTrace;                     // Implements scoped trace.
+class TestInfoImpl;                    // Opaque implementation of TestInfo
+class UnitTestImpl;                    // Opaque implementation of UnitTest
+
+// The text used in failure messages to indicate the start of the
+// stack trace.
+GTEST_API_ extern const char kStackTraceMarker[];
+
+// Two overloaded helpers for checking at compile time whether an
+// expression is a null pointer literal (i.e. NULL or any 0-valued
+// compile-time integral constant).  Their return values have
+// different sizes, so we can use sizeof() to test which version is
+// picked by the compiler.  These helpers have no implementations, as
+// we only need their signatures.
+//
+// Given IsNullLiteralHelper(x), the compiler will pick the first
+// version if x can be implicitly converted to Secret*, and pick the
+// second version otherwise.  Since Secret is a secret and incomplete
+// type, the only expression a user can write that has type Secret* is
+// a null pointer literal.  Therefore, we know that x is a null
+// pointer literal if and only if the first version is picked by the
+// compiler.
+char IsNullLiteralHelper(Secret* p);
+char (&IsNullLiteralHelper(...))[2];  // NOLINT
+
+// A compile-time bool constant that is true if and only if x is a
+// null pointer literal (i.e. NULL or any 0-valued compile-time
+// integral constant).
+#ifdef GTEST_ELLIPSIS_NEEDS_POD_
+// We lose support for NULL detection where the compiler doesn't like
+// passing non-POD classes through ellipsis (...).
+# define GTEST_IS_NULL_LITERAL_(x) false
+#else
+# define GTEST_IS_NULL_LITERAL_(x) \
+    (sizeof(::testing::internal::IsNullLiteralHelper(x)) == 1)
+#endif  // GTEST_ELLIPSIS_NEEDS_POD_
+
+// Appends the user-supplied message to the Google-Test-generated message.
+GTEST_API_ std::string AppendUserMessage(
+    const std::string& gtest_msg, const Message& user_msg);
+
+#if GTEST_HAS_EXCEPTIONS
+
+// This exception is thrown by (and only by) a failed Google Test
+// assertion when GTEST_FLAG(throw_on_failure) is true (if exceptions
+// are enabled).  We derive it from std::runtime_error, which is for
+// errors presumably detectable only at run time.  Since
+// std::runtime_error inherits from std::exception, many testing
+// frameworks know how to extract and print the message inside it.
+class GTEST_API_ GoogleTestFailureException : public ::std::runtime_error {
+ public:
+  explicit GoogleTestFailureException(const TestPartResult& failure);
+};
+
+#endif  // GTEST_HAS_EXCEPTIONS
+
+// A helper class for creating scoped traces in user programs.
+class GTEST_API_ ScopedTrace {
+ public:
+  // The c'tor pushes the given source file location and message onto
+  // a trace stack maintained by Google Test.
+  ScopedTrace(const char* file, int line, const Message& message);
+
+  // The d'tor pops the info pushed by the c'tor.
+  //
+  // Note that the d'tor is not virtual in order to be efficient.
+  // Don't inherit from ScopedTrace!
+  ~ScopedTrace();
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedTrace);
+} GTEST_ATTRIBUTE_UNUSED_;  // A ScopedTrace object does its job in its
+                            // c'tor and d'tor.  Therefore it doesn't
+                            // need to be used otherwise.
+
+namespace edit_distance {
+// Returns the optimal edits to go from 'left' to 'right'.
+// All edits cost the same, with replace having lower priority than
+// add/remove.
+// Simple implementation of the Wagner–Fischer algorithm.
+// See http://en.wikipedia.org/wiki/Wagner-Fischer_algorithm
+enum EditType { kMatch, kAdd, kRemove, kReplace };
+GTEST_API_ std::vector<EditType> CalculateOptimalEdits(
+    const std::vector<size_t>& left, const std::vector<size_t>& right);
+
+// Same as above, but the input is represented as strings.
+GTEST_API_ std::vector<EditType> CalculateOptimalEdits(
+    const std::vector<std::string>& left,
+    const std::vector<std::string>& right);
+
+// Create a diff of the input strings in Unified diff format.
+GTEST_API_ std::string CreateUnifiedDiff(const std::vector<std::string>& left,
+                                         const std::vector<std::string>& right,
+                                         size_t context = 2);
+
+}  // namespace edit_distance
+
+// Calculate the diff between 'left' and 'right' and return it in unified diff
+// format.
+// If not null, stores in 'total_line_count' the total number of lines found
+// in left + right.
+GTEST_API_ std::string DiffStrings(const std::string& left,
+                                   const std::string& right,
+                                   size_t* total_line_count);
+
+// Constructs and returns the message for an equality assertion
+// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
+//
+// The first four parameters are the expressions used in the assertion
+// and their values, as strings.  For example, for ASSERT_EQ(foo, bar)
+// where foo is 5 and bar is 6, we have:
+//
+//   expected_expression: "foo"
+//   actual_expression:   "bar"
+//   expected_value:      "5"
+//   actual_value:        "6"
+//
+// The ignoring_case parameter is true iff the assertion is a
+// *_STRCASEEQ*.  When it's true, the string " (ignoring case)" will
+// be inserted into the message.
+GTEST_API_ AssertionResult EqFailure(const char* expected_expression,
+                                     const char* actual_expression,
+                                     const std::string& expected_value,
+                                     const std::string& actual_value,
+                                     bool ignoring_case);
+
+// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
+GTEST_API_ std::string GetBoolAssertionFailureMessage(
+    const AssertionResult& assertion_result,
+    const char* expression_text,
+    const char* actual_predicate_value,
+    const char* expected_predicate_value);
+
+// This template class represents an IEEE floating-point number
+// (either single-precision or double-precision, depending on the
+// template parameters).
+//
+// The purpose of this class is to do more sophisticated number
+// comparison.  (Due to round-off error, etc, it's very unlikely that
+// two floating-points will be equal exactly.  Hence a naive
+// comparison by the == operation often doesn't work.)
+//
+// Format of IEEE floating-point:
+//
+//   The most-significant bit being the leftmost, an IEEE
+//   floating-point looks like
+//
+//     sign_bit exponent_bits fraction_bits
+//
+//   Here, sign_bit is a single bit that designates the sign of the
+//   number.
+//
+//   For float, there are 8 exponent bits and 23 fraction bits.
+//
+//   For double, there are 11 exponent bits and 52 fraction bits.
+//
+//   More details can be found at
+//   http://en.wikipedia.org/wiki/IEEE_floating-point_standard.
+//
+// Template parameter:
+//
+//   RawType: the raw floating-point type (either float or double)
+template <typename RawType>
+class FloatingPoint {
+ public:
+  // Defines the unsigned integer type that has the same size as the
+  // floating point number.
+  typedef typename TypeWithSize<sizeof(RawType)>::UInt Bits;
+
+  // Constants.
+
+  // # of bits in a number.
+  static const size_t kBitCount = 8*sizeof(RawType);
+
+  // # of fraction bits in a number.
+  static const size_t kFractionBitCount =
+    std::numeric_limits<RawType>::digits - 1;
+
+  // # of exponent bits in a number.
+  static const size_t kExponentBitCount = kBitCount - 1 - kFractionBitCount;
+
+  // The mask for the sign bit.
+  static const Bits kSignBitMask = static_cast<Bits>(1) << (kBitCount - 1);
+
+  // The mask for the fraction bits.
+  static const Bits kFractionBitMask =
+    ~static_cast<Bits>(0) >> (kExponentBitCount + 1);
+
+  // The mask for the exponent bits.
+  static const Bits kExponentBitMask = ~(kSignBitMask | kFractionBitMask);
+
+  // How many ULP's (Units in the Last Place) we want to tolerate when
+  // comparing two numbers.  The larger the value, the more error we
+  // allow.  A 0 value means that two numbers must be exactly the same
+  // to be considered equal.
+  //
+  // The maximum error of a single floating-point operation is 0.5
+  // units in the last place.  On Intel CPU's, all floating-point
+  // calculations are done with 80-bit precision, while double has 64
+  // bits.  Therefore, 4 should be enough for ordinary use.
+  //
+  // See the following article for more details on ULP:
+  // http://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
+  static const size_t kMaxUlps = 4;
+
+  // Constructs a FloatingPoint from a raw floating-point number.
+  //
+  // On an Intel CPU, passing a non-normalized NAN (Not a Number)
+  // around may change its bits, although the new value is guaranteed
+  // to be also a NAN.  Therefore, don't expect this constructor to
+  // preserve the bits in x when x is a NAN.
+  explicit FloatingPoint(const RawType& x) { u_.value_ = x; }
+
+  // Static methods
+
+  // Reinterprets a bit pattern as a floating-point number.
+  //
+  // This function is needed to test the AlmostEquals() method.
+  static RawType ReinterpretBits(const Bits bits) {
+    FloatingPoint fp(0);
+    fp.u_.bits_ = bits;
+    return fp.u_.value_;
+  }
+
+  // Returns the floating-point number that represent positive infinity.
+  static RawType Infinity() {
+    return ReinterpretBits(kExponentBitMask);
+  }
+
+  // Returns the maximum representable finite floating-point number.
+  static RawType Max();
+
+  // Non-static methods
+
+  // Returns the bits that represents this number.
+  const Bits &bits() const { return u_.bits_; }
+
+  // Returns the exponent bits of this number.
+  Bits exponent_bits() const { return kExponentBitMask & u_.bits_; }
+
+  // Returns the fraction bits of this number.
+  Bits fraction_bits() const { return kFractionBitMask & u_.bits_; }
+
+  // Returns the sign bit of this number.
+  Bits sign_bit() const { return kSignBitMask & u_.bits_; }
+
+  // Returns true iff this is NAN (not a number).
+  bool is_nan() const {
+    // It's a NAN if the exponent bits are all ones and the fraction
+    // bits are not entirely zeros.
+    return (exponent_bits() == kExponentBitMask) && (fraction_bits() != 0);
+  }
+
+  // Returns true iff this number is at most kMaxUlps ULP's away from
+  // rhs.  In particular, this function:
+  //
+  //   - returns false if either number is (or both are) NAN.
+  //   - treats really large numbers as almost equal to infinity.
+  //   - thinks +0.0 and -0.0 are 0 DLP's apart.
+  bool AlmostEquals(const FloatingPoint& rhs) const {
+    // The IEEE standard says that any comparison operation involving
+    // a NAN must return false.
+    if (is_nan() || rhs.is_nan()) return false;
+
+    return DistanceBetweenSignAndMagnitudeNumbers(u_.bits_, rhs.u_.bits_)
+        <= kMaxUlps;
+  }
+
+ private:
+  // The data type used to store the actual floating-point number.
+  union FloatingPointUnion {
+    RawType value_;  // The raw floating-point number.
+    Bits bits_;      // The bits that represent the number.
+  };
+
+  // Converts an integer from the sign-and-magnitude representation to
+  // the biased representation.  More precisely, let N be 2 to the
+  // power of (kBitCount - 1), an integer x is represented by the
+  // unsigned number x + N.
+  //
+  // For instance,
+  //
+  //   -N + 1 (the most negative number representable using
+  //          sign-and-magnitude) is represented by 1;
+  //   0      is represented by N; and
+  //   N - 1  (the biggest number representable using
+  //          sign-and-magnitude) is represented by 2N - 1.
+  //
+  // Read http://en.wikipedia.org/wiki/Signed_number_representations
+  // for more details on signed number representations.
+  static Bits SignAndMagnitudeToBiased(const Bits &sam) {
+    if (kSignBitMask & sam) {
+      // sam represents a negative number.
+      return ~sam + 1;
+    } else {
+      // sam represents a positive number.
+      return kSignBitMask | sam;
+    }
+  }
+
+  // Given two numbers in the sign-and-magnitude representation,
+  // returns the distance between them as an unsigned number.
+  static Bits DistanceBetweenSignAndMagnitudeNumbers(const Bits &sam1,
+                                                     const Bits &sam2) {
+    const Bits biased1 = SignAndMagnitudeToBiased(sam1);
+    const Bits biased2 = SignAndMagnitudeToBiased(sam2);
+    return (biased1 >= biased2) ? (biased1 - biased2) : (biased2 - biased1);
+  }
+
+  FloatingPointUnion u_;
+};
+
+// We cannot use std::numeric_limits<T>::max() as it clashes with the max()
+// macro defined by <windows.h>.
+template <>
+inline float FloatingPoint<float>::Max() { return FLT_MAX; }
+template <>
+inline double FloatingPoint<double>::Max() { return DBL_MAX; }
+
+// Typedefs the instances of the FloatingPoint template class that we
+// care to use.
+typedef FloatingPoint<float> Float;
+typedef FloatingPoint<double> Double;
+
+// In order to catch the mistake of putting tests that use different
+// test fixture classes in the same test case, we need to assign
+// unique IDs to fixture classes and compare them.  The TypeId type is
+// used to hold such IDs.  The user should treat TypeId as an opaque
+// type: the only operation allowed on TypeId values is to compare
+// them for equality using the == operator.
+typedef const void* TypeId;
+
+template <typename T>
+class TypeIdHelper {
+ public:
+  // dummy_ must not have a const type.  Otherwise an overly eager
+  // compiler (e.g. MSVC 7.1 & 8.0) may try to merge
+  // TypeIdHelper<T>::dummy_ for different Ts as an "optimization".
+  static bool dummy_;
+};
+
+template <typename T>
+bool TypeIdHelper<T>::dummy_ = false;
+
+// GetTypeId<T>() returns the ID of type T.  Different values will be
+// returned for different types.  Calling the function twice with the
+// same type argument is guaranteed to return the same ID.
+template <typename T>
+TypeId GetTypeId() {
+  // The compiler is required to allocate a different
+  // TypeIdHelper<T>::dummy_ variable for each T used to instantiate
+  // the template.  Therefore, the address of dummy_ is guaranteed to
+  // be unique.
+  return &(TypeIdHelper<T>::dummy_);
+}
+
+// Returns the type ID of ::testing::Test.  Always call this instead
+// of GetTypeId< ::testing::Test>() to get the type ID of
+// ::testing::Test, as the latter may give the wrong result due to a
+// suspected linker bug when compiling Google Test as a Mac OS X
+// framework.
+GTEST_API_ TypeId GetTestTypeId();
+
+// Defines the abstract factory interface that creates instances
+// of a Test object.
+class TestFactoryBase {
+ public:
+  virtual ~TestFactoryBase() {}
+
+  // Creates a test instance to run. The instance is both created and destroyed
+  // within TestInfoImpl::Run()
+  virtual Test* CreateTest() = 0;
+
+ protected:
+  TestFactoryBase() {}
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestFactoryBase);
+};
+
+// This class provides implementation of TeastFactoryBase interface.
+// It is used in TEST and TEST_F macros.
+template <class TestClass>
+class TestFactoryImpl : public TestFactoryBase {
+ public:
+  virtual Test* CreateTest() { return new TestClass; }
+};
+
+#if GTEST_OS_WINDOWS
+
+// Predicate-formatters for implementing the HRESULT checking macros
+// {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}
+// We pass a long instead of HRESULT to avoid causing an
+// include dependency for the HRESULT type.
+GTEST_API_ AssertionResult IsHRESULTSuccess(const char* expr,
+                                            long hr);  // NOLINT
+GTEST_API_ AssertionResult IsHRESULTFailure(const char* expr,
+                                            long hr);  // NOLINT
+
+#endif  // GTEST_OS_WINDOWS
+
+// Types of SetUpTestCase() and TearDownTestCase() functions.
+typedef void (*SetUpTestCaseFunc)();
+typedef void (*TearDownTestCaseFunc)();
+
+struct CodeLocation {
+  CodeLocation(const string& a_file, int a_line) : file(a_file), line(a_line) {}
+
+  string file;
+  int line;
+};
+
+// Creates a new TestInfo object and registers it with Google Test;
+// returns the created object.
+//
+// Arguments:
+//
+//   test_case_name:   name of the test case
+//   name:             name of the test
+//   type_param        the name of the test's type parameter, or NULL if
+//                     this is not a typed or a type-parameterized test.
+//   value_param       text representation of the test's value parameter,
+//                     or NULL if this is not a type-parameterized test.
+//   code_location:    code location where the test is defined
+//   fixture_class_id: ID of the test fixture class
+//   set_up_tc:        pointer to the function that sets up the test case
+//   tear_down_tc:     pointer to the function that tears down the test case
+//   factory:          pointer to the factory that creates a test object.
+//                     The newly created TestInfo instance will assume
+//                     ownership of the factory object.
+GTEST_API_ TestInfo* MakeAndRegisterTestInfo(
+    const char* test_case_name,
+    const char* name,
+    const char* type_param,
+    const char* value_param,
+    CodeLocation code_location,
+    TypeId fixture_class_id,
+    SetUpTestCaseFunc set_up_tc,
+    TearDownTestCaseFunc tear_down_tc,
+    TestFactoryBase* factory);
+
+// If *pstr starts with the given prefix, modifies *pstr to be right
+// past the prefix and returns true; otherwise leaves *pstr unchanged
+// and returns false.  None of pstr, *pstr, and prefix can be NULL.
+GTEST_API_ bool SkipPrefix(const char* prefix, const char** pstr);
+
+#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// State of the definition of a type-parameterized test case.
+class GTEST_API_ TypedTestCasePState {
+ public:
+  TypedTestCasePState() : registered_(false) {}
+
+  // Adds the given test name to defined_test_names_ and return true
+  // if the test case hasn't been registered; otherwise aborts the
+  // program.
+  bool AddTestName(const char* file, int line, const char* case_name,
+                   const char* test_name) {
+    if (registered_) {
+      fprintf(stderr, "%s Test %s must be defined before "
+              "REGISTER_TYPED_TEST_CASE_P(%s, ...).\n",
+              FormatFileLocation(file, line).c_str(), test_name, case_name);
+      fflush(stderr);
+      posix::Abort();
+    }
+    registered_tests_.insert(
+        ::std::make_pair(test_name, CodeLocation(file, line)));
+    return true;
+  }
+
+  bool TestExists(const std::string& test_name) const {
+    return registered_tests_.count(test_name) > 0;
+  }
+
+  const CodeLocation& GetCodeLocation(const std::string& test_name) const {
+    RegisteredTestsMap::const_iterator it = registered_tests_.find(test_name);
+    GTEST_CHECK_(it != registered_tests_.end());
+    return it->second;
+  }
+
+  // Verifies that registered_tests match the test names in
+  // defined_test_names_; returns registered_tests if successful, or
+  // aborts the program otherwise.
+  const char* VerifyRegisteredTestNames(
+      const char* file, int line, const char* registered_tests);
+
+ private:
+  typedef ::std::map<std::string, CodeLocation> RegisteredTestsMap;
+
+  bool registered_;
+  RegisteredTestsMap registered_tests_;
+};
+
+// Skips to the first non-space char after the first comma in 'str';
+// returns NULL if no comma is found in 'str'.
+inline const char* SkipComma(const char* str) {
+  const char* comma = strchr(str, ',');
+  if (comma == NULL) {
+    return NULL;
+  }
+  while (IsSpace(*(++comma))) {}
+  return comma;
+}
+
+// Returns the prefix of 'str' before the first comma in it; returns
+// the entire string if it contains no comma.
+inline std::string GetPrefixUntilComma(const char* str) {
+  const char* comma = strchr(str, ',');
+  return comma == NULL ? str : std::string(str, comma);
+}
+
+// Splits a given string on a given delimiter, populating a given
+// vector with the fields.
+void SplitString(const ::std::string& str, char delimiter,
+                 ::std::vector< ::std::string>* dest);
+
+// TypeParameterizedTest<Fixture, TestSel, Types>::Register()
+// registers a list of type-parameterized tests with Google Test.  The
+// return value is insignificant - we just need to return something
+// such that we can call this function in a namespace scope.
+//
+// Implementation note: The GTEST_TEMPLATE_ macro declares a template
+// template parameter.  It's defined in gtest-type-util.h.
+template <GTEST_TEMPLATE_ Fixture, class TestSel, typename Types>
+class TypeParameterizedTest {
+ public:
+  // 'index' is the index of the test in the type list 'Types'
+  // specified in INSTANTIATE_TYPED_TEST_CASE_P(Prefix, TestCase,
+  // Types).  Valid values for 'index' are [0, N - 1] where N is the
+  // length of Types.
+  static bool Register(const char* prefix,
+                       CodeLocation code_location,
+                       const char* case_name, const char* test_names,
+                       int index) {
+    typedef typename Types::Head Type;
+    typedef Fixture<Type> FixtureClass;
+    typedef typename GTEST_BIND_(TestSel, Type) TestClass;
+
+    // First, registers the first type-parameterized test in the type
+    // list.
+    MakeAndRegisterTestInfo(
+        (std::string(prefix) + (prefix[0] == '\0' ? "" : "/") + case_name + "/"
+         + StreamableToString(index)).c_str(),
+        StripTrailingSpaces(GetPrefixUntilComma(test_names)).c_str(),
+        GetTypeName<Type>().c_str(),
+        NULL,  // No value parameter.
+        code_location,
+        GetTypeId<FixtureClass>(),
+        TestClass::SetUpTestCase,
+        TestClass::TearDownTestCase,
+        new TestFactoryImpl<TestClass>);
+
+    // Next, recurses (at compile time) with the tail of the type list.
+    return TypeParameterizedTest<Fixture, TestSel, typename Types::Tail>
+        ::Register(prefix, code_location, case_name, test_names, index + 1);
+  }
+};
+
+// The base case for the compile time recursion.
+template <GTEST_TEMPLATE_ Fixture, class TestSel>
+class TypeParameterizedTest<Fixture, TestSel, Types0> {
+ public:
+  static bool Register(const char* /*prefix*/, CodeLocation,
+                       const char* /*case_name*/, const char* /*test_names*/,
+                       int /*index*/) {
+    return true;
+  }
+};
+
+// TypeParameterizedTestCase<Fixture, Tests, Types>::Register()
+// registers *all combinations* of 'Tests' and 'Types' with Google
+// Test.  The return value is insignificant - we just need to return
+// something such that we can call this function in a namespace scope.
+template <GTEST_TEMPLATE_ Fixture, typename Tests, typename Types>
+class TypeParameterizedTestCase {
+ public:
+  static bool Register(const char* prefix, CodeLocation code_location,
+                       const TypedTestCasePState* state,
+                       const char* case_name, const char* test_names) {
+    std::string test_name = StripTrailingSpaces(
+        GetPrefixUntilComma(test_names));
+    if (!state->TestExists(test_name)) {
+      fprintf(stderr, "Failed to get code location for test %s.%s at %s.",
+              case_name, test_name.c_str(),
+              FormatFileLocation(code_location.file.c_str(),
+                                 code_location.line).c_str());
+      fflush(stderr);
+      posix::Abort();
+    }
+    const CodeLocation& test_location = state->GetCodeLocation(test_name);
+
+    typedef typename Tests::Head Head;
+
+    // First, register the first test in 'Test' for each type in 'Types'.
+    TypeParameterizedTest<Fixture, Head, Types>::Register(
+        prefix, test_location, case_name, test_names, 0);
+
+    // Next, recurses (at compile time) with the tail of the test list.
+    return TypeParameterizedTestCase<Fixture, typename Tests::Tail, Types>
+        ::Register(prefix, code_location, state,
+                   case_name, SkipComma(test_names));
+  }
+};
+
+// The base case for the compile time recursion.
+template <GTEST_TEMPLATE_ Fixture, typename Types>
+class TypeParameterizedTestCase<Fixture, Templates0, Types> {
+ public:
+  static bool Register(const char* /*prefix*/, CodeLocation,
+                       const TypedTestCasePState* /*state*/,
+                       const char* /*case_name*/, const char* /*test_names*/) {
+    return true;
+  }
+};
+
+#endif  // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// Returns the current OS stack trace as an std::string.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag.  The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
+// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
+GTEST_API_ std::string GetCurrentOsStackTraceExceptTop(
+    UnitTest* unit_test, int skip_count);
+
+// Helpers for suppressing warnings on unreachable code or constant
+// condition.
+
+// Always returns true.
+GTEST_API_ bool AlwaysTrue();
+
+// Always returns false.
+inline bool AlwaysFalse() { return !AlwaysTrue(); }
+
+// Helper for suppressing false warning from Clang on a const char*
+// variable declared in a conditional expression always being NULL in
+// the else branch.
+struct GTEST_API_ ConstCharPtr {
+  ConstCharPtr(const char* str) : value(str) {}
+  operator bool() const { return true; }
+  const char* value;
+};
+
+// A simple Linear Congruential Generator for generating random
+// numbers with a uniform distribution.  Unlike rand() and srand(), it
+// doesn't use global state (and therefore can't interfere with user
+// code).  Unlike rand_r(), it's portable.  An LCG isn't very random,
+// but it's good enough for our purposes.
+class GTEST_API_ Random {
+ public:
+  static const UInt32 kMaxRange = 1u << 31;
+
+  explicit Random(UInt32 seed) : state_(seed) {}
+
+  void Reseed(UInt32 seed) { state_ = seed; }
+
+  // Generates a random number from [0, range).  Crashes if 'range' is
+  // 0 or greater than kMaxRange.
+  UInt32 Generate(UInt32 range);
+
+ private:
+  UInt32 state_;
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(Random);
+};
+
+// Defining a variable of type CompileAssertTypesEqual<T1, T2> will cause a
+// compiler error iff T1 and T2 are different types.
+template <typename T1, typename T2>
+struct CompileAssertTypesEqual;
+
+template <typename T>
+struct CompileAssertTypesEqual<T, T> {
+};
+
+// Removes the reference from a type if it is a reference type,
+// otherwise leaves it unchanged.  This is the same as
+// tr1::remove_reference, which is not widely available yet.
+template <typename T>
+struct RemoveReference { typedef T type; };  // NOLINT
+template <typename T>
+struct RemoveReference<T&> { typedef T type; };  // NOLINT
+
+// A handy wrapper around RemoveReference that works when the argument
+// T depends on template parameters.
+#define GTEST_REMOVE_REFERENCE_(T) \
+    typename ::testing::internal::RemoveReference<T>::type
+
+// Removes const from a type if it is a const type, otherwise leaves
+// it unchanged.  This is the same as tr1::remove_const, which is not
+// widely available yet.
+template <typename T>
+struct RemoveConst { typedef T type; };  // NOLINT
+template <typename T>
+struct RemoveConst<const T> { typedef T type; };  // NOLINT
+
+// MSVC 8.0, Sun C++, and IBM XL C++ have a bug which causes the above
+// definition to fail to remove the const in 'const int[3]' and 'const
+// char[3][4]'.  The following specialization works around the bug.
+template <typename T, size_t N>
+struct RemoveConst<const T[N]> {
+  typedef typename RemoveConst<T>::type type[N];
+};
+
+#if defined(_MSC_VER) && _MSC_VER < 1400
+// This is the only specialization that allows VC++ 7.1 to remove const in
+// 'const int[3] and 'const int[3][4]'.  However, it causes trouble with GCC
+// and thus needs to be conditionally compiled.
+template <typename T, size_t N>
+struct RemoveConst<T[N]> {
+  typedef typename RemoveConst<T>::type type[N];
+};
+#endif
+
+// A handy wrapper around RemoveConst that works when the argument
+// T depends on template parameters.
+#define GTEST_REMOVE_CONST_(T) \
+    typename ::testing::internal::RemoveConst<T>::type
+
+// Turns const U&, U&, const U, and U all into U.
+#define GTEST_REMOVE_REFERENCE_AND_CONST_(T) \
+    GTEST_REMOVE_CONST_(GTEST_REMOVE_REFERENCE_(T))
+
+// Adds reference to a type if it is not a reference type,
+// otherwise leaves it unchanged.  This is the same as
+// tr1::add_reference, which is not widely available yet.
+template <typename T>
+struct AddReference { typedef T& type; };  // NOLINT
+template <typename T>
+struct AddReference<T&> { typedef T& type; };  // NOLINT
+
+// A handy wrapper around AddReference that works when the argument T
+// depends on template parameters.
+#define GTEST_ADD_REFERENCE_(T) \
+    typename ::testing::internal::AddReference<T>::type
+
+// Adds a reference to const on top of T as necessary.  For example,
+// it transforms
+//
+//   char         ==> const char&
+//   const char   ==> const char&
+//   char&        ==> const char&
+//   const char&  ==> const char&
+//
+// The argument T must depend on some template parameters.
+#define GTEST_REFERENCE_TO_CONST_(T) \
+    GTEST_ADD_REFERENCE_(const GTEST_REMOVE_REFERENCE_(T))
+
+// ImplicitlyConvertible<From, To>::value is a compile-time bool
+// constant that's true iff type From can be implicitly converted to
+// type To.
+template <typename From, typename To>
+class ImplicitlyConvertible {
+ private:
+  // We need the following helper functions only for their types.
+  // They have no implementations.
+
+  // MakeFrom() is an expression whose type is From.  We cannot simply
+  // use From(), as the type From may not have a public default
+  // constructor.
+  static typename AddReference<From>::type MakeFrom();
+
+  // These two functions are overloaded.  Given an expression
+  // Helper(x), the compiler will pick the first version if x can be
+  // implicitly converted to type To; otherwise it will pick the
+  // second version.
+  //
+  // The first version returns a value of size 1, and the second
+  // version returns a value of size 2.  Therefore, by checking the
+  // size of Helper(x), which can be done at compile time, we can tell
+  // which version of Helper() is used, and hence whether x can be
+  // implicitly converted to type To.
+  static char Helper(To);
+  static char (&Helper(...))[2];  // NOLINT
+
+  // We have to put the 'public' section after the 'private' section,
+  // or MSVC refuses to compile the code.
+ public:
+#if defined(__BORLANDC__)
+  // C++Builder cannot use member overload resolution during template
+  // instantiation.  The simplest workaround is to use its C++0x type traits
+  // functions (C++Builder 2009 and above only).
+  static const bool value = __is_convertible(From, To);
+#else
+  // MSVC warns about implicitly converting from double to int for
+  // possible loss of data, so we need to temporarily disable the
+  // warning.
+  GTEST_DISABLE_MSC_WARNINGS_PUSH_(4244)
+  static const bool value =
+      sizeof(Helper(ImplicitlyConvertible::MakeFrom())) == 1;
+  GTEST_DISABLE_MSC_WARNINGS_POP_()
+#endif  // __BORLANDC__
+};
+template <typename From, typename To>
+const bool ImplicitlyConvertible<From, To>::value;
+
+// IsAProtocolMessage<T>::value is a compile-time bool constant that's
+// true iff T is type ProtocolMessage, proto2::Message, or a subclass
+// of those.
+template <typename T>
+struct IsAProtocolMessage
+    : public bool_constant<
+  ImplicitlyConvertible<const T*, const ::ProtocolMessage*>::value ||
+  ImplicitlyConvertible<const T*, const ::proto2::Message*>::value> {
+};
+
+// When the compiler sees expression IsContainerTest<C>(0), if C is an
+// STL-style container class, the first overload of IsContainerTest
+// will be viable (since both C::iterator* and C::const_iterator* are
+// valid types and NULL can be implicitly converted to them).  It will
+// be picked over the second overload as 'int' is a perfect match for
+// the type of argument 0.  If C::iterator or C::const_iterator is not
+// a valid type, the first overload is not viable, and the second
+// overload will be picked.  Therefore, we can determine whether C is
+// a container class by checking the type of IsContainerTest<C>(0).
+// The value of the expression is insignificant.
+//
+// Note that we look for both C::iterator and C::const_iterator.  The
+// reason is that C++ injects the name of a class as a member of the
+// class itself (e.g. you can refer to class iterator as either
+// 'iterator' or 'iterator::iterator').  If we look for C::iterator
+// only, for example, we would mistakenly think that a class named
+// iterator is an STL container.
+//
+// Also note that the simpler approach of overloading
+// IsContainerTest(typename C::const_iterator*) and
+// IsContainerTest(...) doesn't work with Visual Age C++ and Sun C++.
+typedef int IsContainer;
+template <class C>
+IsContainer IsContainerTest(int /* dummy */,
+                            typename C::iterator* /* it */ = NULL,
+                            typename C::const_iterator* /* const_it */ = NULL) {
+  return 0;
+}
+
+typedef char IsNotContainer;
+template <class C>
+IsNotContainer IsContainerTest(long /* dummy */) { return '\0'; }
+
+// EnableIf<condition>::type is void when 'Cond' is true, and
+// undefined when 'Cond' is false.  To use SFINAE to make a function
+// overload only apply when a particular expression is true, add
+// "typename EnableIf<expression>::type* = 0" as the last parameter.
+template<bool> struct EnableIf;
+template<> struct EnableIf<true> { typedef void type; };  // NOLINT
+
+// Utilities for native arrays.
+
+// ArrayEq() compares two k-dimensional native arrays using the
+// elements' operator==, where k can be any integer >= 0.  When k is
+// 0, ArrayEq() degenerates into comparing a single pair of values.
+
+template <typename T, typename U>
+bool ArrayEq(const T* lhs, size_t size, const U* rhs);
+
+// This generic version is used when k is 0.
+template <typename T, typename U>
+inline bool ArrayEq(const T& lhs, const U& rhs) { return lhs == rhs; }
+
+// This overload is used when k >= 1.
+template <typename T, typename U, size_t N>
+inline bool ArrayEq(const T(&lhs)[N], const U(&rhs)[N]) {
+  return internal::ArrayEq(lhs, N, rhs);
+}
+
+// This helper reduces code bloat.  If we instead put its logic inside
+// the previous ArrayEq() function, arrays with different sizes would
+// lead to different copies of the template code.
+template <typename T, typename U>
+bool ArrayEq(const T* lhs, size_t size, const U* rhs) {
+  for (size_t i = 0; i != size; i++) {
+    if (!internal::ArrayEq(lhs[i], rhs[i]))
+      return false;
+  }
+  return true;
+}
+
+// Finds the first element in the iterator range [begin, end) that
+// equals elem.  Element may be a native array type itself.
+template <typename Iter, typename Element>
+Iter ArrayAwareFind(Iter begin, Iter end, const Element& elem) {
+  for (Iter it = begin; it != end; ++it) {
+    if (internal::ArrayEq(*it, elem))
+      return it;
+  }
+  return end;
+}
+
+// CopyArray() copies a k-dimensional native array using the elements'
+// operator=, where k can be any integer >= 0.  When k is 0,
+// CopyArray() degenerates into copying a single value.
+
+template <typename T, typename U>
+void CopyArray(const T* from, size_t size, U* to);
+
+// This generic version is used when k is 0.
+template <typename T, typename U>
+inline void CopyArray(const T& from, U* to) { *to = from; }
+
+// This overload is used when k >= 1.
+template <typename T, typename U, size_t N>
+inline void CopyArray(const T(&from)[N], U(*to)[N]) {
+  internal::CopyArray(from, N, *to);
+}
+
+// This helper reduces code bloat.  If we instead put its logic inside
+// the previous CopyArray() function, arrays with different sizes
+// would lead to different copies of the template code.
+template <typename T, typename U>
+void CopyArray(const T* from, size_t size, U* to) {
+  for (size_t i = 0; i != size; i++) {
+    internal::CopyArray(from[i], to + i);
+  }
+}
+
+// The relation between an NativeArray object (see below) and the
+// native array it represents.
+// We use 2 different structs to allow non-copyable types to be used, as long
+// as RelationToSourceReference() is passed.
+struct RelationToSourceReference {};
+struct RelationToSourceCopy {};
+
+// Adapts a native array to a read-only STL-style container.  Instead
+// of the complete STL container concept, this adaptor only implements
+// members useful for Google Mock's container matchers.  New members
+// should be added as needed.  To simplify the implementation, we only
+// support Element being a raw type (i.e. having no top-level const or
+// reference modifier).  It's the client's responsibility to satisfy
+// this requirement.  Element can be an array type itself (hence
+// multi-dimensional arrays are supported).
+template <typename Element>
+class NativeArray {
+ public:
+  // STL-style container typedefs.
+  typedef Element value_type;
+  typedef Element* iterator;
+  typedef const Element* const_iterator;
+
+  // Constructs from a native array. References the source.
+  NativeArray(const Element* array, size_t count, RelationToSourceReference) {
+    InitRef(array, count);
+  }
+
+  // Constructs from a native array. Copies the source.
+  NativeArray(const Element* array, size_t count, RelationToSourceCopy) {
+    InitCopy(array, count);
+  }
+
+  // Copy constructor.
+  NativeArray(const NativeArray& rhs) {
+    (this->*rhs.clone_)(rhs.array_, rhs.size_);
+  }
+
+  ~NativeArray() {
+    if (clone_ != &NativeArray::InitRef)
+      delete[] array_;
+  }
+
+  // STL-style container methods.
+  size_t size() const { return size_; }
+  const_iterator begin() const { return array_; }
+  const_iterator end() const { return array_ + size_; }
+  bool operator==(const NativeArray& rhs) const {
+    return size() == rhs.size() &&
+        ArrayEq(begin(), size(), rhs.begin());
+  }
+
+ private:
+  enum {
+    kCheckTypeIsNotConstOrAReference = StaticAssertTypeEqHelper<
+        Element, GTEST_REMOVE_REFERENCE_AND_CONST_(Element)>::value,
+  };
+
+  // Initializes this object with a copy of the input.
+  void InitCopy(const Element* array, size_t a_size) {
+    Element* const copy = new Element[a_size];
+    CopyArray(array, a_size, copy);
+    array_ = copy;
+    size_ = a_size;
+    clone_ = &NativeArray::InitCopy;
+  }
+
+  // Initializes this object with a reference of the input.
+  void InitRef(const Element* array, size_t a_size) {
+    array_ = array;
+    size_ = a_size;
+    clone_ = &NativeArray::InitRef;
+  }
+
+  const Element* array_;
+  size_t size_;
+  void (NativeArray::*clone_)(const Element*, size_t);
+
+  GTEST_DISALLOW_ASSIGN_(NativeArray);
+};
+
+}  // namespace internal
+}  // namespace testing
+
+#define GTEST_MESSAGE_AT_(file, line, message, result_type) \
+  ::testing::internal::AssertHelper(result_type, file, line, message) \
+    = ::testing::Message()
+
+#define GTEST_MESSAGE_(message, result_type) \
+  GTEST_MESSAGE_AT_(__FILE__, __LINE__, message, result_type)
+
+#define GTEST_FATAL_FAILURE_(message) \
+  return GTEST_MESSAGE_(message, ::testing::TestPartResult::kFatalFailure)
+
+#define GTEST_NONFATAL_FAILURE_(message) \
+  GTEST_MESSAGE_(message, ::testing::TestPartResult::kNonFatalFailure)
+
+#define GTEST_SUCCESS_(message) \
+  GTEST_MESSAGE_(message, ::testing::TestPartResult::kSuccess)
+
+// Suppresses MSVC warnings 4072 (unreachable code) for the code following
+// statement if it returns or throws (or doesn't return or throw in some
+// situations).
+#define GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement) \
+  if (::testing::internal::AlwaysTrue()) { statement; }
+
+#define GTEST_TEST_THROW_(statement, expected_exception, fail) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (::testing::internal::ConstCharPtr gtest_msg = "") { \
+    bool gtest_caught_expected = false; \
+    try { \
+      GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+    } \
+    catch (expected_exception const&) { \
+      gtest_caught_expected = true; \
+    } \
+    catch (...) { \
+      gtest_msg.value = \
+          "Expected: " #statement " throws an exception of type " \
+          #expected_exception ".\n  Actual: it throws a different type."; \
+      goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
+    } \
+    if (!gtest_caught_expected) { \
+      gtest_msg.value = \
+          "Expected: " #statement " throws an exception of type " \
+          #expected_exception ".\n  Actual: it throws nothing."; \
+      goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
+    } \
+  } else \
+    GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__): \
+      fail(gtest_msg.value)
+
+#define GTEST_TEST_NO_THROW_(statement, fail) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (::testing::internal::AlwaysTrue()) { \
+    try { \
+      GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+    } \
+    catch (...) { \
+      goto GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__); \
+    } \
+  } else \
+    GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__): \
+      fail("Expected: " #statement " doesn't throw an exception.\n" \
+           "  Actual: it throws.")
+
+#define GTEST_TEST_ANY_THROW_(statement, fail) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (::testing::internal::AlwaysTrue()) { \
+    bool gtest_caught_any = false; \
+    try { \
+      GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+    } \
+    catch (...) { \
+      gtest_caught_any = true; \
+    } \
+    if (!gtest_caught_any) { \
+      goto GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__); \
+    } \
+  } else \
+    GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__): \
+      fail("Expected: " #statement " throws an exception.\n" \
+           "  Actual: it doesn't.")
+
+
+// Implements Boolean test assertions such as EXPECT_TRUE. expression can be
+// either a boolean expression or an AssertionResult. text is a textual
+// represenation of expression as it was passed into the EXPECT_TRUE.
+#define GTEST_TEST_BOOLEAN_(expression, text, actual, expected, fail) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (const ::testing::AssertionResult gtest_ar_ = \
+      ::testing::AssertionResult(expression)) \
+    ; \
+  else \
+    fail(::testing::internal::GetBoolAssertionFailureMessage(\
+        gtest_ar_, text, #actual, #expected).c_str())
+
+#define GTEST_TEST_NO_FATAL_FAILURE_(statement, fail) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (::testing::internal::AlwaysTrue()) { \
+    ::testing::internal::HasNewFatalFailureHelper gtest_fatal_failure_checker; \
+    GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+    if (gtest_fatal_failure_checker.has_new_fatal_failure()) { \
+      goto GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__); \
+    } \
+  } else \
+    GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__): \
+      fail("Expected: " #statement " doesn't generate new fatal " \
+           "failures in the current thread.\n" \
+           "  Actual: it does.")
+
+// Expands to the name of the class that implements the given test.
+#define GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
+  test_case_name##_##test_name##_Test
+
+// Helper macro for defining tests.
+#define GTEST_TEST_(test_case_name, test_name, parent_class, parent_id)\
+class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) : public parent_class {\
+ public:\
+  GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {}\
+ private:\
+  virtual void TestBody();\
+  static ::testing::TestInfo* const test_info_ GTEST_ATTRIBUTE_UNUSED_;\
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(\
+      GTEST_TEST_CLASS_NAME_(test_case_name, test_name));\
+};\
+\
+::testing::TestInfo* const GTEST_TEST_CLASS_NAME_(test_case_name, test_name)\
+  ::test_info_ =\
+    ::testing::internal::MakeAndRegisterTestInfo(\
+        #test_case_name, #test_name, NULL, NULL, \
+        ::testing::internal::CodeLocation(__FILE__, __LINE__), \
+        (parent_id), \
+        parent_class::SetUpTestCase, \
+        parent_class::TearDownTestCase, \
+        new ::testing::internal::TestFactoryImpl<\
+            GTEST_TEST_CLASS_NAME_(test_case_name, test_name)>);\
+void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the public API for death tests.  It is
+// #included by gtest.h so a user doesn't need to include this
+// directly.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines internal utilities needed for implementing
+// death tests.  They are subject to change without notice.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+
+
+#include <stdio.h>
+
+namespace testing {
+namespace internal {
+
+GTEST_DECLARE_string_(internal_run_death_test);
+
+// Names of the flags (needed for parsing Google Test flags).
+const char kDeathTestStyleFlag[] = "death_test_style";
+const char kDeathTestUseFork[] = "death_test_use_fork";
+const char kInternalRunDeathTestFlag[] = "internal_run_death_test";
+
+#if GTEST_HAS_DEATH_TEST
+
+// DeathTest is a class that hides much of the complexity of the
+// GTEST_DEATH_TEST_ macro.  It is abstract; its static Create method
+// returns a concrete class that depends on the prevailing death test
+// style, as defined by the --gtest_death_test_style and/or
+// --gtest_internal_run_death_test flags.
+
+// In describing the results of death tests, these terms are used with
+// the corresponding definitions:
+//
+// exit status:  The integer exit information in the format specified
+//               by wait(2)
+// exit code:    The integer code passed to exit(3), _exit(2), or
+//               returned from main()
+class GTEST_API_ DeathTest {
+ public:
+  // Create returns false if there was an error determining the
+  // appropriate action to take for the current death test; for example,
+  // if the gtest_death_test_style flag is set to an invalid value.
+  // The LastMessage method will return a more detailed message in that
+  // case.  Otherwise, the DeathTest pointer pointed to by the "test"
+  // argument is set.  If the death test should be skipped, the pointer
+  // is set to NULL; otherwise, it is set to the address of a new concrete
+  // DeathTest object that controls the execution of the current test.
+  static bool Create(const char* statement, const RE* regex,
+                     const char* file, int line, DeathTest** test);
+  DeathTest();
+  virtual ~DeathTest() { }
+
+  // A helper class that aborts a death test when it's deleted.
+  class ReturnSentinel {
+   public:
+    explicit ReturnSentinel(DeathTest* test) : test_(test) { }
+    ~ReturnSentinel() { test_->Abort(TEST_ENCOUNTERED_RETURN_STATEMENT); }
+   private:
+    DeathTest* const test_;
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(ReturnSentinel);
+  } GTEST_ATTRIBUTE_UNUSED_;
+
+  // An enumeration of possible roles that may be taken when a death
+  // test is encountered.  EXECUTE means that the death test logic should
+  // be executed immediately.  OVERSEE means that the program should prepare
+  // the appropriate environment for a child process to execute the death
+  // test, then wait for it to complete.
+  enum TestRole { OVERSEE_TEST, EXECUTE_TEST };
+
+  // An enumeration of the three reasons that a test might be aborted.
+  enum AbortReason {
+    TEST_ENCOUNTERED_RETURN_STATEMENT,
+    TEST_THREW_EXCEPTION,
+    TEST_DID_NOT_DIE
+  };
+
+  // Assumes one of the above roles.
+  virtual TestRole AssumeRole() = 0;
+
+  // Waits for the death test to finish and returns its status.
+  virtual int Wait() = 0;
+
+  // Returns true if the death test passed; that is, the test process
+  // exited during the test, its exit status matches a user-supplied
+  // predicate, and its stderr output matches a user-supplied regular
+  // expression.
+  // The user-supplied predicate may be a macro expression rather
+  // than a function pointer or functor, or else Wait and Passed could
+  // be combined.
+  virtual bool Passed(bool exit_status_ok) = 0;
+
+  // Signals that the death test did not die as expected.
+  virtual void Abort(AbortReason reason) = 0;
+
+  // Returns a human-readable outcome message regarding the outcome of
+  // the last death test.
+  static const char* LastMessage();
+
+  static void set_last_death_test_message(const std::string& message);
+
+ private:
+  // A string containing a description of the outcome of the last death test.
+  static std::string last_death_test_message_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(DeathTest);
+};
+
+// Factory interface for death tests.  May be mocked out for testing.
+class DeathTestFactory {
+ public:
+  virtual ~DeathTestFactory() { }
+  virtual bool Create(const char* statement, const RE* regex,
+                      const char* file, int line, DeathTest** test) = 0;
+};
+
+// A concrete DeathTestFactory implementation for normal use.
+class DefaultDeathTestFactory : public DeathTestFactory {
+ public:
+  virtual bool Create(const char* statement, const RE* regex,
+                      const char* file, int line, DeathTest** test);
+};
+
+// Returns true if exit_status describes a process that was terminated
+// by a signal, or exited normally with a nonzero exit code.
+GTEST_API_ bool ExitedUnsuccessfully(int exit_status);
+
+// Traps C++ exceptions escaping statement and reports them as test
+// failures. Note that trapping SEH exceptions is not implemented here.
+# if GTEST_HAS_EXCEPTIONS
+#  define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
+  try { \
+    GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+  } catch (const ::std::exception& gtest_exception) { \
+    fprintf(\
+        stderr, \
+        "\n%s: Caught std::exception-derived exception escaping the " \
+        "death test statement. Exception message: %s\n", \
+        ::testing::internal::FormatFileLocation(__FILE__, __LINE__).c_str(), \
+        gtest_exception.what()); \
+    fflush(stderr); \
+    death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
+  } catch (...) { \
+    death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
+  }
+
+# else
+#  define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
+  GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
+
+# endif
+
+// This macro is for implementing ASSERT_DEATH*, EXPECT_DEATH*,
+// ASSERT_EXIT*, and EXPECT_EXIT*.
+# define GTEST_DEATH_TEST_(statement, predicate, regex, fail) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (::testing::internal::AlwaysTrue()) { \
+    const ::testing::internal::RE& gtest_regex = (regex); \
+    ::testing::internal::DeathTest* gtest_dt; \
+    if (!::testing::internal::DeathTest::Create(#statement, &gtest_regex, \
+        __FILE__, __LINE__, &gtest_dt)) { \
+      goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
+    } \
+    if (gtest_dt != NULL) { \
+      ::testing::internal::scoped_ptr< ::testing::internal::DeathTest> \
+          gtest_dt_ptr(gtest_dt); \
+      switch (gtest_dt->AssumeRole()) { \
+        case ::testing::internal::DeathTest::OVERSEE_TEST: \
+          if (!gtest_dt->Passed(predicate(gtest_dt->Wait()))) { \
+            goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
+          } \
+          break; \
+        case ::testing::internal::DeathTest::EXECUTE_TEST: { \
+          ::testing::internal::DeathTest::ReturnSentinel \
+              gtest_sentinel(gtest_dt); \
+          GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, gtest_dt); \
+          gtest_dt->Abort(::testing::internal::DeathTest::TEST_DID_NOT_DIE); \
+          break; \
+        } \
+        default: \
+          break; \
+      } \
+    } \
+  } else \
+    GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__): \
+      fail(::testing::internal::DeathTest::LastMessage())
+// The symbol "fail" here expands to something into which a message
+// can be streamed.
+
+// This macro is for implementing ASSERT/EXPECT_DEBUG_DEATH when compiled in
+// NDEBUG mode. In this case we need the statements to be executed, the regex is
+// ignored, and the macro must accept a streamed message even though the message
+// is never printed.
+# define GTEST_EXECUTE_STATEMENT_(statement, regex) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (::testing::internal::AlwaysTrue()) { \
+     GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+  } else \
+    ::testing::Message()
+
+// A class representing the parsed contents of the
+// --gtest_internal_run_death_test flag, as it existed when
+// RUN_ALL_TESTS was called.
+class InternalRunDeathTestFlag {
+ public:
+  InternalRunDeathTestFlag(const std::string& a_file,
+                           int a_line,
+                           int an_index,
+                           int a_write_fd)
+      : file_(a_file), line_(a_line), index_(an_index),
+        write_fd_(a_write_fd) {}
+
+  ~InternalRunDeathTestFlag() {
+    if (write_fd_ >= 0)
+      posix::Close(write_fd_);
+  }
+
+  const std::string& file() const { return file_; }
+  int line() const { return line_; }
+  int index() const { return index_; }
+  int write_fd() const { return write_fd_; }
+
+ private:
+  std::string file_;
+  int line_;
+  int index_;
+  int write_fd_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(InternalRunDeathTestFlag);
+};
+
+// Returns a newly created InternalRunDeathTestFlag object with fields
+// initialized from the GTEST_FLAG(internal_run_death_test) flag if
+// the flag is specified; otherwise returns NULL.
+InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag();
+
+#else  // GTEST_HAS_DEATH_TEST
+
+// This macro is used for implementing macros such as
+// EXPECT_DEATH_IF_SUPPORTED and ASSERT_DEATH_IF_SUPPORTED on systems where
+// death tests are not supported. Those macros must compile on such systems
+// iff EXPECT_DEATH and ASSERT_DEATH compile with the same parameters on
+// systems that support death tests. This allows one to write such a macro
+// on a system that does not support death tests and be sure that it will
+// compile on a death-test supporting system.
+//
+// Parameters:
+//   statement -  A statement that a macro such as EXPECT_DEATH would test
+//                for program termination. This macro has to make sure this
+//                statement is compiled but not executed, to ensure that
+//                EXPECT_DEATH_IF_SUPPORTED compiles with a certain
+//                parameter iff EXPECT_DEATH compiles with it.
+//   regex     -  A regex that a macro such as EXPECT_DEATH would use to test
+//                the output of statement.  This parameter has to be
+//                compiled but not evaluated by this macro, to ensure that
+//                this macro only accepts expressions that a macro such as
+//                EXPECT_DEATH would accept.
+//   terminator - Must be an empty statement for EXPECT_DEATH_IF_SUPPORTED
+//                and a return statement for ASSERT_DEATH_IF_SUPPORTED.
+//                This ensures that ASSERT_DEATH_IF_SUPPORTED will not
+//                compile inside functions where ASSERT_DEATH doesn't
+//                compile.
+//
+//  The branch that has an always false condition is used to ensure that
+//  statement and regex are compiled (and thus syntactically correct) but
+//  never executed. The unreachable code macro protects the terminator
+//  statement from generating an 'unreachable code' warning in case
+//  statement unconditionally returns or throws. The Message constructor at
+//  the end allows the syntax of streaming additional messages into the
+//  macro, for compilational compatibility with EXPECT_DEATH/ASSERT_DEATH.
+# define GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, terminator) \
+    GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+    if (::testing::internal::AlwaysTrue()) { \
+      GTEST_LOG_(WARNING) \
+          << "Death tests are not supported on this platform.\n" \
+          << "Statement '" #statement "' cannot be verified."; \
+    } else if (::testing::internal::AlwaysFalse()) { \
+      ::testing::internal::RE::PartialMatch(".*", (regex)); \
+      GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+      terminator; \
+    } else \
+      ::testing::Message()
+
+#endif  // GTEST_HAS_DEATH_TEST
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+
+namespace testing {
+
+// This flag controls the style of death tests.  Valid values are "threadsafe",
+// meaning that the death test child process will re-execute the test binary
+// from the start, running only a single death test, or "fast",
+// meaning that the child process will execute the test logic immediately
+// after forking.
+GTEST_DECLARE_string_(death_test_style);
+
+#if GTEST_HAS_DEATH_TEST
+
+namespace internal {
+
+// Returns a Boolean value indicating whether the caller is currently
+// executing in the context of the death test child process.  Tools such as
+// Valgrind heap checkers may need this to modify their behavior in death
+// tests.  IMPORTANT: This is an internal utility.  Using it may break the
+// implementation of death tests.  User code MUST NOT use it.
+GTEST_API_ bool InDeathTestChild();
+
+}  // namespace internal
+
+// The following macros are useful for writing death tests.
+
+// Here's what happens when an ASSERT_DEATH* or EXPECT_DEATH* is
+// executed:
+//
+//   1. It generates a warning if there is more than one active
+//   thread.  This is because it's safe to fork() or clone() only
+//   when there is a single thread.
+//
+//   2. The parent process clone()s a sub-process and runs the death
+//   test in it; the sub-process exits with code 0 at the end of the
+//   death test, if it hasn't exited already.
+//
+//   3. The parent process waits for the sub-process to terminate.
+//
+//   4. The parent process checks the exit code and error message of
+//   the sub-process.
+//
+// Examples:
+//
+//   ASSERT_DEATH(server.SendMessage(56, "Hello"), "Invalid port number");
+//   for (int i = 0; i < 5; i++) {
+//     EXPECT_DEATH(server.ProcessRequest(i),
+//                  "Invalid request .* in ProcessRequest()")
+//                  << "Failed to die on request " << i;
+//   }
+//
+//   ASSERT_EXIT(server.ExitNow(), ::testing::ExitedWithCode(0), "Exiting");
+//
+//   bool KilledBySIGHUP(int exit_code) {
+//     return WIFSIGNALED(exit_code) && WTERMSIG(exit_code) == SIGHUP;
+//   }
+//
+//   ASSERT_EXIT(client.HangUpServer(), KilledBySIGHUP, "Hanging up!");
+//
+// On the regular expressions used in death tests:
+//
+//   On POSIX-compliant systems (*nix), we use the <regex.h> library,
+//   which uses the POSIX extended regex syntax.
+//
+//   On other platforms (e.g. Windows), we only support a simple regex
+//   syntax implemented as part of Google Test.  This limited
+//   implementation should be enough most of the time when writing
+//   death tests; though it lacks many features you can find in PCRE
+//   or POSIX extended regex syntax.  For example, we don't support
+//   union ("x|y"), grouping ("(xy)"), brackets ("[xy]"), and
+//   repetition count ("x{5,7}"), among others.
+//
+//   Below is the syntax that we do support.  We chose it to be a
+//   subset of both PCRE and POSIX extended regex, so it's easy to
+//   learn wherever you come from.  In the following: 'A' denotes a
+//   literal character, period (.), or a single \\ escape sequence;
+//   'x' and 'y' denote regular expressions; 'm' and 'n' are for
+//   natural numbers.
+//
+//     c     matches any literal character c
+//     \\d   matches any decimal digit
+//     \\D   matches any character that's not a decimal digit
+//     \\f   matches \f
+//     \\n   matches \n
+//     \\r   matches \r
+//     \\s   matches any ASCII whitespace, including \n
+//     \\S   matches any character that's not a whitespace
+//     \\t   matches \t
+//     \\v   matches \v
+//     \\w   matches any letter, _, or decimal digit
+//     \\W   matches any character that \\w doesn't match
+//     \\c   matches any literal character c, which must be a punctuation
+//     .     matches any single character except \n
+//     A?    matches 0 or 1 occurrences of A
+//     A*    matches 0 or many occurrences of A
+//     A+    matches 1 or many occurrences of A
+//     ^     matches the beginning of a string (not that of each line)
+//     $     matches the end of a string (not that of each line)
+//     xy    matches x followed by y
+//
+//   If you accidentally use PCRE or POSIX extended regex features
+//   not implemented by us, you will get a run-time failure.  In that
+//   case, please try to rewrite your regular expression within the
+//   above syntax.
+//
+//   This implementation is *not* meant to be as highly tuned or robust
+//   as a compiled regex library, but should perform well enough for a
+//   death test, which already incurs significant overhead by launching
+//   a child process.
+//
+// Known caveats:
+//
+//   A "threadsafe" style death test obtains the path to the test
+//   program from argv[0] and re-executes it in the sub-process.  For
+//   simplicity, the current implementation doesn't search the PATH
+//   when launching the sub-process.  This means that the user must
+//   invoke the test program via a path that contains at least one
+//   path separator (e.g. path/to/foo_test and
+//   /absolute/path/to/bar_test are fine, but foo_test is not).  This
+//   is rarely a problem as people usually don't put the test binary
+//   directory in PATH.
+//
+// TODO(wan@google.com): make thread-safe death tests search the PATH.
+
+// Asserts that a given statement causes the program to exit, with an
+// integer exit status that satisfies predicate, and emitting error output
+// that matches regex.
+# define ASSERT_EXIT(statement, predicate, regex) \
+    GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_FATAL_FAILURE_)
+
+// Like ASSERT_EXIT, but continues on to successive tests in the
+// test case, if any:
+# define EXPECT_EXIT(statement, predicate, regex) \
+    GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_NONFATAL_FAILURE_)
+
+// Asserts that a given statement causes the program to exit, either by
+// explicitly exiting with a nonzero exit code or being killed by a
+// signal, and emitting error output that matches regex.
+# define ASSERT_DEATH(statement, regex) \
+    ASSERT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
+
+// Like ASSERT_DEATH, but continues on to successive tests in the
+// test case, if any:
+# define EXPECT_DEATH(statement, regex) \
+    EXPECT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
+
+// Two predicate classes that can be used in {ASSERT,EXPECT}_EXIT*:
+
+// Tests that an exit code describes a normal exit with a given exit code.
+class GTEST_API_ ExitedWithCode {
+ public:
+  explicit ExitedWithCode(int exit_code);
+  bool operator()(int exit_status) const;
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ExitedWithCode& other);
+
+  const int exit_code_;
+};
+
+# if !GTEST_OS_WINDOWS
+// Tests that an exit code describes an exit due to termination by a
+// given signal.
+class GTEST_API_ KilledBySignal {
+ public:
+  explicit KilledBySignal(int signum);
+  bool operator()(int exit_status) const;
+ private:
+  const int signum_;
+};
+# endif  // !GTEST_OS_WINDOWS
+
+// EXPECT_DEBUG_DEATH asserts that the given statements die in debug mode.
+// The death testing framework causes this to have interesting semantics,
+// since the sideeffects of the call are only visible in opt mode, and not
+// in debug mode.
+//
+// In practice, this can be used to test functions that utilize the
+// LOG(DFATAL) macro using the following style:
+//
+// int DieInDebugOr12(int* sideeffect) {
+//   if (sideeffect) {
+//     *sideeffect = 12;
+//   }
+//   LOG(DFATAL) << "death";
+//   return 12;
+// }
+//
+// TEST(TestCase, TestDieOr12WorksInDgbAndOpt) {
+//   int sideeffect = 0;
+//   // Only asserts in dbg.
+//   EXPECT_DEBUG_DEATH(DieInDebugOr12(&sideeffect), "death");
+//
+// #ifdef NDEBUG
+//   // opt-mode has sideeffect visible.
+//   EXPECT_EQ(12, sideeffect);
+// #else
+//   // dbg-mode no visible sideeffect.
+//   EXPECT_EQ(0, sideeffect);
+// #endif
+// }
+//
+// This will assert that DieInDebugReturn12InOpt() crashes in debug
+// mode, usually due to a DCHECK or LOG(DFATAL), but returns the
+// appropriate fallback value (12 in this case) in opt mode. If you
+// need to test that a function has appropriate side-effects in opt
+// mode, include assertions against the side-effects.  A general
+// pattern for this is:
+//
+// EXPECT_DEBUG_DEATH({
+//   // Side-effects here will have an effect after this statement in
+//   // opt mode, but none in debug mode.
+//   EXPECT_EQ(12, DieInDebugOr12(&sideeffect));
+// }, "death");
+//
+# ifdef NDEBUG
+
+#  define EXPECT_DEBUG_DEATH(statement, regex) \
+  GTEST_EXECUTE_STATEMENT_(statement, regex)
+
+#  define ASSERT_DEBUG_DEATH(statement, regex) \
+  GTEST_EXECUTE_STATEMENT_(statement, regex)
+
+# else
+
+#  define EXPECT_DEBUG_DEATH(statement, regex) \
+  EXPECT_DEATH(statement, regex)
+
+#  define ASSERT_DEBUG_DEATH(statement, regex) \
+  ASSERT_DEATH(statement, regex)
+
+# endif  // NDEBUG for EXPECT_DEBUG_DEATH
+#endif  // GTEST_HAS_DEATH_TEST
+
+// EXPECT_DEATH_IF_SUPPORTED(statement, regex) and
+// ASSERT_DEATH_IF_SUPPORTED(statement, regex) expand to real death tests if
+// death tests are supported; otherwise they just issue a warning.  This is
+// useful when you are combining death test assertions with normal test
+// assertions in one test.
+#if GTEST_HAS_DEATH_TEST
+# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
+    EXPECT_DEATH(statement, regex)
+# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
+    ASSERT_DEATH(statement, regex)
+#else
+# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
+    GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, )
+# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
+    GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, return)
+#endif
+
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+// This file was GENERATED by command:
+//     pump.py gtest-param-test.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: vladl@google.com (Vlad Losev)
+//
+// Macros and functions for implementing parameterized tests
+// in Google C++ Testing Framework (Google Test)
+//
+// This file is generated by a SCRIPT.  DO NOT EDIT BY HAND!
+//
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+
+
+// Value-parameterized tests allow you to test your code with different
+// parameters without writing multiple copies of the same test.
+//
+// Here is how you use value-parameterized tests:
+
+#if 0
+
+// To write value-parameterized tests, first you should define a fixture
+// class. It is usually derived from testing::TestWithParam<T> (see below for
+// another inheritance scheme that's sometimes useful in more complicated
+// class hierarchies), where the type of your parameter values.
+// TestWithParam<T> is itself derived from testing::Test. T can be any
+// copyable type. If it's a raw pointer, you are responsible for managing the
+// lifespan of the pointed values.
+
+class FooTest : public ::testing::TestWithParam<const char*> {
+  // You can implement all the usual class fixture members here.
+};
+
+// Then, use the TEST_P macro to define as many parameterized tests
+// for this fixture as you want. The _P suffix is for "parameterized"
+// or "pattern", whichever you prefer to think.
+
+TEST_P(FooTest, DoesBlah) {
+  // Inside a test, access the test parameter with the GetParam() method
+  // of the TestWithParam<T> class:
+  EXPECT_TRUE(foo.Blah(GetParam()));
+  ...
+}
+
+TEST_P(FooTest, HasBlahBlah) {
+  ...
+}
+
+// Finally, you can use INSTANTIATE_TEST_CASE_P to instantiate the test
+// case with any set of parameters you want. Google Test defines a number
+// of functions for generating test parameters. They return what we call
+// (surprise!) parameter generators. Here is a  summary of them, which
+// are all in the testing namespace:
+//
+//
+//  Range(begin, end [, step]) - Yields values {begin, begin+step,
+//                               begin+step+step, ...}. The values do not
+//                               include end. step defaults to 1.
+//  Values(v1, v2, ..., vN)    - Yields values {v1, v2, ..., vN}.
+//  ValuesIn(container)        - Yields values from a C-style array, an STL
+//  ValuesIn(begin,end)          container, or an iterator range [begin, end).
+//  Bool()                     - Yields sequence {false, true}.
+//  Combine(g1, g2, ..., gN)   - Yields all combinations (the Cartesian product
+//                               for the math savvy) of the values generated
+//                               by the N generators.
+//
+// For more details, see comments at the definitions of these functions below
+// in this file.
+//
+// The following statement will instantiate tests from the FooTest test case
+// each with parameter values "meeny", "miny", and "moe".
+
+INSTANTIATE_TEST_CASE_P(InstantiationName,
+                        FooTest,
+                        Values("meeny", "miny", "moe"));
+
+// To distinguish different instances of the pattern, (yes, you
+// can instantiate it more then once) the first argument to the
+// INSTANTIATE_TEST_CASE_P macro is a prefix that will be added to the
+// actual test case name. Remember to pick unique prefixes for different
+// instantiations. The tests from the instantiation above will have
+// these names:
+//
+//    * InstantiationName/FooTest.DoesBlah/0 for "meeny"
+//    * InstantiationName/FooTest.DoesBlah/1 for "miny"
+//    * InstantiationName/FooTest.DoesBlah/2 for "moe"
+//    * InstantiationName/FooTest.HasBlahBlah/0 for "meeny"
+//    * InstantiationName/FooTest.HasBlahBlah/1 for "miny"
+//    * InstantiationName/FooTest.HasBlahBlah/2 for "moe"
+//
+// You can use these names in --gtest_filter.
+//
+// This statement will instantiate all tests from FooTest again, each
+// with parameter values "cat" and "dog":
+
+const char* pets[] = {"cat", "dog"};
+INSTANTIATE_TEST_CASE_P(AnotherInstantiationName, FooTest, ValuesIn(pets));
+
+// The tests from the instantiation above will have these names:
+//
+//    * AnotherInstantiationName/FooTest.DoesBlah/0 for "cat"
+//    * AnotherInstantiationName/FooTest.DoesBlah/1 for "dog"
+//    * AnotherInstantiationName/FooTest.HasBlahBlah/0 for "cat"
+//    * AnotherInstantiationName/FooTest.HasBlahBlah/1 for "dog"
+//
+// Please note that INSTANTIATE_TEST_CASE_P will instantiate all tests
+// in the given test case, whether their definitions come before or
+// AFTER the INSTANTIATE_TEST_CASE_P statement.
+//
+// Please also note that generator expressions (including parameters to the
+// generators) are evaluated in InitGoogleTest(), after main() has started.
+// This allows the user on one hand, to adjust generator parameters in order
+// to dynamically determine a set of tests to run and on the other hand,
+// give the user a chance to inspect the generated tests with Google Test
+// reflection API before RUN_ALL_TESTS() is executed.
+//
+// You can see samples/sample7_unittest.cc and samples/sample8_unittest.cc
+// for more examples.
+//
+// In the future, we plan to publish the API for defining new parameter
+// generators. But for now this interface remains part of the internal
+// implementation and is subject to change.
+//
+//
+// A parameterized test fixture must be derived from testing::Test and from
+// testing::WithParamInterface<T>, where T is the type of the parameter
+// values. Inheriting from TestWithParam<T> satisfies that requirement because
+// TestWithParam<T> inherits from both Test and WithParamInterface. In more
+// complicated hierarchies, however, it is occasionally useful to inherit
+// separately from Test and WithParamInterface. For example:
+
+class BaseTest : public ::testing::Test {
+  // You can inherit all the usual members for a non-parameterized test
+  // fixture here.
+};
+
+class DerivedTest : public BaseTest, public ::testing::WithParamInterface<int> {
+  // The usual test fixture members go here too.
+};
+
+TEST_F(BaseTest, HasFoo) {
+  // This is an ordinary non-parameterized test.
+}
+
+TEST_P(DerivedTest, DoesBlah) {
+  // GetParam works just the same here as if you inherit from TestWithParam.
+  EXPECT_TRUE(foo.Blah(GetParam()));
+}
+
+#endif  // 0
+
+
+#if !GTEST_OS_SYMBIAN
+# include <utility>
+#endif
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*.  Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vladl@google.com (Vlad Losev)
+
+// Type and function utilities for implementing parameterized tests.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+
+#include <ctype.h>
+
+#include <iterator>
+#include <set>
+#include <utility>
+#include <vector>
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*.  Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+// Copyright 2003 Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: Dan Egnor (egnor@google.com)
+//
+// A "smart" pointer type with reference tracking.  Every pointer to a
+// particular object is kept on a circular linked list.  When the last pointer
+// to an object is destroyed or reassigned, the object is deleted.
+//
+// Used properly, this deletes the object when the last reference goes away.
+// There are several caveats:
+// - Like all reference counting schemes, cycles lead to leaks.
+// - Each smart pointer is actually two pointers (8 bytes instead of 4).
+// - Every time a pointer is assigned, the entire list of pointers to that
+//   object is traversed.  This class is therefore NOT SUITABLE when there
+//   will often be more than two or three pointers to a particular object.
+// - References are only tracked as long as linked_ptr<> objects are copied.
+//   If a linked_ptr<> is converted to a raw pointer and back, BAD THINGS
+//   will happen (double deletion).
+//
+// A good use of this class is storing object references in STL containers.
+// You can safely put linked_ptr<> in a vector<>.
+// Other uses may not be as good.
+//
+// Note: If you use an incomplete type with linked_ptr<>, the class
+// *containing* linked_ptr<> must have a constructor and destructor (even
+// if they do nothing!).
+//
+// Bill Gibbons suggested we use something like this.
+//
+// Thread Safety:
+//   Unlike other linked_ptr implementations, in this implementation
+//   a linked_ptr object is thread-safe in the sense that:
+//     - it's safe to copy linked_ptr objects concurrently,
+//     - it's safe to copy *from* a linked_ptr and read its underlying
+//       raw pointer (e.g. via get()) concurrently, and
+//     - it's safe to write to two linked_ptrs that point to the same
+//       shared object concurrently.
+// TODO(wan@google.com): rename this to safe_linked_ptr to avoid
+// confusion with normal linked_ptr.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+
+#include <stdlib.h>
+#include <assert.h>
+
+
+namespace testing {
+namespace internal {
+
+// Protects copying of all linked_ptr objects.
+GTEST_API_ GTEST_DECLARE_STATIC_MUTEX_(g_linked_ptr_mutex);
+
+// This is used internally by all instances of linked_ptr<>.  It needs to be
+// a non-template class because different types of linked_ptr<> can refer to
+// the same object (linked_ptr<Superclass>(obj) vs linked_ptr<Subclass>(obj)).
+// So, it needs to be possible for different types of linked_ptr to participate
+// in the same circular linked list, so we need a single class type here.
+//
+// DO NOT USE THIS CLASS DIRECTLY YOURSELF.  Use linked_ptr<T>.
+class linked_ptr_internal {
+ public:
+  // Create a new circle that includes only this instance.
+  void join_new() {
+    next_ = this;
+  }
+
+  // Many linked_ptr operations may change p.link_ for some linked_ptr
+  // variable p in the same circle as this object.  Therefore we need
+  // to prevent two such operations from occurring concurrently.
+  //
+  // Note that different types of linked_ptr objects can coexist in a
+  // circle (e.g. linked_ptr<Base>, linked_ptr<Derived1>, and
+  // linked_ptr<Derived2>).  Therefore we must use a single mutex to
+  // protect all linked_ptr objects.  This can create serious
+  // contention in production code, but is acceptable in a testing
+  // framework.
+
+  // Join an existing circle.
+  void join(linked_ptr_internal const* ptr)
+      GTEST_LOCK_EXCLUDED_(g_linked_ptr_mutex) {
+    MutexLock lock(&g_linked_ptr_mutex);
+
+    linked_ptr_internal const* p = ptr;
+    while (p->next_ != ptr) {
+      assert(p->next_ != this &&
+             "Trying to join() a linked ring we are already in. "
+             "Is GMock thread safety enabled?");
+      p = p->next_;
+    }
+    p->next_ = this;
+    next_ = ptr;
+  }
+
+  // Leave whatever circle we're part of.  Returns true if we were the
+  // last member of the circle.  Once this is done, you can join() another.
+  bool depart()
+      GTEST_LOCK_EXCLUDED_(g_linked_ptr_mutex) {
+    MutexLock lock(&g_linked_ptr_mutex);
+
+    if (next_ == this) return true;
+    linked_ptr_internal const* p = next_;
+    while (p->next_ != this) {
+      assert(p->next_ != next_ &&
+             "Trying to depart() a linked ring we are not in. "
+             "Is GMock thread safety enabled?");
+      p = p->next_;
+    }
+    p->next_ = next_;
+    return false;
+  }
+
+ private:
+  mutable linked_ptr_internal const* next_;
+};
+
+template <typename T>
+class linked_ptr {
+ public:
+  typedef T element_type;
+
+  // Take over ownership of a raw pointer.  This should happen as soon as
+  // possible after the object is created.
+  explicit linked_ptr(T* ptr = NULL) { capture(ptr); }
+  ~linked_ptr() { depart(); }
+
+  // Copy an existing linked_ptr<>, adding ourselves to the list of references.
+  template <typename U> linked_ptr(linked_ptr<U> const& ptr) { copy(&ptr); }
+  linked_ptr(linked_ptr const& ptr) {  // NOLINT
+    assert(&ptr != this);
+    copy(&ptr);
+  }
+
+  // Assignment releases the old value and acquires the new.
+  template <typename U> linked_ptr& operator=(linked_ptr<U> const& ptr) {
+    depart();
+    copy(&ptr);
+    return *this;
+  }
+
+  linked_ptr& operator=(linked_ptr const& ptr) {
+    if (&ptr != this) {
+      depart();
+      copy(&ptr);
+    }
+    return *this;
+  }
+
+  // Smart pointer members.
+  void reset(T* ptr = NULL) {
+    depart();
+    capture(ptr);
+  }
+  T* get() const { return value_; }
+  T* operator->() const { return value_; }
+  T& operator*() const { return *value_; }
+
+  bool operator==(T* p) const { return value_ == p; }
+  bool operator!=(T* p) const { return value_ != p; }
+  template <typename U>
+  bool operator==(linked_ptr<U> const& ptr) const {
+    return value_ == ptr.get();
+  }
+  template <typename U>
+  bool operator!=(linked_ptr<U> const& ptr) const {
+    return value_ != ptr.get();
+  }
+
+ private:
+  template <typename U>
+  friend class linked_ptr;
+
+  T* value_;
+  linked_ptr_internal link_;
+
+  void depart() {
+    if (link_.depart()) delete value_;
+  }
+
+  void capture(T* ptr) {
+    value_ = ptr;
+    link_.join_new();
+  }
+
+  template <typename U> void copy(linked_ptr<U> const* ptr) {
+    value_ = ptr->get();
+    if (value_)
+      link_.join(&ptr->link_);
+    else
+      link_.join_new();
+  }
+};
+
+template<typename T> inline
+bool operator==(T* ptr, const linked_ptr<T>& x) {
+  return ptr == x.get();
+}
+
+template<typename T> inline
+bool operator!=(T* ptr, const linked_ptr<T>& x) {
+  return ptr != x.get();
+}
+
+// A function to convert T* into linked_ptr<T>
+// Doing e.g. make_linked_ptr(new FooBarBaz<type>(arg)) is a shorter notation
+// for linked_ptr<FooBarBaz<type> >(new FooBarBaz<type>(arg))
+template <typename T>
+linked_ptr<T> make_linked_ptr(T* ptr) {
+  return linked_ptr<T>(ptr);
+}
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Test - The Google C++ Testing Framework
+//
+// This file implements a universal value printer that can print a
+// value of any type T:
+//
+//   void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
+//
+// A user can teach this function how to print a class type T by
+// defining either operator<<() or PrintTo() in the namespace that
+// defines T.  More specifically, the FIRST defined function in the
+// following list will be used (assuming T is defined in namespace
+// foo):
+//
+//   1. foo::PrintTo(const T&, ostream*)
+//   2. operator<<(ostream&, const T&) defined in either foo or the
+//      global namespace.
+//
+// If none of the above is defined, it will print the debug string of
+// the value if it is a protocol buffer, or print the raw bytes in the
+// value otherwise.
+//
+// To aid debugging: when T is a reference type, the address of the
+// value is also printed; when T is a (const) char pointer, both the
+// pointer value and the NUL-terminated string it points to are
+// printed.
+//
+// We also provide some convenient wrappers:
+//
+//   // Prints a value to a string.  For a (const or not) char
+//   // pointer, the NUL-terminated string (but not the pointer) is
+//   // printed.
+//   std::string ::testing::PrintToString(const T& value);
+//
+//   // Prints a value tersely: for a reference type, the referenced
+//   // value (but not the address) is printed; for a (const or not) char
+//   // pointer, the NUL-terminated string (but not the pointer) is
+//   // printed.
+//   void ::testing::internal::UniversalTersePrint(const T& value, ostream*);
+//
+//   // Prints value using the type inferred by the compiler.  The difference
+//   // from UniversalTersePrint() is that this function prints both the
+//   // pointer and the NUL-terminated string for a (const or not) char pointer.
+//   void ::testing::internal::UniversalPrint(const T& value, ostream*);
+//
+//   // Prints the fields of a tuple tersely to a string vector, one
+//   // element for each field. Tuple support must be enabled in
+//   // gtest-port.h.
+//   std::vector<string> UniversalTersePrintTupleFieldsToStrings(
+//       const Tuple& value);
+//
+// Known limitation:
+//
+// The print primitives print the elements of an STL-style container
+// using the compiler-inferred type of *iter where iter is a
+// const_iterator of the container.  When const_iterator is an input
+// iterator but not a forward iterator, this inferred type may not
+// match value_type, and the print output may be incorrect.  In
+// practice, this is rarely a problem as for most containers
+// const_iterator is a forward iterator.  We'll fix this if there's an
+// actual need for it.  Note that this fix cannot rely on value_type
+// being defined as many user-defined container types don't have
+// value_type.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+
+#include <ostream>  // NOLINT
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+#if GTEST_HAS_STD_TUPLE_
+# include <tuple>
+#endif
+
+namespace testing {
+
+// Definitions in the 'internal' and 'internal2' name spaces are
+// subject to change without notice.  DO NOT USE THEM IN USER CODE!
+namespace internal2 {
+
+// Prints the given number of bytes in the given object to the given
+// ostream.
+GTEST_API_ void PrintBytesInObjectTo(const unsigned char* obj_bytes,
+                                     size_t count,
+                                     ::std::ostream* os);
+
+// For selecting which printer to use when a given type has neither <<
+// nor PrintTo().
+enum TypeKind {
+  kProtobuf,              // a protobuf type
+  kConvertibleToInteger,  // a type implicitly convertible to BiggestInt
+                          // (e.g. a named or unnamed enum type)
+  kOtherType              // anything else
+};
+
+// TypeWithoutFormatter<T, kTypeKind>::PrintValue(value, os) is called
+// by the universal printer to print a value of type T when neither
+// operator<< nor PrintTo() is defined for T, where kTypeKind is the
+// "kind" of T as defined by enum TypeKind.
+template <typename T, TypeKind kTypeKind>
+class TypeWithoutFormatter {
+ public:
+  // This default version is called when kTypeKind is kOtherType.
+  static void PrintValue(const T& value, ::std::ostream* os) {
+    PrintBytesInObjectTo(reinterpret_cast<const unsigned char*>(&value),
+                         sizeof(value), os);
+  }
+};
+
+// We print a protobuf using its ShortDebugString() when the string
+// doesn't exceed this many characters; otherwise we print it using
+// DebugString() for better readability.
+const size_t kProtobufOneLinerMaxLength = 50;
+
+template <typename T>
+class TypeWithoutFormatter<T, kProtobuf> {
+ public:
+  static void PrintValue(const T& value, ::std::ostream* os) {
+    const ::testing::internal::string short_str = value.ShortDebugString();
+    const ::testing::internal::string pretty_str =
+        short_str.length() <= kProtobufOneLinerMaxLength ?
+        short_str : ("\n" + value.DebugString());
+    *os << ("<" + pretty_str + ">");
+  }
+};
+
+template <typename T>
+class TypeWithoutFormatter<T, kConvertibleToInteger> {
+ public:
+  // Since T has no << operator or PrintTo() but can be implicitly
+  // converted to BiggestInt, we print it as a BiggestInt.
+  //
+  // Most likely T is an enum type (either named or unnamed), in which
+  // case printing it as an integer is the desired behavior.  In case
+  // T is not an enum, printing it as an integer is the best we can do
+  // given that it has no user-defined printer.
+  static void PrintValue(const T& value, ::std::ostream* os) {
+    const internal::BiggestInt kBigInt = value;
+    *os << kBigInt;
+  }
+};
+
+// Prints the given value to the given ostream.  If the value is a
+// protocol message, its debug string is printed; if it's an enum or
+// of a type implicitly convertible to BiggestInt, it's printed as an
+// integer; otherwise the bytes in the value are printed.  This is
+// what UniversalPrinter<T>::Print() does when it knows nothing about
+// type T and T has neither << operator nor PrintTo().
+//
+// A user can override this behavior for a class type Foo by defining
+// a << operator in the namespace where Foo is defined.
+//
+// We put this operator in namespace 'internal2' instead of 'internal'
+// to simplify the implementation, as much code in 'internal' needs to
+// use << in STL, which would conflict with our own << were it defined
+// in 'internal'.
+//
+// Note that this operator<< takes a generic std::basic_ostream<Char,
+// CharTraits> type instead of the more restricted std::ostream.  If
+// we define it to take an std::ostream instead, we'll get an
+// "ambiguous overloads" compiler error when trying to print a type
+// Foo that supports streaming to std::basic_ostream<Char,
+// CharTraits>, as the compiler cannot tell whether
+// operator<<(std::ostream&, const T&) or
+// operator<<(std::basic_stream<Char, CharTraits>, const Foo&) is more
+// specific.
+template <typename Char, typename CharTraits, typename T>
+::std::basic_ostream<Char, CharTraits>& operator<<(
+    ::std::basic_ostream<Char, CharTraits>& os, const T& x) {
+  TypeWithoutFormatter<T,
+      (internal::IsAProtocolMessage<T>::value ? kProtobuf :
+       internal::ImplicitlyConvertible<const T&, internal::BiggestInt>::value ?
+       kConvertibleToInteger : kOtherType)>::PrintValue(x, &os);
+  return os;
+}
+
+}  // namespace internal2
+}  // namespace testing
+
+// This namespace MUST NOT BE NESTED IN ::testing, or the name look-up
+// magic needed for implementing UniversalPrinter won't work.
+namespace testing_internal {
+
+// Used to print a value that is not an STL-style container when the
+// user doesn't define PrintTo() for it.
+template <typename T>
+void DefaultPrintNonContainerTo(const T& value, ::std::ostream* os) {
+  // With the following statement, during unqualified name lookup,
+  // testing::internal2::operator<< appears as if it was declared in
+  // the nearest enclosing namespace that contains both
+  // ::testing_internal and ::testing::internal2, i.e. the global
+  // namespace.  For more details, refer to the C++ Standard section
+  // 7.3.4-1 [namespace.udir].  This allows us to fall back onto
+  // testing::internal2::operator<< in case T doesn't come with a <<
+  // operator.
+  //
+  // We cannot write 'using ::testing::internal2::operator<<;', which
+  // gcc 3.3 fails to compile due to a compiler bug.
+  using namespace ::testing::internal2;  // NOLINT
+
+  // Assuming T is defined in namespace foo, in the next statement,
+  // the compiler will consider all of:
+  //
+  //   1. foo::operator<< (thanks to Koenig look-up),
+  //   2. ::operator<< (as the current namespace is enclosed in ::),
+  //   3. testing::internal2::operator<< (thanks to the using statement above).
+  //
+  // The operator<< whose type matches T best will be picked.
+  //
+  // We deliberately allow #2 to be a candidate, as sometimes it's
+  // impossible to define #1 (e.g. when foo is ::std, defining
+  // anything in it is undefined behavior unless you are a compiler
+  // vendor.).
+  *os << value;
+}
+
+}  // namespace testing_internal
+
+namespace testing {
+namespace internal {
+
+// FormatForComparison<ToPrint, OtherOperand>::Format(value) formats a
+// value of type ToPrint that is an operand of a comparison assertion
+// (e.g. ASSERT_EQ).  OtherOperand is the type of the other operand in
+// the comparison, and is used to help determine the best way to
+// format the value.  In particular, when the value is a C string
+// (char pointer) and the other operand is an STL string object, we
+// want to format the C string as a string, since we know it is
+// compared by value with the string object.  If the value is a char
+// pointer but the other operand is not an STL string object, we don't
+// know whether the pointer is supposed to point to a NUL-terminated
+// string, and thus want to print it as a pointer to be safe.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+
+// The default case.
+template <typename ToPrint, typename OtherOperand>
+class FormatForComparison {
+ public:
+  static ::std::string Format(const ToPrint& value) {
+    return ::testing::PrintToString(value);
+  }
+};
+
+// Array.
+template <typename ToPrint, size_t N, typename OtherOperand>
+class FormatForComparison<ToPrint[N], OtherOperand> {
+ public:
+  static ::std::string Format(const ToPrint* value) {
+    return FormatForComparison<const ToPrint*, OtherOperand>::Format(value);
+  }
+};
+
+// By default, print C string as pointers to be safe, as we don't know
+// whether they actually point to a NUL-terminated string.
+
+#define GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(CharType)                \
+  template <typename OtherOperand>                                      \
+  class FormatForComparison<CharType*, OtherOperand> {                  \
+   public:                                                              \
+    static ::std::string Format(CharType* value) {                      \
+      return ::testing::PrintToString(static_cast<const void*>(value)); \
+    }                                                                   \
+  }
+
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(char);
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(const char);
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(wchar_t);
+GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_(const wchar_t);
+
+#undef GTEST_IMPL_FORMAT_C_STRING_AS_POINTER_
+
+// If a C string is compared with an STL string object, we know it's meant
+// to point to a NUL-terminated string, and thus can print it as a string.
+
+#define GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(CharType, OtherStringType) \
+  template <>                                                           \
+  class FormatForComparison<CharType*, OtherStringType> {               \
+   public:                                                              \
+    static ::std::string Format(CharType* value) {                      \
+      return ::testing::PrintToString(value);                           \
+    }                                                                   \
+  }
+
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(char, ::std::string);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const char, ::std::string);
+
+#if GTEST_HAS_GLOBAL_STRING
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(char, ::string);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const char, ::string);
+#endif
+
+#if GTEST_HAS_GLOBAL_WSTRING
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(wchar_t, ::wstring);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const wchar_t, ::wstring);
+#endif
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(wchar_t, ::std::wstring);
+GTEST_IMPL_FORMAT_C_STRING_AS_STRING_(const wchar_t, ::std::wstring);
+#endif
+
+#undef GTEST_IMPL_FORMAT_C_STRING_AS_STRING_
+
+// Formats a comparison assertion (e.g. ASSERT_EQ, EXPECT_LT, and etc)
+// operand to be used in a failure message.  The type (but not value)
+// of the other operand may affect the format.  This allows us to
+// print a char* as a raw pointer when it is compared against another
+// char* or void*, and print it as a C string when it is compared
+// against an std::string object, for example.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+template <typename T1, typename T2>
+std::string FormatForComparisonFailureMessage(
+    const T1& value, const T2& /* other_operand */) {
+  return FormatForComparison<T1, T2>::Format(value);
+}
+
+// UniversalPrinter<T>::Print(value, ostream_ptr) prints the given
+// value to the given ostream.  The caller must ensure that
+// 'ostream_ptr' is not NULL, or the behavior is undefined.
+//
+// We define UniversalPrinter as a class template (as opposed to a
+// function template), as we need to partially specialize it for
+// reference types, which cannot be done with function templates.
+template <typename T>
+class UniversalPrinter;
+
+template <typename T>
+void UniversalPrint(const T& value, ::std::ostream* os);
+
+// Used to print an STL-style container when the user doesn't define
+// a PrintTo() for it.
+template <typename C>
+void DefaultPrintTo(IsContainer /* dummy */,
+                    false_type /* is not a pointer */,
+                    const C& container, ::std::ostream* os) {
+  const size_t kMaxCount = 32;  // The maximum number of elements to print.
+  *os << '{';
+  size_t count = 0;
+  for (typename C::const_iterator it = container.begin();
+       it != container.end(); ++it, ++count) {
+    if (count > 0) {
+      *os << ',';
+      if (count == kMaxCount) {  // Enough has been printed.
+        *os << " ...";
+        break;
+      }
+    }
+    *os << ' ';
+    // We cannot call PrintTo(*it, os) here as PrintTo() doesn't
+    // handle *it being a native array.
+    internal::UniversalPrint(*it, os);
+  }
+
+  if (count > 0) {
+    *os << ' ';
+  }
+  *os << '}';
+}
+
+// Used to print a pointer that is neither a char pointer nor a member
+// pointer, when the user doesn't define PrintTo() for it.  (A member
+// variable pointer or member function pointer doesn't really point to
+// a location in the address space.  Their representation is
+// implementation-defined.  Therefore they will be printed as raw
+// bytes.)
+template <typename T>
+void DefaultPrintTo(IsNotContainer /* dummy */,
+                    true_type /* is a pointer */,
+                    T* p, ::std::ostream* os) {
+  if (p == NULL) {
+    *os << "NULL";
+  } else {
+    // C++ doesn't allow casting from a function pointer to any object
+    // pointer.
+    //
+    // IsTrue() silences warnings: "Condition is always true",
+    // "unreachable code".
+    if (IsTrue(ImplicitlyConvertible<T*, const void*>::value)) {
+      // T is not a function type.  We just call << to print p,
+      // relying on ADL to pick up user-defined << for their pointer
+      // types, if any.
+      *os << p;
+    } else {
+      // T is a function type, so '*os << p' doesn't do what we want
+      // (it just prints p as bool).  We want to print p as a const
+      // void*.  However, we cannot cast it to const void* directly,
+      // even using reinterpret_cast, as earlier versions of gcc
+      // (e.g. 3.4.5) cannot compile the cast when p is a function
+      // pointer.  Casting to UInt64 first solves the problem.
+      *os << reinterpret_cast<const void*>(
+          reinterpret_cast<internal::UInt64>(p));
+    }
+  }
+}
+
+// Used to print a non-container, non-pointer value when the user
+// doesn't define PrintTo() for it.
+template <typename T>
+void DefaultPrintTo(IsNotContainer /* dummy */,
+                    false_type /* is not a pointer */,
+                    const T& value, ::std::ostream* os) {
+  ::testing_internal::DefaultPrintNonContainerTo(value, os);
+}
+
+// Prints the given value using the << operator if it has one;
+// otherwise prints the bytes in it.  This is what
+// UniversalPrinter<T>::Print() does when PrintTo() is not specialized
+// or overloaded for type T.
+//
+// A user can override this behavior for a class type Foo by defining
+// an overload of PrintTo() in the namespace where Foo is defined.  We
+// give the user this option as sometimes defining a << operator for
+// Foo is not desirable (e.g. the coding style may prevent doing it,
+// or there is already a << operator but it doesn't do what the user
+// wants).
+template <typename T>
+void PrintTo(const T& value, ::std::ostream* os) {
+  // DefaultPrintTo() is overloaded.  The type of its first two
+  // arguments determine which version will be picked.  If T is an
+  // STL-style container, the version for container will be called; if
+  // T is a pointer, the pointer version will be called; otherwise the
+  // generic version will be called.
+  //
+  // Note that we check for container types here, prior to we check
+  // for protocol message types in our operator<<.  The rationale is:
+  //
+  // For protocol messages, we want to give people a chance to
+  // override Google Mock's format by defining a PrintTo() or
+  // operator<<.  For STL containers, other formats can be
+  // incompatible with Google Mock's format for the container
+  // elements; therefore we check for container types here to ensure
+  // that our format is used.
+  //
+  // The second argument of DefaultPrintTo() is needed to bypass a bug
+  // in Symbian's C++ compiler that prevents it from picking the right
+  // overload between:
+  //
+  //   PrintTo(const T& x, ...);
+  //   PrintTo(T* x, ...);
+  DefaultPrintTo(IsContainerTest<T>(0), is_pointer<T>(), value, os);
+}
+
+// The following list of PrintTo() overloads tells
+// UniversalPrinter<T>::Print() how to print standard types (built-in
+// types, strings, plain arrays, and pointers).
+
+// Overloads for various char types.
+GTEST_API_ void PrintTo(unsigned char c, ::std::ostream* os);
+GTEST_API_ void PrintTo(signed char c, ::std::ostream* os);
+inline void PrintTo(char c, ::std::ostream* os) {
+  // When printing a plain char, we always treat it as unsigned.  This
+  // way, the output won't be affected by whether the compiler thinks
+  // char is signed or not.
+  PrintTo(static_cast<unsigned char>(c), os);
+}
+
+// Overloads for other simple built-in types.
+inline void PrintTo(bool x, ::std::ostream* os) {
+  *os << (x ? "true" : "false");
+}
+
+// Overload for wchar_t type.
+// Prints a wchar_t as a symbol if it is printable or as its internal
+// code otherwise and also as its decimal code (except for L'\0').
+// The L'\0' char is printed as "L'\\0'". The decimal code is printed
+// as signed integer when wchar_t is implemented by the compiler
+// as a signed type and is printed as an unsigned integer when wchar_t
+// is implemented as an unsigned type.
+GTEST_API_ void PrintTo(wchar_t wc, ::std::ostream* os);
+
+// Overloads for C strings.
+GTEST_API_ void PrintTo(const char* s, ::std::ostream* os);
+inline void PrintTo(char* s, ::std::ostream* os) {
+  PrintTo(ImplicitCast_<const char*>(s), os);
+}
+
+// signed/unsigned char is often used for representing binary data, so
+// we print pointers to it as void* to be safe.
+inline void PrintTo(const signed char* s, ::std::ostream* os) {
+  PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(signed char* s, ::std::ostream* os) {
+  PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(const unsigned char* s, ::std::ostream* os) {
+  PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(unsigned char* s, ::std::ostream* os) {
+  PrintTo(ImplicitCast_<const void*>(s), os);
+}
+
+// MSVC can be configured to define wchar_t as a typedef of unsigned
+// short.  It defines _NATIVE_WCHAR_T_DEFINED when wchar_t is a native
+// type.  When wchar_t is a typedef, defining an overload for const
+// wchar_t* would cause unsigned short* be printed as a wide string,
+// possibly causing invalid memory accesses.
+#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
+// Overloads for wide C strings
+GTEST_API_ void PrintTo(const wchar_t* s, ::std::ostream* os);
+inline void PrintTo(wchar_t* s, ::std::ostream* os) {
+  PrintTo(ImplicitCast_<const wchar_t*>(s), os);
+}
+#endif
+
+// Overload for C arrays.  Multi-dimensional arrays are printed
+// properly.
+
+// Prints the given number of elements in an array, without printing
+// the curly braces.
+template <typename T>
+void PrintRawArrayTo(const T a[], size_t count, ::std::ostream* os) {
+  UniversalPrint(a[0], os);
+  for (size_t i = 1; i != count; i++) {
+    *os << ", ";
+    UniversalPrint(a[i], os);
+  }
+}
+
+// Overloads for ::string and ::std::string.
+#if GTEST_HAS_GLOBAL_STRING
+GTEST_API_ void PrintStringTo(const ::string&s, ::std::ostream* os);
+inline void PrintTo(const ::string& s, ::std::ostream* os) {
+  PrintStringTo(s, os);
+}
+#endif  // GTEST_HAS_GLOBAL_STRING
+
+GTEST_API_ void PrintStringTo(const ::std::string&s, ::std::ostream* os);
+inline void PrintTo(const ::std::string& s, ::std::ostream* os) {
+  PrintStringTo(s, os);
+}
+
+// Overloads for ::wstring and ::std::wstring.
+#if GTEST_HAS_GLOBAL_WSTRING
+GTEST_API_ void PrintWideStringTo(const ::wstring&s, ::std::ostream* os);
+inline void PrintTo(const ::wstring& s, ::std::ostream* os) {
+  PrintWideStringTo(s, os);
+}
+#endif  // GTEST_HAS_GLOBAL_WSTRING
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_API_ void PrintWideStringTo(const ::std::wstring&s, ::std::ostream* os);
+inline void PrintTo(const ::std::wstring& s, ::std::ostream* os) {
+  PrintWideStringTo(s, os);
+}
+#endif  // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+// Helper function for printing a tuple.  T must be instantiated with
+// a tuple type.
+template <typename T>
+void PrintTupleTo(const T& t, ::std::ostream* os);
+#endif  // GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+
+#if GTEST_HAS_TR1_TUPLE
+// Overload for ::std::tr1::tuple.  Needed for printing function arguments,
+// which are packed as tuples.
+
+// Overloaded PrintTo() for tuples of various arities.  We support
+// tuples of up-to 10 fields.  The following implementation works
+// regardless of whether tr1::tuple is implemented using the
+// non-standard variadic template feature or not.
+
+inline void PrintTo(const ::std::tr1::tuple<>& t, ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1>
+void PrintTo(const ::std::tr1::tuple<T1>& t, ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2>
+void PrintTo(const ::std::tr1::tuple<T1, T2>& t, ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3>& t, ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4>& t, ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5>& t,
+             ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+          typename T6>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6>& t,
+             ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+          typename T6, typename T7>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7>& t,
+             ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+          typename T6, typename T7, typename T8>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8>& t,
+             ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+          typename T6, typename T7, typename T8, typename T9>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9>& t,
+             ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+          typename T6, typename T7, typename T8, typename T9, typename T10>
+void PrintTo(
+    const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>& t,
+    ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+#endif  // GTEST_HAS_TR1_TUPLE
+
+#if GTEST_HAS_STD_TUPLE_
+template <typename... Types>
+void PrintTo(const ::std::tuple<Types...>& t, ::std::ostream* os) {
+  PrintTupleTo(t, os);
+}
+#endif  // GTEST_HAS_STD_TUPLE_
+
+// Overload for std::pair.
+template <typename T1, typename T2>
+void PrintTo(const ::std::pair<T1, T2>& value, ::std::ostream* os) {
+  *os << '(';
+  // We cannot use UniversalPrint(value.first, os) here, as T1 may be
+  // a reference type.  The same for printing value.second.
+  UniversalPrinter<T1>::Print(value.first, os);
+  *os << ", ";
+  UniversalPrinter<T2>::Print(value.second, os);
+  *os << ')';
+}
+
+// Implements printing a non-reference type T by letting the compiler
+// pick the right overload of PrintTo() for T.
+template <typename T>
+class UniversalPrinter {
+ public:
+  // MSVC warns about adding const to a function type, so we want to
+  // disable the warning.
+  GTEST_DISABLE_MSC_WARNINGS_PUSH_(4180)
+
+  // Note: we deliberately don't call this PrintTo(), as that name
+  // conflicts with ::testing::internal::PrintTo in the body of the
+  // function.
+  static void Print(const T& value, ::std::ostream* os) {
+    // By default, ::testing::internal::PrintTo() is used for printing
+    // the value.
+    //
+    // Thanks to Koenig look-up, if T is a class and has its own
+    // PrintTo() function defined in its namespace, that function will
+    // be visible here.  Since it is more specific than the generic ones
+    // in ::testing::internal, it will be picked by the compiler in the
+    // following statement - exactly what we want.
+    PrintTo(value, os);
+  }
+
+  GTEST_DISABLE_MSC_WARNINGS_POP_()
+};
+
+// UniversalPrintArray(begin, len, os) prints an array of 'len'
+// elements, starting at address 'begin'.
+template <typename T>
+void UniversalPrintArray(const T* begin, size_t len, ::std::ostream* os) {
+  if (len == 0) {
+    *os << "{}";
+  } else {
+    *os << "{ ";
+    const size_t kThreshold = 18;
+    const size_t kChunkSize = 8;
+    // If the array has more than kThreshold elements, we'll have to
+    // omit some details by printing only the first and the last
+    // kChunkSize elements.
+    // TODO(wan@google.com): let the user control the threshold using a flag.
+    if (len <= kThreshold) {
+      PrintRawArrayTo(begin, len, os);
+    } else {
+      PrintRawArrayTo(begin, kChunkSize, os);
+      *os << ", ..., ";
+      PrintRawArrayTo(begin + len - kChunkSize, kChunkSize, os);
+    }
+    *os << " }";
+  }
+}
+// This overload prints a (const) char array compactly.
+GTEST_API_ void UniversalPrintArray(
+    const char* begin, size_t len, ::std::ostream* os);
+
+// This overload prints a (const) wchar_t array compactly.
+GTEST_API_ void UniversalPrintArray(
+    const wchar_t* begin, size_t len, ::std::ostream* os);
+
+// Implements printing an array type T[N].
+template <typename T, size_t N>
+class UniversalPrinter<T[N]> {
+ public:
+  // Prints the given array, omitting some elements when there are too
+  // many.
+  static void Print(const T (&a)[N], ::std::ostream* os) {
+    UniversalPrintArray(a, N, os);
+  }
+};
+
+// Implements printing a reference type T&.
+template <typename T>
+class UniversalPrinter<T&> {
+ public:
+  // MSVC warns about adding const to a function type, so we want to
+  // disable the warning.
+  GTEST_DISABLE_MSC_WARNINGS_PUSH_(4180)
+
+  static void Print(const T& value, ::std::ostream* os) {
+    // Prints the address of the value.  We use reinterpret_cast here
+    // as static_cast doesn't compile when T is a function type.
+    *os << "@" << reinterpret_cast<const void*>(&value) << " ";
+
+    // Then prints the value itself.
+    UniversalPrint(value, os);
+  }
+
+  GTEST_DISABLE_MSC_WARNINGS_POP_()
+};
+
+// Prints a value tersely: for a reference type, the referenced value
+// (but not the address) is printed; for a (const) char pointer, the
+// NUL-terminated string (but not the pointer) is printed.
+
+template <typename T>
+class UniversalTersePrinter {
+ public:
+  static void Print(const T& value, ::std::ostream* os) {
+    UniversalPrint(value, os);
+  }
+};
+template <typename T>
+class UniversalTersePrinter<T&> {
+ public:
+  static void Print(const T& value, ::std::ostream* os) {
+    UniversalPrint(value, os);
+  }
+};
+template <typename T, size_t N>
+class UniversalTersePrinter<T[N]> {
+ public:
+  static void Print(const T (&value)[N], ::std::ostream* os) {
+    UniversalPrinter<T[N]>::Print(value, os);
+  }
+};
+template <>
+class UniversalTersePrinter<const char*> {
+ public:
+  static void Print(const char* str, ::std::ostream* os) {
+    if (str == NULL) {
+      *os << "NULL";
+    } else {
+      UniversalPrint(string(str), os);
+    }
+  }
+};
+template <>
+class UniversalTersePrinter<char*> {
+ public:
+  static void Print(char* str, ::std::ostream* os) {
+    UniversalTersePrinter<const char*>::Print(str, os);
+  }
+};
+
+#if GTEST_HAS_STD_WSTRING
+template <>
+class UniversalTersePrinter<const wchar_t*> {
+ public:
+  static void Print(const wchar_t* str, ::std::ostream* os) {
+    if (str == NULL) {
+      *os << "NULL";
+    } else {
+      UniversalPrint(::std::wstring(str), os);
+    }
+  }
+};
+#endif
+
+template <>
+class UniversalTersePrinter<wchar_t*> {
+ public:
+  static void Print(wchar_t* str, ::std::ostream* os) {
+    UniversalTersePrinter<const wchar_t*>::Print(str, os);
+  }
+};
+
+template <typename T>
+void UniversalTersePrint(const T& value, ::std::ostream* os) {
+  UniversalTersePrinter<T>::Print(value, os);
+}
+
+// Prints a value using the type inferred by the compiler.  The
+// difference between this and UniversalTersePrint() is that for a
+// (const) char pointer, this prints both the pointer and the
+// NUL-terminated string.
+template <typename T>
+void UniversalPrint(const T& value, ::std::ostream* os) {
+  // A workarond for the bug in VC++ 7.1 that prevents us from instantiating
+  // UniversalPrinter with T directly.
+  typedef T T1;
+  UniversalPrinter<T1>::Print(value, os);
+}
+
+typedef ::std::vector<string> Strings;
+
+// TuplePolicy<TupleT> must provide:
+// - tuple_size
+//     size of tuple TupleT.
+// - get<size_t I>(const TupleT& t)
+//     static function extracting element I of tuple TupleT.
+// - tuple_element<size_t I>::type
+//     type of element I of tuple TupleT.
+template <typename TupleT>
+struct TuplePolicy;
+
+#if GTEST_HAS_TR1_TUPLE
+template <typename TupleT>
+struct TuplePolicy {
+  typedef TupleT Tuple;
+  static const size_t tuple_size = ::std::tr1::tuple_size<Tuple>::value;
+
+  template <size_t I>
+  struct tuple_element : ::std::tr1::tuple_element<I, Tuple> {};
+
+  template <size_t I>
+  static typename AddReference<
+      const typename ::std::tr1::tuple_element<I, Tuple>::type>::type get(
+      const Tuple& tuple) {
+    return ::std::tr1::get<I>(tuple);
+  }
+};
+template <typename TupleT>
+const size_t TuplePolicy<TupleT>::tuple_size;
+#endif  // GTEST_HAS_TR1_TUPLE
+
+#if GTEST_HAS_STD_TUPLE_
+template <typename... Types>
+struct TuplePolicy< ::std::tuple<Types...> > {
+  typedef ::std::tuple<Types...> Tuple;
+  static const size_t tuple_size = ::std::tuple_size<Tuple>::value;
+
+  template <size_t I>
+  struct tuple_element : ::std::tuple_element<I, Tuple> {};
+
+  template <size_t I>
+  static const typename ::std::tuple_element<I, Tuple>::type& get(
+      const Tuple& tuple) {
+    return ::std::get<I>(tuple);
+  }
+};
+template <typename... Types>
+const size_t TuplePolicy< ::std::tuple<Types...> >::tuple_size;
+#endif  // GTEST_HAS_STD_TUPLE_
+
+#if GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+// This helper template allows PrintTo() for tuples and
+// UniversalTersePrintTupleFieldsToStrings() to be defined by
+// induction on the number of tuple fields.  The idea is that
+// TuplePrefixPrinter<N>::PrintPrefixTo(t, os) prints the first N
+// fields in tuple t, and can be defined in terms of
+// TuplePrefixPrinter<N - 1>.
+//
+// The inductive case.
+template <size_t N>
+struct TuplePrefixPrinter {
+  // Prints the first N fields of a tuple.
+  template <typename Tuple>
+  static void PrintPrefixTo(const Tuple& t, ::std::ostream* os) {
+    TuplePrefixPrinter<N - 1>::PrintPrefixTo(t, os);
+    GTEST_INTENTIONAL_CONST_COND_PUSH_()
+    if (N > 1) {
+    GTEST_INTENTIONAL_CONST_COND_POP_()
+      *os << ", ";
+    }
+    UniversalPrinter<
+        typename TuplePolicy<Tuple>::template tuple_element<N - 1>::type>
+        ::Print(TuplePolicy<Tuple>::template get<N - 1>(t), os);
+  }
+
+  // Tersely prints the first N fields of a tuple to a string vector,
+  // one element for each field.
+  template <typename Tuple>
+  static void TersePrintPrefixToStrings(const Tuple& t, Strings* strings) {
+    TuplePrefixPrinter<N - 1>::TersePrintPrefixToStrings(t, strings);
+    ::std::stringstream ss;
+    UniversalTersePrint(TuplePolicy<Tuple>::template get<N - 1>(t), &ss);
+    strings->push_back(ss.str());
+  }
+};
+
+// Base case.
+template <>
+struct TuplePrefixPrinter<0> {
+  template <typename Tuple>
+  static void PrintPrefixTo(const Tuple&, ::std::ostream*) {}
+
+  template <typename Tuple>
+  static void TersePrintPrefixToStrings(const Tuple&, Strings*) {}
+};
+
+// Helper function for printing a tuple.
+// Tuple must be either std::tr1::tuple or std::tuple type.
+template <typename Tuple>
+void PrintTupleTo(const Tuple& t, ::std::ostream* os) {
+  *os << "(";
+  TuplePrefixPrinter<TuplePolicy<Tuple>::tuple_size>::PrintPrefixTo(t, os);
+  *os << ")";
+}
+
+// Prints the fields of a tuple tersely to a string vector, one
+// element for each field.  See the comment before
+// UniversalTersePrint() for how we define "tersely".
+template <typename Tuple>
+Strings UniversalTersePrintTupleFieldsToStrings(const Tuple& value) {
+  Strings result;
+  TuplePrefixPrinter<TuplePolicy<Tuple>::tuple_size>::
+      TersePrintPrefixToStrings(value, &result);
+  return result;
+}
+#endif  // GTEST_HAS_TR1_TUPLE || GTEST_HAS_STD_TUPLE_
+
+}  // namespace internal
+
+template <typename T>
+::std::string PrintToString(const T& value) {
+  ::std::stringstream ss;
+  internal::UniversalTersePrinter<T>::Print(value, &ss);
+  return ss.str();
+}
+
+}  // namespace testing
+
+// Include any custom printer added by the local installation.
+// We must include this header at the end to make sure it can use the
+// declarations from this file.
+// Copyright 2015, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// This file provides an injection point for custom printers in a local
+// installation of gTest.
+// It will be included from gtest-printers.h and the overrides in this file
+// will be visible to everyone.
+// See documentation at gtest/gtest-printers.h for details on how to define a
+// custom printer.
+//
+// ** Custom implementation starts here **
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PRINTERS_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PRINTERS_H_
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_CUSTOM_GTEST_PRINTERS_H_
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Input to a parameterized test name generator, describing a test parameter.
+// Consists of the parameter value and the integer parameter index.
+template <class ParamType>
+struct TestParamInfo {
+  TestParamInfo(const ParamType& a_param, size_t an_index) :
+    param(a_param),
+    index(an_index) {}
+  ParamType param;
+  size_t index;
+};
+
+// A builtin parameterized test name generator which returns the result of
+// testing::PrintToString.
+struct PrintToStringParamName {
+  template <class ParamType>
+  std::string operator()(const TestParamInfo<ParamType>& info) const {
+    return PrintToString(info.param);
+  }
+};
+
+namespace internal {
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Outputs a message explaining invalid registration of different
+// fixture class for the same test case. This may happen when
+// TEST_P macro is used to define two tests with the same name
+// but in different namespaces.
+GTEST_API_ void ReportInvalidTestCaseType(const char* test_case_name,
+                                          CodeLocation code_location);
+
+template <typename> class ParamGeneratorInterface;
+template <typename> class ParamGenerator;
+
+// Interface for iterating over elements provided by an implementation
+// of ParamGeneratorInterface<T>.
+template <typename T>
+class ParamIteratorInterface {
+ public:
+  virtual ~ParamIteratorInterface() {}
+  // A pointer to the base generator instance.
+  // Used only for the purposes of iterator comparison
+  // to make sure that two iterators belong to the same generator.
+  virtual const ParamGeneratorInterface<T>* BaseGenerator() const = 0;
+  // Advances iterator to point to the next element
+  // provided by the generator. The caller is responsible
+  // for not calling Advance() on an iterator equal to
+  // BaseGenerator()->End().
+  virtual void Advance() = 0;
+  // Clones the iterator object. Used for implementing copy semantics
+  // of ParamIterator<T>.
+  virtual ParamIteratorInterface* Clone() const = 0;
+  // Dereferences the current iterator and provides (read-only) access
+  // to the pointed value. It is the caller's responsibility not to call
+  // Current() on an iterator equal to BaseGenerator()->End().
+  // Used for implementing ParamGenerator<T>::operator*().
+  virtual const T* Current() const = 0;
+  // Determines whether the given iterator and other point to the same
+  // element in the sequence generated by the generator.
+  // Used for implementing ParamGenerator<T>::operator==().
+  virtual bool Equals(const ParamIteratorInterface& other) const = 0;
+};
+
+// Class iterating over elements provided by an implementation of
+// ParamGeneratorInterface<T>. It wraps ParamIteratorInterface<T>
+// and implements the const forward iterator concept.
+template <typename T>
+class ParamIterator {
+ public:
+  typedef T value_type;
+  typedef const T& reference;
+  typedef ptrdiff_t difference_type;
+
+  // ParamIterator assumes ownership of the impl_ pointer.
+  ParamIterator(const ParamIterator& other) : impl_(other.impl_->Clone()) {}
+  ParamIterator& operator=(const ParamIterator& other) {
+    if (this != &other)
+      impl_.reset(other.impl_->Clone());
+    return *this;
+  }
+
+  const T& operator*() const { return *impl_->Current(); }
+  const T* operator->() const { return impl_->Current(); }
+  // Prefix version of operator++.
+  ParamIterator& operator++() {
+    impl_->Advance();
+    return *this;
+  }
+  // Postfix version of operator++.
+  ParamIterator operator++(int /*unused*/) {
+    ParamIteratorInterface<T>* clone = impl_->Clone();
+    impl_->Advance();
+    return ParamIterator(clone);
+  }
+  bool operator==(const ParamIterator& other) const {
+    return impl_.get() == other.impl_.get() || impl_->Equals(*other.impl_);
+  }
+  bool operator!=(const ParamIterator& other) const {
+    return !(*this == other);
+  }
+
+ private:
+  friend class ParamGenerator<T>;
+  explicit ParamIterator(ParamIteratorInterface<T>* impl) : impl_(impl) {}
+  scoped_ptr<ParamIteratorInterface<T> > impl_;
+};
+
+// ParamGeneratorInterface<T> is the binary interface to access generators
+// defined in other translation units.
+template <typename T>
+class ParamGeneratorInterface {
+ public:
+  typedef T ParamType;
+
+  virtual ~ParamGeneratorInterface() {}
+
+  // Generator interface definition
+  virtual ParamIteratorInterface<T>* Begin() const = 0;
+  virtual ParamIteratorInterface<T>* End() const = 0;
+};
+
+// Wraps ParamGeneratorInterface<T> and provides general generator syntax
+// compatible with the STL Container concept.
+// This class implements copy initialization semantics and the contained
+// ParamGeneratorInterface<T> instance is shared among all copies
+// of the original object. This is possible because that instance is immutable.
+template<typename T>
+class ParamGenerator {
+ public:
+  typedef ParamIterator<T> iterator;
+
+  explicit ParamGenerator(ParamGeneratorInterface<T>* impl) : impl_(impl) {}
+  ParamGenerator(const ParamGenerator& other) : impl_(other.impl_) {}
+
+  ParamGenerator& operator=(const ParamGenerator& other) {
+    impl_ = other.impl_;
+    return *this;
+  }
+
+  iterator begin() const { return iterator(impl_->Begin()); }
+  iterator end() const { return iterator(impl_->End()); }
+
+ private:
+  linked_ptr<const ParamGeneratorInterface<T> > impl_;
+};
+
+// Generates values from a range of two comparable values. Can be used to
+// generate sequences of user-defined types that implement operator+() and
+// operator<().
+// This class is used in the Range() function.
+template <typename T, typename IncrementT>
+class RangeGenerator : public ParamGeneratorInterface<T> {
+ public:
+  RangeGenerator(T begin, T end, IncrementT step)
+      : begin_(begin), end_(end),
+        step_(step), end_index_(CalculateEndIndex(begin, end, step)) {}
+  virtual ~RangeGenerator() {}
+
+  virtual ParamIteratorInterface<T>* Begin() const {
+    return new Iterator(this, begin_, 0, step_);
+  }
+  virtual ParamIteratorInterface<T>* End() const {
+    return new Iterator(this, end_, end_index_, step_);
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<T> {
+   public:
+    Iterator(const ParamGeneratorInterface<T>* base, T value, int index,
+             IncrementT step)
+        : base_(base), value_(value), index_(index), step_(step) {}
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
+      return base_;
+    }
+    virtual void Advance() {
+      value_ = static_cast<T>(value_ + step_);
+      index_++;
+    }
+    virtual ParamIteratorInterface<T>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const T* Current() const { return &value_; }
+    virtual bool Equals(const ParamIteratorInterface<T>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const int other_index =
+          CheckedDowncastToActualType<const Iterator>(&other)->index_;
+      return index_ == other_index;
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : ParamIteratorInterface<T>(),
+          base_(other.base_), value_(other.value_), index_(other.index_),
+          step_(other.step_) {}
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<T>* const base_;
+    T value_;
+    int index_;
+    const IncrementT step_;
+  };  // class RangeGenerator::Iterator
+
+  static int CalculateEndIndex(const T& begin,
+                               const T& end,
+                               const IncrementT& step) {
+    int end_index = 0;
+    for (T i = begin; i < end; i = static_cast<T>(i + step))
+      end_index++;
+    return end_index;
+  }
+
+  // No implementation - assignment is unsupported.
+  void operator=(const RangeGenerator& other);
+
+  const T begin_;
+  const T end_;
+  const IncrementT step_;
+  // The index for the end() iterator. All the elements in the generated
+  // sequence are indexed (0-based) to aid iterator comparison.
+  const int end_index_;
+};  // class RangeGenerator
+
+
+// Generates values from a pair of STL-style iterators. Used in the
+// ValuesIn() function. The elements are copied from the source range
+// since the source can be located on the stack, and the generator
+// is likely to persist beyond that stack frame.
+template <typename T>
+class ValuesInIteratorRangeGenerator : public ParamGeneratorInterface<T> {
+ public:
+  template <typename ForwardIterator>
+  ValuesInIteratorRangeGenerator(ForwardIterator begin, ForwardIterator end)
+      : container_(begin, end) {}
+  virtual ~ValuesInIteratorRangeGenerator() {}
+
+  virtual ParamIteratorInterface<T>* Begin() const {
+    return new Iterator(this, container_.begin());
+  }
+  virtual ParamIteratorInterface<T>* End() const {
+    return new Iterator(this, container_.end());
+  }
+
+ private:
+  typedef typename ::std::vector<T> ContainerType;
+
+  class Iterator : public ParamIteratorInterface<T> {
+   public:
+    Iterator(const ParamGeneratorInterface<T>* base,
+             typename ContainerType::const_iterator iterator)
+        : base_(base), iterator_(iterator) {}
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
+      return base_;
+    }
+    virtual void Advance() {
+      ++iterator_;
+      value_.reset();
+    }
+    virtual ParamIteratorInterface<T>* Clone() const {
+      return new Iterator(*this);
+    }
+    // We need to use cached value referenced by iterator_ because *iterator_
+    // can return a temporary object (and of type other then T), so just
+    // having "return &*iterator_;" doesn't work.
+    // value_ is updated here and not in Advance() because Advance()
+    // can advance iterator_ beyond the end of the range, and we cannot
+    // detect that fact. The client code, on the other hand, is
+    // responsible for not calling Current() on an out-of-range iterator.
+    virtual const T* Current() const {
+      if (value_.get() == NULL)
+        value_.reset(new T(*iterator_));
+      return value_.get();
+    }
+    virtual bool Equals(const ParamIteratorInterface<T>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      return iterator_ ==
+          CheckedDowncastToActualType<const Iterator>(&other)->iterator_;
+    }
+
+   private:
+    Iterator(const Iterator& other)
+          // The explicit constructor call suppresses a false warning
+          // emitted by gcc when supplied with the -Wextra option.
+        : ParamIteratorInterface<T>(),
+          base_(other.base_),
+          iterator_(other.iterator_) {}
+
+    const ParamGeneratorInterface<T>* const base_;
+    typename ContainerType::const_iterator iterator_;
+    // A cached value of *iterator_. We keep it here to allow access by
+    // pointer in the wrapping iterator's operator->().
+    // value_ needs to be mutable to be accessed in Current().
+    // Use of scoped_ptr helps manage cached value's lifetime,
+    // which is bound by the lifespan of the iterator itself.
+    mutable scoped_ptr<const T> value_;
+  };  // class ValuesInIteratorRangeGenerator::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const ValuesInIteratorRangeGenerator& other);
+
+  const ContainerType container_;
+};  // class ValuesInIteratorRangeGenerator
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Default parameterized test name generator, returns a string containing the
+// integer test parameter index.
+template <class ParamType>
+std::string DefaultParamName(const TestParamInfo<ParamType>& info) {
+  Message name_stream;
+  name_stream << info.index;
+  return name_stream.GetString();
+}
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Parameterized test name overload helpers, which help the
+// INSTANTIATE_TEST_CASE_P macro choose between the default parameterized
+// test name generator and user param name generator.
+template <class ParamType, class ParamNameGenFunctor>
+ParamNameGenFunctor GetParamNameGen(ParamNameGenFunctor func) {
+  return func;
+}
+
+template <class ParamType>
+struct ParamNameGenFunc {
+  typedef std::string Type(const TestParamInfo<ParamType>&);
+};
+
+template <class ParamType>
+typename ParamNameGenFunc<ParamType>::Type *GetParamNameGen() {
+  return DefaultParamName;
+}
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Stores a parameter value and later creates tests parameterized with that
+// value.
+template <class TestClass>
+class ParameterizedTestFactory : public TestFactoryBase {
+ public:
+  typedef typename TestClass::ParamType ParamType;
+  explicit ParameterizedTestFactory(ParamType parameter) :
+      parameter_(parameter) {}
+  virtual Test* CreateTest() {
+    TestClass::SetParam(&parameter_);
+    return new TestClass();
+  }
+
+ private:
+  const ParamType parameter_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestFactory);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// TestMetaFactoryBase is a base class for meta-factories that create
+// test factories for passing into MakeAndRegisterTestInfo function.
+template <class ParamType>
+class TestMetaFactoryBase {
+ public:
+  virtual ~TestMetaFactoryBase() {}
+
+  virtual TestFactoryBase* CreateTestFactory(ParamType parameter) = 0;
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// TestMetaFactory creates test factories for passing into
+// MakeAndRegisterTestInfo function. Since MakeAndRegisterTestInfo receives
+// ownership of test factory pointer, same factory object cannot be passed
+// into that method twice. But ParameterizedTestCaseInfo is going to call
+// it for each Test/Parameter value combination. Thus it needs meta factory
+// creator class.
+template <class TestCase>
+class TestMetaFactory
+    : public TestMetaFactoryBase<typename TestCase::ParamType> {
+ public:
+  typedef typename TestCase::ParamType ParamType;
+
+  TestMetaFactory() {}
+
+  virtual TestFactoryBase* CreateTestFactory(ParamType parameter) {
+    return new ParameterizedTestFactory<TestCase>(parameter);
+  }
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestMetaFactory);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseInfoBase is a generic interface
+// to ParameterizedTestCaseInfo classes. ParameterizedTestCaseInfoBase
+// accumulates test information provided by TEST_P macro invocations
+// and generators provided by INSTANTIATE_TEST_CASE_P macro invocations
+// and uses that information to register all resulting test instances
+// in RegisterTests method. The ParameterizeTestCaseRegistry class holds
+// a collection of pointers to the ParameterizedTestCaseInfo objects
+// and calls RegisterTests() on each of them when asked.
+class ParameterizedTestCaseInfoBase {
+ public:
+  virtual ~ParameterizedTestCaseInfoBase() {}
+
+  // Base part of test case name for display purposes.
+  virtual const string& GetTestCaseName() const = 0;
+  // Test case id to verify identity.
+  virtual TypeId GetTestCaseTypeId() const = 0;
+  // UnitTest class invokes this method to register tests in this
+  // test case right before running them in RUN_ALL_TESTS macro.
+  // This method should not be called more then once on any single
+  // instance of a ParameterizedTestCaseInfoBase derived class.
+  virtual void RegisterTests() = 0;
+
+ protected:
+  ParameterizedTestCaseInfoBase() {}
+
+ private:
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfoBase);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseInfo accumulates tests obtained from TEST_P
+// macro invocations for a particular test case and generators
+// obtained from INSTANTIATE_TEST_CASE_P macro invocations for that
+// test case. It registers tests with all values generated by all
+// generators when asked.
+template <class TestCase>
+class ParameterizedTestCaseInfo : public ParameterizedTestCaseInfoBase {
+ public:
+  // ParamType and GeneratorCreationFunc are private types but are required
+  // for declarations of public methods AddTestPattern() and
+  // AddTestCaseInstantiation().
+  typedef typename TestCase::ParamType ParamType;
+  // A function that returns an instance of appropriate generator type.
+  typedef ParamGenerator<ParamType>(GeneratorCreationFunc)();
+  typedef typename ParamNameGenFunc<ParamType>::Type ParamNameGeneratorFunc;
+
+  explicit ParameterizedTestCaseInfo(
+      const char* name, CodeLocation code_location)
+      : test_case_name_(name), code_location_(code_location) {}
+
+  // Test case base name for display purposes.
+  virtual const string& GetTestCaseName() const { return test_case_name_; }
+  // Test case id to verify identity.
+  virtual TypeId GetTestCaseTypeId() const { return GetTypeId<TestCase>(); }
+  // TEST_P macro uses AddTestPattern() to record information
+  // about a single test in a LocalTestInfo structure.
+  // test_case_name is the base name of the test case (without invocation
+  // prefix). test_base_name is the name of an individual test without
+  // parameter index. For the test SequenceA/FooTest.DoBar/1 FooTest is
+  // test case base name and DoBar is test base name.
+  void AddTestPattern(const char* test_case_name,
+                      const char* test_base_name,
+                      TestMetaFactoryBase<ParamType>* meta_factory) {
+    tests_.push_back(linked_ptr<TestInfo>(new TestInfo(test_case_name,
+                                                       test_base_name,
+                                                       meta_factory)));
+  }
+  // INSTANTIATE_TEST_CASE_P macro uses AddGenerator() to record information
+  // about a generator.
+  int AddTestCaseInstantiation(const string& instantiation_name,
+                               GeneratorCreationFunc* func,
+                               ParamNameGeneratorFunc* name_func,
+                               const char* file,
+                               int line) {
+    instantiations_.push_back(
+        InstantiationInfo(instantiation_name, func, name_func, file, line));
+    return 0;  // Return value used only to run this method in namespace scope.
+  }
+  // UnitTest class invokes this method to register tests in this test case
+  // test cases right before running tests in RUN_ALL_TESTS macro.
+  // This method should not be called more then once on any single
+  // instance of a ParameterizedTestCaseInfoBase derived class.
+  // UnitTest has a guard to prevent from calling this method more then once.
+  virtual void RegisterTests() {
+    for (typename TestInfoContainer::iterator test_it = tests_.begin();
+         test_it != tests_.end(); ++test_it) {
+      linked_ptr<TestInfo> test_info = *test_it;
+      for (typename InstantiationContainer::iterator gen_it =
+               instantiations_.begin(); gen_it != instantiations_.end();
+               ++gen_it) {
+        const string& instantiation_name = gen_it->name;
+        ParamGenerator<ParamType> generator((*gen_it->generator)());
+        ParamNameGeneratorFunc* name_func = gen_it->name_func;
+        const char* file = gen_it->file;
+        int line = gen_it->line;
+
+        string test_case_name;
+        if ( !instantiation_name.empty() )
+          test_case_name = instantiation_name + "/";
+        test_case_name += test_info->test_case_base_name;
+
+        size_t i = 0;
+        std::set<std::string> test_param_names;
+        for (typename ParamGenerator<ParamType>::iterator param_it =
+                 generator.begin();
+             param_it != generator.end(); ++param_it, ++i) {
+          Message test_name_stream;
+
+          std::string param_name = name_func(
+              TestParamInfo<ParamType>(*param_it, i));
+
+          GTEST_CHECK_(IsValidParamName(param_name))
+              << "Parameterized test name '" << param_name
+              << "' is invalid, in " << file
+              << " line " << line << std::endl;
+
+          GTEST_CHECK_(test_param_names.count(param_name) == 0)
+              << "Duplicate parameterized test name '" << param_name
+              << "', in " << file << " line " << line << std::endl;
+
+          test_param_names.insert(param_name);
+
+          test_name_stream << test_info->test_base_name << "/" << param_name;
+          MakeAndRegisterTestInfo(
+              test_case_name.c_str(),
+              test_name_stream.GetString().c_str(),
+              NULL,  // No type parameter.
+              PrintToString(*param_it).c_str(),
+              code_location_,
+              GetTestCaseTypeId(),
+              TestCase::SetUpTestCase,
+              TestCase::TearDownTestCase,
+              test_info->test_meta_factory->CreateTestFactory(*param_it));
+        }  // for param_it
+      }  // for gen_it
+    }  // for test_it
+  }  // RegisterTests
+
+ private:
+  // LocalTestInfo structure keeps information about a single test registered
+  // with TEST_P macro.
+  struct TestInfo {
+    TestInfo(const char* a_test_case_base_name,
+             const char* a_test_base_name,
+             TestMetaFactoryBase<ParamType>* a_test_meta_factory) :
+        test_case_base_name(a_test_case_base_name),
+        test_base_name(a_test_base_name),
+        test_meta_factory(a_test_meta_factory) {}
+
+    const string test_case_base_name;
+    const string test_base_name;
+    const scoped_ptr<TestMetaFactoryBase<ParamType> > test_meta_factory;
+  };
+  typedef ::std::vector<linked_ptr<TestInfo> > TestInfoContainer;
+  // Records data received from INSTANTIATE_TEST_CASE_P macros:
+  //  <Instantiation name, Sequence generator creation function,
+  //     Name generator function, Source file, Source line>
+  struct InstantiationInfo {
+      InstantiationInfo(const std::string &name_in,
+                        GeneratorCreationFunc* generator_in,
+                        ParamNameGeneratorFunc* name_func_in,
+                        const char* file_in,
+                        int line_in)
+          : name(name_in),
+            generator(generator_in),
+            name_func(name_func_in),
+            file(file_in),
+            line(line_in) {}
+
+      std::string name;
+      GeneratorCreationFunc* generator;
+      ParamNameGeneratorFunc* name_func;
+      const char* file;
+      int line;
+  };
+  typedef ::std::vector<InstantiationInfo> InstantiationContainer;
+
+  static bool IsValidParamName(const std::string& name) {
+    // Check for empty string
+    if (name.empty())
+      return false;
+
+    // Check for invalid characters
+    for (std::string::size_type index = 0; index < name.size(); ++index) {
+      if (!isalnum(name[index]) && name[index] != '_')
+        return false;
+    }
+
+    return true;
+  }
+
+  const string test_case_name_;
+  CodeLocation code_location_;
+  TestInfoContainer tests_;
+  InstantiationContainer instantiations_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfo);
+};  // class ParameterizedTestCaseInfo
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseRegistry contains a map of ParameterizedTestCaseInfoBase
+// classes accessed by test case names. TEST_P and INSTANTIATE_TEST_CASE_P
+// macros use it to locate their corresponding ParameterizedTestCaseInfo
+// descriptors.
+class ParameterizedTestCaseRegistry {
+ public:
+  ParameterizedTestCaseRegistry() {}
+  ~ParameterizedTestCaseRegistry() {
+    for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+         it != test_case_infos_.end(); ++it) {
+      delete *it;
+    }
+  }
+
+  // Looks up or creates and returns a structure containing information about
+  // tests and instantiations of a particular test case.
+  template <class TestCase>
+  ParameterizedTestCaseInfo<TestCase>* GetTestCasePatternHolder(
+      const char* test_case_name,
+      CodeLocation code_location) {
+    ParameterizedTestCaseInfo<TestCase>* typed_test_info = NULL;
+    for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+         it != test_case_infos_.end(); ++it) {
+      if ((*it)->GetTestCaseName() == test_case_name) {
+        if ((*it)->GetTestCaseTypeId() != GetTypeId<TestCase>()) {
+          // Complain about incorrect usage of Google Test facilities
+          // and terminate the program since we cannot guaranty correct
+          // test case setup and tear-down in this case.
+          ReportInvalidTestCaseType(test_case_name, code_location);
+          posix::Abort();
+        } else {
+          // At this point we are sure that the object we found is of the same
+          // type we are looking for, so we downcast it to that type
+          // without further checks.
+          typed_test_info = CheckedDowncastToActualType<
+              ParameterizedTestCaseInfo<TestCase> >(*it);
+        }
+        break;
+      }
+    }
+    if (typed_test_info == NULL) {
+      typed_test_info = new ParameterizedTestCaseInfo<TestCase>(
+          test_case_name, code_location);
+      test_case_infos_.push_back(typed_test_info);
+    }
+    return typed_test_info;
+  }
+  void RegisterTests() {
+    for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+         it != test_case_infos_.end(); ++it) {
+      (*it)->RegisterTests();
+    }
+  }
+
+ private:
+  typedef ::std::vector<ParameterizedTestCaseInfoBase*> TestCaseInfoContainer;
+
+  TestCaseInfoContainer test_case_infos_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseRegistry);
+};
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  //  GTEST_HAS_PARAM_TEST
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+// This file was GENERATED by command:
+//     pump.py gtest-param-util-generated.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vladl@google.com (Vlad Losev)
+
+// Type and function utilities for implementing parameterized tests.
+// This file is generated by a SCRIPT.  DO NOT EDIT BY HAND!
+//
+// Currently Google Test supports at most 50 arguments in Values,
+// and at most 10 arguments in Combine. Please contact
+// googletestframework@googlegroups.com if you need more.
+// Please note that the number of arguments to Combine is limited
+// by the maximum arity of the implementation of tuple which is
+// currently set at 10.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*.  Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Forward declarations of ValuesIn(), which is implemented in
+// include/gtest/gtest-param-test.h.
+template <typename ForwardIterator>
+internal::ParamGenerator<
+  typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
+ValuesIn(ForwardIterator begin, ForwardIterator end);
+
+template <typename T, size_t N>
+internal::ParamGenerator<T> ValuesIn(const T (&array)[N]);
+
+template <class Container>
+internal::ParamGenerator<typename Container::value_type> ValuesIn(
+    const Container& container);
+
+namespace internal {
+
+// Used in the Values() function to provide polymorphic capabilities.
+template <typename T1>
+class ValueArray1 {
+ public:
+  explicit ValueArray1(T1 v1) : v1_(v1) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray1& other);
+
+  const T1 v1_;
+};
+
+template <typename T1, typename T2>
+class ValueArray2 {
+ public:
+  ValueArray2(T1 v1, T2 v2) : v1_(v1), v2_(v2) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray2& other);
+
+  const T1 v1_;
+  const T2 v2_;
+};
+
+template <typename T1, typename T2, typename T3>
+class ValueArray3 {
+ public:
+  ValueArray3(T1 v1, T2 v2, T3 v3) : v1_(v1), v2_(v2), v3_(v3) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray3& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4>
+class ValueArray4 {
+ public:
+  ValueArray4(T1 v1, T2 v2, T3 v3, T4 v4) : v1_(v1), v2_(v2), v3_(v3),
+      v4_(v4) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray4& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+class ValueArray5 {
+ public:
+  ValueArray5(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5) : v1_(v1), v2_(v2), v3_(v3),
+      v4_(v4), v5_(v5) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray5& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6>
+class ValueArray6 {
+ public:
+  ValueArray6(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6) : v1_(v1), v2_(v2),
+      v3_(v3), v4_(v4), v5_(v5), v6_(v6) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray6& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7>
+class ValueArray7 {
+ public:
+  ValueArray7(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7) : v1_(v1),
+      v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray7& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8>
+class ValueArray8 {
+ public:
+  ValueArray8(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+      T8 v8) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray8& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9>
+class ValueArray9 {
+ public:
+  ValueArray9(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+      T9 v9) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray9& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10>
+class ValueArray10 {
+ public:
+  ValueArray10(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray10& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11>
+class ValueArray11 {
+ public:
+  ValueArray11(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+      v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray11& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12>
+class ValueArray12 {
+ public:
+  ValueArray12(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+      v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray12& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13>
+class ValueArray13 {
+ public:
+  ValueArray13(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+      v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+      v12_(v12), v13_(v13) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray13& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14>
+class ValueArray14 {
+ public:
+  ValueArray14(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) : v1_(v1), v2_(v2), v3_(v3),
+      v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray14& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15>
+class ValueArray15 {
+ public:
+  ValueArray15(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) : v1_(v1), v2_(v2),
+      v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray15& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16>
+class ValueArray16 {
+ public:
+  ValueArray16(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16) : v1_(v1),
+      v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+      v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+      v16_(v16) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray16& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17>
+class ValueArray17 {
+ public:
+  ValueArray17(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+      T17 v17) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray17& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18>
+class ValueArray18 {
+ public:
+  ValueArray18(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray18& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19>
+class ValueArray19 {
+ public:
+  ValueArray19(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+      v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+      v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray19& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20>
+class ValueArray20 {
+ public:
+  ValueArray20(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+      v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+      v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+      v19_(v19), v20_(v20) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray20& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21>
+class ValueArray21 {
+ public:
+  ValueArray21(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+      v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+      v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+      v18_(v18), v19_(v19), v20_(v20), v21_(v21) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray21& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22>
+class ValueArray22 {
+ public:
+  ValueArray22(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22) : v1_(v1), v2_(v2), v3_(v3),
+      v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray22& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23>
+class ValueArray23 {
+ public:
+  ValueArray23(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23) : v1_(v1), v2_(v2),
+      v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+      v23_(v23) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray23& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24>
+class ValueArray24 {
+ public:
+  ValueArray24(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24) : v1_(v1),
+      v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+      v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+      v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+      v22_(v22), v23_(v23), v24_(v24) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray24& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25>
+class ValueArray25 {
+ public:
+  ValueArray25(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+      T25 v25) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray25& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26>
+class ValueArray26 {
+ public:
+  ValueArray26(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray26& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27>
+class ValueArray27 {
+ public:
+  ValueArray27(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+      v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+      v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+      v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+      v26_(v26), v27_(v27) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray27& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28>
+class ValueArray28 {
+ public:
+  ValueArray28(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+      v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+      v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+      v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+      v25_(v25), v26_(v26), v27_(v27), v28_(v28) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray28& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29>
+class ValueArray29 {
+ public:
+  ValueArray29(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+      v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+      v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+      v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+      v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray29& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30>
+class ValueArray30 {
+ public:
+  ValueArray30(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) : v1_(v1), v2_(v2), v3_(v3),
+      v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+      v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+      v29_(v29), v30_(v30) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray30& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31>
+class ValueArray31 {
+ public:
+  ValueArray31(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) : v1_(v1), v2_(v2),
+      v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+      v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+      v29_(v29), v30_(v30), v31_(v31) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray31& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32>
+class ValueArray32 {
+ public:
+  ValueArray32(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32) : v1_(v1),
+      v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+      v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+      v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+      v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+      v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray32& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33>
+class ValueArray33 {
+ public:
+  ValueArray33(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
+      T33 v33) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+      v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+      v33_(v33) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray33& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34>
+class ValueArray34 {
+ public:
+  ValueArray34(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+      v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+      v33_(v33), v34_(v34) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray34& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35>
+class ValueArray35 {
+ public:
+  ValueArray35(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+      v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+      v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+      v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+      v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
+      v32_(v32), v33_(v33), v34_(v34), v35_(v35) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray35& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36>
+class ValueArray36 {
+ public:
+  ValueArray36(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+      v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+      v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+      v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+      v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
+      v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray36& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37>
+class ValueArray37 {
+ public:
+  ValueArray37(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+      v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+      v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+      v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+      v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
+      v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
+      v36_(v36), v37_(v37) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray37& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38>
+class ValueArray38 {
+ public:
+  ValueArray38(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38) : v1_(v1), v2_(v2), v3_(v3),
+      v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+      v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+      v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+      v35_(v35), v36_(v36), v37_(v37), v38_(v38) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray38& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39>
+class ValueArray39 {
+ public:
+  ValueArray39(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39) : v1_(v1), v2_(v2),
+      v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+      v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+      v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+      v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray39& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40>
+class ValueArray40 {
+ public:
+  ValueArray40(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) : v1_(v1),
+      v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+      v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+      v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+      v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+      v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
+      v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
+      v40_(v40) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray40& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41>
+class ValueArray41 {
+ public:
+  ValueArray41(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
+      T41 v41) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+      v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+      v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+      v39_(v39), v40_(v40), v41_(v41) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray41& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42>
+class ValueArray42 {
+ public:
+  ValueArray42(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+      v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+      v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+      v39_(v39), v40_(v40), v41_(v41), v42_(v42) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray42& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43>
+class ValueArray43 {
+ public:
+  ValueArray43(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+      v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+      v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+      v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+      v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
+      v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37),
+      v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray43& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44>
+class ValueArray44 {
+ public:
+  ValueArray44(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43, T44 v44) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+      v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+      v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+      v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+      v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
+      v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36),
+      v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42),
+      v43_(v43), v44_(v44) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray44& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+  const T44 v44_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45>
+class ValueArray45 {
+ public:
+  ValueArray45(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43, T44 v44, T45 v45) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+      v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+      v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+      v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+      v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
+      v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
+      v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41),
+      v42_(v42), v43_(v43), v44_(v44), v45_(v45) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+        static_cast<T>(v45_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray45& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+  const T44 v44_;
+  const T45 v45_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46>
+class ValueArray46 {
+ public:
+  ValueArray46(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) : v1_(v1), v2_(v2), v3_(v3),
+      v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+      v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+      v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+      v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
+      v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+        static_cast<T>(v45_), static_cast<T>(v46_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray46& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+  const T44 v44_;
+  const T45 v45_;
+  const T46 v46_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47>
+class ValueArray47 {
+ public:
+  ValueArray47(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) : v1_(v1), v2_(v2),
+      v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+      v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+      v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+      v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+      v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+      v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
+      v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46),
+      v47_(v47) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+        static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray47& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+  const T44 v44_;
+  const T45 v45_;
+  const T46 v46_;
+  const T47 v47_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48>
+class ValueArray48 {
+ public:
+  ValueArray48(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48) : v1_(v1),
+      v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+      v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+      v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+      v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+      v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
+      v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
+      v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45),
+      v46_(v46), v47_(v47), v48_(v48) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+        static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_),
+        static_cast<T>(v48_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray48& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+  const T44 v44_;
+  const T45 v45_;
+  const T46 v46_;
+  const T47 v47_;
+  const T48 v48_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49>
+class ValueArray49 {
+ public:
+  ValueArray49(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48,
+      T49 v49) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+      v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+      v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+      v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
+      v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+        static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_),
+        static_cast<T>(v48_), static_cast<T>(v49_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray49& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+  const T44 v44_;
+  const T45 v45_;
+  const T46 v46_;
+  const T47 v47_;
+  const T48 v48_;
+  const T49 v49_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49, typename T50>
+class ValueArray50 {
+ public:
+  ValueArray50(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+      T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+      T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+      T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+      T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+      T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48, T49 v49,
+      T50 v50) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+      v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+      v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+      v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+      v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+      v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+      v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
+      v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49), v50_(v50) {}
+
+  template <typename T>
+  operator ParamGenerator<T>() const {
+    const T array[] = {static_cast<T>(v1_), static_cast<T>(v2_),
+        static_cast<T>(v3_), static_cast<T>(v4_), static_cast<T>(v5_),
+        static_cast<T>(v6_), static_cast<T>(v7_), static_cast<T>(v8_),
+        static_cast<T>(v9_), static_cast<T>(v10_), static_cast<T>(v11_),
+        static_cast<T>(v12_), static_cast<T>(v13_), static_cast<T>(v14_),
+        static_cast<T>(v15_), static_cast<T>(v16_), static_cast<T>(v17_),
+        static_cast<T>(v18_), static_cast<T>(v19_), static_cast<T>(v20_),
+        static_cast<T>(v21_), static_cast<T>(v22_), static_cast<T>(v23_),
+        static_cast<T>(v24_), static_cast<T>(v25_), static_cast<T>(v26_),
+        static_cast<T>(v27_), static_cast<T>(v28_), static_cast<T>(v29_),
+        static_cast<T>(v30_), static_cast<T>(v31_), static_cast<T>(v32_),
+        static_cast<T>(v33_), static_cast<T>(v34_), static_cast<T>(v35_),
+        static_cast<T>(v36_), static_cast<T>(v37_), static_cast<T>(v38_),
+        static_cast<T>(v39_), static_cast<T>(v40_), static_cast<T>(v41_),
+        static_cast<T>(v42_), static_cast<T>(v43_), static_cast<T>(v44_),
+        static_cast<T>(v45_), static_cast<T>(v46_), static_cast<T>(v47_),
+        static_cast<T>(v48_), static_cast<T>(v49_), static_cast<T>(v50_)};
+    return ValuesIn(array);
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const ValueArray50& other);
+
+  const T1 v1_;
+  const T2 v2_;
+  const T3 v3_;
+  const T4 v4_;
+  const T5 v5_;
+  const T6 v6_;
+  const T7 v7_;
+  const T8 v8_;
+  const T9 v9_;
+  const T10 v10_;
+  const T11 v11_;
+  const T12 v12_;
+  const T13 v13_;
+  const T14 v14_;
+  const T15 v15_;
+  const T16 v16_;
+  const T17 v17_;
+  const T18 v18_;
+  const T19 v19_;
+  const T20 v20_;
+  const T21 v21_;
+  const T22 v22_;
+  const T23 v23_;
+  const T24 v24_;
+  const T25 v25_;
+  const T26 v26_;
+  const T27 v27_;
+  const T28 v28_;
+  const T29 v29_;
+  const T30 v30_;
+  const T31 v31_;
+  const T32 v32_;
+  const T33 v33_;
+  const T34 v34_;
+  const T35 v35_;
+  const T36 v36_;
+  const T37 v37_;
+  const T38 v38_;
+  const T39 v39_;
+  const T40 v40_;
+  const T41 v41_;
+  const T42 v42_;
+  const T43 v43_;
+  const T44 v44_;
+  const T45 v45_;
+  const T46 v46_;
+  const T47 v47_;
+  const T48 v48_;
+  const T49 v49_;
+  const T50 v50_;
+};
+
+# if GTEST_HAS_COMBINE
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Generates values from the Cartesian product of values produced
+// by the argument generators.
+//
+template <typename T1, typename T2>
+class CartesianProductGenerator2
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2> > {
+ public:
+  typedef ::testing::tuple<T1, T2> ParamType;
+
+  CartesianProductGenerator2(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2)
+      : g1_(g1), g2_(g2) {}
+  virtual ~CartesianProductGenerator2() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current2_;
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator2::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator2& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+};  // class CartesianProductGenerator2
+
+
+template <typename T1, typename T2, typename T3>
+class CartesianProductGenerator3
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3> ParamType;
+
+  CartesianProductGenerator3(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3)
+      : g1_(g1), g2_(g2), g3_(g3) {}
+  virtual ~CartesianProductGenerator3() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current3_;
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator3::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator3& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+};  // class CartesianProductGenerator3
+
+
+template <typename T1, typename T2, typename T3, typename T4>
+class CartesianProductGenerator4
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3, T4> ParamType;
+
+  CartesianProductGenerator4(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+      const ParamGenerator<T4>& g4)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
+  virtual ~CartesianProductGenerator4() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin(), g4_, g4_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+        g4_, g4_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3,
+      const ParamGenerator<T4>& g4,
+      const typename ParamGenerator<T4>::iterator& current4)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+          begin4_(g4.begin()), end4_(g4.end()), current4_(current4)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current4_;
+      if (current4_ == end4_) {
+        current4_ = begin4_;
+        ++current3_;
+      }
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_ &&
+          current4_ == typed_other->current4_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_),
+        begin4_(other.begin4_),
+        end4_(other.end4_),
+        current4_(other.current4_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_,
+            *current4_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_ ||
+          current4_ == end4_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    const typename ParamGenerator<T4>::iterator begin4_;
+    const typename ParamGenerator<T4>::iterator end4_;
+    typename ParamGenerator<T4>::iterator current4_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator4::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator4& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+  const ParamGenerator<T4> g4_;
+};  // class CartesianProductGenerator4
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+class CartesianProductGenerator5
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3, T4, T5> ParamType;
+
+  CartesianProductGenerator5(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+      const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
+  virtual ~CartesianProductGenerator5() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+        g4_, g4_.end(), g5_, g5_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3,
+      const ParamGenerator<T4>& g4,
+      const typename ParamGenerator<T4>::iterator& current4,
+      const ParamGenerator<T5>& g5,
+      const typename ParamGenerator<T5>::iterator& current5)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+          begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+          begin5_(g5.begin()), end5_(g5.end()), current5_(current5)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current5_;
+      if (current5_ == end5_) {
+        current5_ = begin5_;
+        ++current4_;
+      }
+      if (current4_ == end4_) {
+        current4_ = begin4_;
+        ++current3_;
+      }
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_ &&
+          current4_ == typed_other->current4_ &&
+          current5_ == typed_other->current5_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_),
+        begin4_(other.begin4_),
+        end4_(other.end4_),
+        current4_(other.current4_),
+        begin5_(other.begin5_),
+        end5_(other.end5_),
+        current5_(other.current5_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_,
+            *current4_, *current5_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_ ||
+          current4_ == end4_ ||
+          current5_ == end5_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    const typename ParamGenerator<T4>::iterator begin4_;
+    const typename ParamGenerator<T4>::iterator end4_;
+    typename ParamGenerator<T4>::iterator current4_;
+    const typename ParamGenerator<T5>::iterator begin5_;
+    const typename ParamGenerator<T5>::iterator end5_;
+    typename ParamGenerator<T5>::iterator current5_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator5::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator5& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+  const ParamGenerator<T4> g4_;
+  const ParamGenerator<T5> g5_;
+};  // class CartesianProductGenerator5
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6>
+class CartesianProductGenerator6
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5,
+        T6> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3, T4, T5, T6> ParamType;
+
+  CartesianProductGenerator6(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+      const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+      const ParamGenerator<T6>& g6)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
+  virtual ~CartesianProductGenerator6() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+        g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3,
+      const ParamGenerator<T4>& g4,
+      const typename ParamGenerator<T4>::iterator& current4,
+      const ParamGenerator<T5>& g5,
+      const typename ParamGenerator<T5>::iterator& current5,
+      const ParamGenerator<T6>& g6,
+      const typename ParamGenerator<T6>::iterator& current6)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+          begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+          begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+          begin6_(g6.begin()), end6_(g6.end()), current6_(current6)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current6_;
+      if (current6_ == end6_) {
+        current6_ = begin6_;
+        ++current5_;
+      }
+      if (current5_ == end5_) {
+        current5_ = begin5_;
+        ++current4_;
+      }
+      if (current4_ == end4_) {
+        current4_ = begin4_;
+        ++current3_;
+      }
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_ &&
+          current4_ == typed_other->current4_ &&
+          current5_ == typed_other->current5_ &&
+          current6_ == typed_other->current6_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_),
+        begin4_(other.begin4_),
+        end4_(other.end4_),
+        current4_(other.current4_),
+        begin5_(other.begin5_),
+        end5_(other.end5_),
+        current5_(other.current5_),
+        begin6_(other.begin6_),
+        end6_(other.end6_),
+        current6_(other.current6_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_,
+            *current4_, *current5_, *current6_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_ ||
+          current4_ == end4_ ||
+          current5_ == end5_ ||
+          current6_ == end6_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    const typename ParamGenerator<T4>::iterator begin4_;
+    const typename ParamGenerator<T4>::iterator end4_;
+    typename ParamGenerator<T4>::iterator current4_;
+    const typename ParamGenerator<T5>::iterator begin5_;
+    const typename ParamGenerator<T5>::iterator end5_;
+    typename ParamGenerator<T5>::iterator current5_;
+    const typename ParamGenerator<T6>::iterator begin6_;
+    const typename ParamGenerator<T6>::iterator end6_;
+    typename ParamGenerator<T6>::iterator current6_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator6::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator6& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+  const ParamGenerator<T4> g4_;
+  const ParamGenerator<T5> g5_;
+  const ParamGenerator<T6> g6_;
+};  // class CartesianProductGenerator6
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7>
+class CartesianProductGenerator7
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+        T7> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7> ParamType;
+
+  CartesianProductGenerator7(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+      const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+      const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
+  virtual ~CartesianProductGenerator7() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+        g7_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+        g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3,
+      const ParamGenerator<T4>& g4,
+      const typename ParamGenerator<T4>::iterator& current4,
+      const ParamGenerator<T5>& g5,
+      const typename ParamGenerator<T5>::iterator& current5,
+      const ParamGenerator<T6>& g6,
+      const typename ParamGenerator<T6>::iterator& current6,
+      const ParamGenerator<T7>& g7,
+      const typename ParamGenerator<T7>::iterator& current7)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+          begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+          begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+          begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+          begin7_(g7.begin()), end7_(g7.end()), current7_(current7)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current7_;
+      if (current7_ == end7_) {
+        current7_ = begin7_;
+        ++current6_;
+      }
+      if (current6_ == end6_) {
+        current6_ = begin6_;
+        ++current5_;
+      }
+      if (current5_ == end5_) {
+        current5_ = begin5_;
+        ++current4_;
+      }
+      if (current4_ == end4_) {
+        current4_ = begin4_;
+        ++current3_;
+      }
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_ &&
+          current4_ == typed_other->current4_ &&
+          current5_ == typed_other->current5_ &&
+          current6_ == typed_other->current6_ &&
+          current7_ == typed_other->current7_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_),
+        begin4_(other.begin4_),
+        end4_(other.end4_),
+        current4_(other.current4_),
+        begin5_(other.begin5_),
+        end5_(other.end5_),
+        current5_(other.current5_),
+        begin6_(other.begin6_),
+        end6_(other.end6_),
+        current6_(other.current6_),
+        begin7_(other.begin7_),
+        end7_(other.end7_),
+        current7_(other.current7_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_,
+            *current4_, *current5_, *current6_, *current7_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_ ||
+          current4_ == end4_ ||
+          current5_ == end5_ ||
+          current6_ == end6_ ||
+          current7_ == end7_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    const typename ParamGenerator<T4>::iterator begin4_;
+    const typename ParamGenerator<T4>::iterator end4_;
+    typename ParamGenerator<T4>::iterator current4_;
+    const typename ParamGenerator<T5>::iterator begin5_;
+    const typename ParamGenerator<T5>::iterator end5_;
+    typename ParamGenerator<T5>::iterator current5_;
+    const typename ParamGenerator<T6>::iterator begin6_;
+    const typename ParamGenerator<T6>::iterator end6_;
+    typename ParamGenerator<T6>::iterator current6_;
+    const typename ParamGenerator<T7>::iterator begin7_;
+    const typename ParamGenerator<T7>::iterator end7_;
+    typename ParamGenerator<T7>::iterator current7_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator7::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator7& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+  const ParamGenerator<T4> g4_;
+  const ParamGenerator<T5> g5_;
+  const ParamGenerator<T6> g6_;
+  const ParamGenerator<T7> g7_;
+};  // class CartesianProductGenerator7
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8>
+class CartesianProductGenerator8
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+        T7, T8> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8> ParamType;
+
+  CartesianProductGenerator8(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+      const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+      const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+      const ParamGenerator<T8>& g8)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
+          g8_(g8) {}
+  virtual ~CartesianProductGenerator8() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+        g7_.begin(), g8_, g8_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+        g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+        g8_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3,
+      const ParamGenerator<T4>& g4,
+      const typename ParamGenerator<T4>::iterator& current4,
+      const ParamGenerator<T5>& g5,
+      const typename ParamGenerator<T5>::iterator& current5,
+      const ParamGenerator<T6>& g6,
+      const typename ParamGenerator<T6>::iterator& current6,
+      const ParamGenerator<T7>& g7,
+      const typename ParamGenerator<T7>::iterator& current7,
+      const ParamGenerator<T8>& g8,
+      const typename ParamGenerator<T8>::iterator& current8)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+          begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+          begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+          begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+          begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+          begin8_(g8.begin()), end8_(g8.end()), current8_(current8)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current8_;
+      if (current8_ == end8_) {
+        current8_ = begin8_;
+        ++current7_;
+      }
+      if (current7_ == end7_) {
+        current7_ = begin7_;
+        ++current6_;
+      }
+      if (current6_ == end6_) {
+        current6_ = begin6_;
+        ++current5_;
+      }
+      if (current5_ == end5_) {
+        current5_ = begin5_;
+        ++current4_;
+      }
+      if (current4_ == end4_) {
+        current4_ = begin4_;
+        ++current3_;
+      }
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_ &&
+          current4_ == typed_other->current4_ &&
+          current5_ == typed_other->current5_ &&
+          current6_ == typed_other->current6_ &&
+          current7_ == typed_other->current7_ &&
+          current8_ == typed_other->current8_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_),
+        begin4_(other.begin4_),
+        end4_(other.end4_),
+        current4_(other.current4_),
+        begin5_(other.begin5_),
+        end5_(other.end5_),
+        current5_(other.current5_),
+        begin6_(other.begin6_),
+        end6_(other.end6_),
+        current6_(other.current6_),
+        begin7_(other.begin7_),
+        end7_(other.end7_),
+        current7_(other.current7_),
+        begin8_(other.begin8_),
+        end8_(other.end8_),
+        current8_(other.current8_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_,
+            *current4_, *current5_, *current6_, *current7_, *current8_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_ ||
+          current4_ == end4_ ||
+          current5_ == end5_ ||
+          current6_ == end6_ ||
+          current7_ == end7_ ||
+          current8_ == end8_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    const typename ParamGenerator<T4>::iterator begin4_;
+    const typename ParamGenerator<T4>::iterator end4_;
+    typename ParamGenerator<T4>::iterator current4_;
+    const typename ParamGenerator<T5>::iterator begin5_;
+    const typename ParamGenerator<T5>::iterator end5_;
+    typename ParamGenerator<T5>::iterator current5_;
+    const typename ParamGenerator<T6>::iterator begin6_;
+    const typename ParamGenerator<T6>::iterator end6_;
+    typename ParamGenerator<T6>::iterator current6_;
+    const typename ParamGenerator<T7>::iterator begin7_;
+    const typename ParamGenerator<T7>::iterator end7_;
+    typename ParamGenerator<T7>::iterator current7_;
+    const typename ParamGenerator<T8>::iterator begin8_;
+    const typename ParamGenerator<T8>::iterator end8_;
+    typename ParamGenerator<T8>::iterator current8_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator8::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator8& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+  const ParamGenerator<T4> g4_;
+  const ParamGenerator<T5> g5_;
+  const ParamGenerator<T6> g6_;
+  const ParamGenerator<T7> g7_;
+  const ParamGenerator<T8> g8_;
+};  // class CartesianProductGenerator8
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9>
+class CartesianProductGenerator9
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+        T7, T8, T9> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9> ParamType;
+
+  CartesianProductGenerator9(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+      const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+      const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+      const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+          g9_(g9) {}
+  virtual ~CartesianProductGenerator9() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+        g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+        g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+        g8_.end(), g9_, g9_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3,
+      const ParamGenerator<T4>& g4,
+      const typename ParamGenerator<T4>::iterator& current4,
+      const ParamGenerator<T5>& g5,
+      const typename ParamGenerator<T5>::iterator& current5,
+      const ParamGenerator<T6>& g6,
+      const typename ParamGenerator<T6>::iterator& current6,
+      const ParamGenerator<T7>& g7,
+      const typename ParamGenerator<T7>::iterator& current7,
+      const ParamGenerator<T8>& g8,
+      const typename ParamGenerator<T8>::iterator& current8,
+      const ParamGenerator<T9>& g9,
+      const typename ParamGenerator<T9>::iterator& current9)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+          begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+          begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+          begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+          begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+          begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
+          begin9_(g9.begin()), end9_(g9.end()), current9_(current9)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current9_;
+      if (current9_ == end9_) {
+        current9_ = begin9_;
+        ++current8_;
+      }
+      if (current8_ == end8_) {
+        current8_ = begin8_;
+        ++current7_;
+      }
+      if (current7_ == end7_) {
+        current7_ = begin7_;
+        ++current6_;
+      }
+      if (current6_ == end6_) {
+        current6_ = begin6_;
+        ++current5_;
+      }
+      if (current5_ == end5_) {
+        current5_ = begin5_;
+        ++current4_;
+      }
+      if (current4_ == end4_) {
+        current4_ = begin4_;
+        ++current3_;
+      }
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_ &&
+          current4_ == typed_other->current4_ &&
+          current5_ == typed_other->current5_ &&
+          current6_ == typed_other->current6_ &&
+          current7_ == typed_other->current7_ &&
+          current8_ == typed_other->current8_ &&
+          current9_ == typed_other->current9_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_),
+        begin4_(other.begin4_),
+        end4_(other.end4_),
+        current4_(other.current4_),
+        begin5_(other.begin5_),
+        end5_(other.end5_),
+        current5_(other.current5_),
+        begin6_(other.begin6_),
+        end6_(other.end6_),
+        current6_(other.current6_),
+        begin7_(other.begin7_),
+        end7_(other.end7_),
+        current7_(other.current7_),
+        begin8_(other.begin8_),
+        end8_(other.end8_),
+        current8_(other.current8_),
+        begin9_(other.begin9_),
+        end9_(other.end9_),
+        current9_(other.current9_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_,
+            *current4_, *current5_, *current6_, *current7_, *current8_,
+            *current9_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_ ||
+          current4_ == end4_ ||
+          current5_ == end5_ ||
+          current6_ == end6_ ||
+          current7_ == end7_ ||
+          current8_ == end8_ ||
+          current9_ == end9_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    const typename ParamGenerator<T4>::iterator begin4_;
+    const typename ParamGenerator<T4>::iterator end4_;
+    typename ParamGenerator<T4>::iterator current4_;
+    const typename ParamGenerator<T5>::iterator begin5_;
+    const typename ParamGenerator<T5>::iterator end5_;
+    typename ParamGenerator<T5>::iterator current5_;
+    const typename ParamGenerator<T6>::iterator begin6_;
+    const typename ParamGenerator<T6>::iterator end6_;
+    typename ParamGenerator<T6>::iterator current6_;
+    const typename ParamGenerator<T7>::iterator begin7_;
+    const typename ParamGenerator<T7>::iterator end7_;
+    typename ParamGenerator<T7>::iterator current7_;
+    const typename ParamGenerator<T8>::iterator begin8_;
+    const typename ParamGenerator<T8>::iterator end8_;
+    typename ParamGenerator<T8>::iterator current8_;
+    const typename ParamGenerator<T9>::iterator begin9_;
+    const typename ParamGenerator<T9>::iterator end9_;
+    typename ParamGenerator<T9>::iterator current9_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator9::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator9& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+  const ParamGenerator<T4> g4_;
+  const ParamGenerator<T5> g5_;
+  const ParamGenerator<T6> g6_;
+  const ParamGenerator<T7> g7_;
+  const ParamGenerator<T8> g8_;
+  const ParamGenerator<T9> g9_;
+};  // class CartesianProductGenerator9
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10>
+class CartesianProductGenerator10
+    : public ParamGeneratorInterface< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+        T7, T8, T9, T10> > {
+ public:
+  typedef ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> ParamType;
+
+  CartesianProductGenerator10(const ParamGenerator<T1>& g1,
+      const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+      const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+      const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+      const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9,
+      const ParamGenerator<T10>& g10)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+          g9_(g9), g10_(g10) {}
+  virtual ~CartesianProductGenerator10() {}
+
+  virtual ParamIteratorInterface<ParamType>* Begin() const {
+    return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+        g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+        g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin(), g10_, g10_.begin());
+  }
+  virtual ParamIteratorInterface<ParamType>* End() const {
+    return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+        g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+        g8_.end(), g9_, g9_.end(), g10_, g10_.end());
+  }
+
+ private:
+  class Iterator : public ParamIteratorInterface<ParamType> {
+   public:
+    Iterator(const ParamGeneratorInterface<ParamType>* base,
+      const ParamGenerator<T1>& g1,
+      const typename ParamGenerator<T1>::iterator& current1,
+      const ParamGenerator<T2>& g2,
+      const typename ParamGenerator<T2>::iterator& current2,
+      const ParamGenerator<T3>& g3,
+      const typename ParamGenerator<T3>::iterator& current3,
+      const ParamGenerator<T4>& g4,
+      const typename ParamGenerator<T4>::iterator& current4,
+      const ParamGenerator<T5>& g5,
+      const typename ParamGenerator<T5>::iterator& current5,
+      const ParamGenerator<T6>& g6,
+      const typename ParamGenerator<T6>::iterator& current6,
+      const ParamGenerator<T7>& g7,
+      const typename ParamGenerator<T7>::iterator& current7,
+      const ParamGenerator<T8>& g8,
+      const typename ParamGenerator<T8>::iterator& current8,
+      const ParamGenerator<T9>& g9,
+      const typename ParamGenerator<T9>::iterator& current9,
+      const ParamGenerator<T10>& g10,
+      const typename ParamGenerator<T10>::iterator& current10)
+        : base_(base),
+          begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+          begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+          begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+          begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+          begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+          begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+          begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+          begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
+          begin9_(g9.begin()), end9_(g9.end()), current9_(current9),
+          begin10_(g10.begin()), end10_(g10.end()), current10_(current10)    {
+      ComputeCurrentValue();
+    }
+    virtual ~Iterator() {}
+
+    virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+      return base_;
+    }
+    // Advance should not be called on beyond-of-range iterators
+    // so no component iterators must be beyond end of range, either.
+    virtual void Advance() {
+      assert(!AtEnd());
+      ++current10_;
+      if (current10_ == end10_) {
+        current10_ = begin10_;
+        ++current9_;
+      }
+      if (current9_ == end9_) {
+        current9_ = begin9_;
+        ++current8_;
+      }
+      if (current8_ == end8_) {
+        current8_ = begin8_;
+        ++current7_;
+      }
+      if (current7_ == end7_) {
+        current7_ = begin7_;
+        ++current6_;
+      }
+      if (current6_ == end6_) {
+        current6_ = begin6_;
+        ++current5_;
+      }
+      if (current5_ == end5_) {
+        current5_ = begin5_;
+        ++current4_;
+      }
+      if (current4_ == end4_) {
+        current4_ = begin4_;
+        ++current3_;
+      }
+      if (current3_ == end3_) {
+        current3_ = begin3_;
+        ++current2_;
+      }
+      if (current2_ == end2_) {
+        current2_ = begin2_;
+        ++current1_;
+      }
+      ComputeCurrentValue();
+    }
+    virtual ParamIteratorInterface<ParamType>* Clone() const {
+      return new Iterator(*this);
+    }
+    virtual const ParamType* Current() const { return &current_value_; }
+    virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+      // Having the same base generator guarantees that the other
+      // iterator is of the same type and we can downcast.
+      GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+          << "The program attempted to compare iterators "
+          << "from different generators." << std::endl;
+      const Iterator* typed_other =
+          CheckedDowncastToActualType<const Iterator>(&other);
+      // We must report iterators equal if they both point beyond their
+      // respective ranges. That can happen in a variety of fashions,
+      // so we have to consult AtEnd().
+      return (AtEnd() && typed_other->AtEnd()) ||
+         (
+          current1_ == typed_other->current1_ &&
+          current2_ == typed_other->current2_ &&
+          current3_ == typed_other->current3_ &&
+          current4_ == typed_other->current4_ &&
+          current5_ == typed_other->current5_ &&
+          current6_ == typed_other->current6_ &&
+          current7_ == typed_other->current7_ &&
+          current8_ == typed_other->current8_ &&
+          current9_ == typed_other->current9_ &&
+          current10_ == typed_other->current10_);
+    }
+
+   private:
+    Iterator(const Iterator& other)
+        : base_(other.base_),
+        begin1_(other.begin1_),
+        end1_(other.end1_),
+        current1_(other.current1_),
+        begin2_(other.begin2_),
+        end2_(other.end2_),
+        current2_(other.current2_),
+        begin3_(other.begin3_),
+        end3_(other.end3_),
+        current3_(other.current3_),
+        begin4_(other.begin4_),
+        end4_(other.end4_),
+        current4_(other.current4_),
+        begin5_(other.begin5_),
+        end5_(other.end5_),
+        current5_(other.current5_),
+        begin6_(other.begin6_),
+        end6_(other.end6_),
+        current6_(other.current6_),
+        begin7_(other.begin7_),
+        end7_(other.end7_),
+        current7_(other.current7_),
+        begin8_(other.begin8_),
+        end8_(other.end8_),
+        current8_(other.current8_),
+        begin9_(other.begin9_),
+        end9_(other.end9_),
+        current9_(other.current9_),
+        begin10_(other.begin10_),
+        end10_(other.end10_),
+        current10_(other.current10_) {
+      ComputeCurrentValue();
+    }
+
+    void ComputeCurrentValue() {
+      if (!AtEnd())
+        current_value_ = ParamType(*current1_, *current2_, *current3_,
+            *current4_, *current5_, *current6_, *current7_, *current8_,
+            *current9_, *current10_);
+    }
+    bool AtEnd() const {
+      // We must report iterator past the end of the range when either of the
+      // component iterators has reached the end of its range.
+      return
+          current1_ == end1_ ||
+          current2_ == end2_ ||
+          current3_ == end3_ ||
+          current4_ == end4_ ||
+          current5_ == end5_ ||
+          current6_ == end6_ ||
+          current7_ == end7_ ||
+          current8_ == end8_ ||
+          current9_ == end9_ ||
+          current10_ == end10_;
+    }
+
+    // No implementation - assignment is unsupported.
+    void operator=(const Iterator& other);
+
+    const ParamGeneratorInterface<ParamType>* const base_;
+    // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+    // current[i]_ is the actual traversing iterator.
+    const typename ParamGenerator<T1>::iterator begin1_;
+    const typename ParamGenerator<T1>::iterator end1_;
+    typename ParamGenerator<T1>::iterator current1_;
+    const typename ParamGenerator<T2>::iterator begin2_;
+    const typename ParamGenerator<T2>::iterator end2_;
+    typename ParamGenerator<T2>::iterator current2_;
+    const typename ParamGenerator<T3>::iterator begin3_;
+    const typename ParamGenerator<T3>::iterator end3_;
+    typename ParamGenerator<T3>::iterator current3_;
+    const typename ParamGenerator<T4>::iterator begin4_;
+    const typename ParamGenerator<T4>::iterator end4_;
+    typename ParamGenerator<T4>::iterator current4_;
+    const typename ParamGenerator<T5>::iterator begin5_;
+    const typename ParamGenerator<T5>::iterator end5_;
+    typename ParamGenerator<T5>::iterator current5_;
+    const typename ParamGenerator<T6>::iterator begin6_;
+    const typename ParamGenerator<T6>::iterator end6_;
+    typename ParamGenerator<T6>::iterator current6_;
+    const typename ParamGenerator<T7>::iterator begin7_;
+    const typename ParamGenerator<T7>::iterator end7_;
+    typename ParamGenerator<T7>::iterator current7_;
+    const typename ParamGenerator<T8>::iterator begin8_;
+    const typename ParamGenerator<T8>::iterator end8_;
+    typename ParamGenerator<T8>::iterator current8_;
+    const typename ParamGenerator<T9>::iterator begin9_;
+    const typename ParamGenerator<T9>::iterator end9_;
+    typename ParamGenerator<T9>::iterator current9_;
+    const typename ParamGenerator<T10>::iterator begin10_;
+    const typename ParamGenerator<T10>::iterator end10_;
+    typename ParamGenerator<T10>::iterator current10_;
+    ParamType current_value_;
+  };  // class CartesianProductGenerator10::Iterator
+
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductGenerator10& other);
+
+  const ParamGenerator<T1> g1_;
+  const ParamGenerator<T2> g2_;
+  const ParamGenerator<T3> g3_;
+  const ParamGenerator<T4> g4_;
+  const ParamGenerator<T5> g5_;
+  const ParamGenerator<T6> g6_;
+  const ParamGenerator<T7> g7_;
+  const ParamGenerator<T8> g8_;
+  const ParamGenerator<T9> g9_;
+  const ParamGenerator<T10> g10_;
+};  // class CartesianProductGenerator10
+
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Helper classes providing Combine() with polymorphic features. They allow
+// casting CartesianProductGeneratorN<T> to ParamGenerator<U> if T is
+// convertible to U.
+//
+template <class Generator1, class Generator2>
+class CartesianProductHolder2 {
+ public:
+CartesianProductHolder2(const Generator1& g1, const Generator2& g2)
+      : g1_(g1), g2_(g2) {}
+  template <typename T1, typename T2>
+  operator ParamGenerator< ::testing::tuple<T1, T2> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2> >(
+        new CartesianProductGenerator2<T1, T2>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder2& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+};  // class CartesianProductHolder2
+
+template <class Generator1, class Generator2, class Generator3>
+class CartesianProductHolder3 {
+ public:
+CartesianProductHolder3(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3)
+      : g1_(g1), g2_(g2), g3_(g3) {}
+  template <typename T1, typename T2, typename T3>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3> >(
+        new CartesianProductGenerator3<T1, T2, T3>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder3& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+};  // class CartesianProductHolder3
+
+template <class Generator1, class Generator2, class Generator3,
+    class Generator4>
+class CartesianProductHolder4 {
+ public:
+CartesianProductHolder4(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3, const Generator4& g4)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
+  template <typename T1, typename T2, typename T3, typename T4>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3, T4> >(
+        new CartesianProductGenerator4<T1, T2, T3, T4>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_),
+        static_cast<ParamGenerator<T4> >(g4_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder4& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+  const Generator4 g4_;
+};  // class CartesianProductHolder4
+
+template <class Generator1, class Generator2, class Generator3,
+    class Generator4, class Generator5>
+class CartesianProductHolder5 {
+ public:
+CartesianProductHolder5(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3, const Generator4& g4, const Generator5& g5)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
+  template <typename T1, typename T2, typename T3, typename T4, typename T5>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5> >(
+        new CartesianProductGenerator5<T1, T2, T3, T4, T5>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_),
+        static_cast<ParamGenerator<T4> >(g4_),
+        static_cast<ParamGenerator<T5> >(g5_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder5& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+  const Generator4 g4_;
+  const Generator5 g5_;
+};  // class CartesianProductHolder5
+
+template <class Generator1, class Generator2, class Generator3,
+    class Generator4, class Generator5, class Generator6>
+class CartesianProductHolder6 {
+ public:
+CartesianProductHolder6(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3, const Generator4& g4, const Generator5& g5,
+    const Generator6& g6)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+      typename T6>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6> >(
+        new CartesianProductGenerator6<T1, T2, T3, T4, T5, T6>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_),
+        static_cast<ParamGenerator<T4> >(g4_),
+        static_cast<ParamGenerator<T5> >(g5_),
+        static_cast<ParamGenerator<T6> >(g6_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder6& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+  const Generator4 g4_;
+  const Generator5 g5_;
+  const Generator6 g6_;
+};  // class CartesianProductHolder6
+
+template <class Generator1, class Generator2, class Generator3,
+    class Generator4, class Generator5, class Generator6, class Generator7>
+class CartesianProductHolder7 {
+ public:
+CartesianProductHolder7(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3, const Generator4& g4, const Generator5& g5,
+    const Generator6& g6, const Generator7& g7)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+      typename T6, typename T7>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6,
+      T7> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7> >(
+        new CartesianProductGenerator7<T1, T2, T3, T4, T5, T6, T7>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_),
+        static_cast<ParamGenerator<T4> >(g4_),
+        static_cast<ParamGenerator<T5> >(g5_),
+        static_cast<ParamGenerator<T6> >(g6_),
+        static_cast<ParamGenerator<T7> >(g7_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder7& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+  const Generator4 g4_;
+  const Generator5 g5_;
+  const Generator6 g6_;
+  const Generator7 g7_;
+};  // class CartesianProductHolder7
+
+template <class Generator1, class Generator2, class Generator3,
+    class Generator4, class Generator5, class Generator6, class Generator7,
+    class Generator8>
+class CartesianProductHolder8 {
+ public:
+CartesianProductHolder8(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3, const Generator4& g4, const Generator5& g5,
+    const Generator6& g6, const Generator7& g7, const Generator8& g8)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
+          g8_(g8) {}
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+      typename T6, typename T7, typename T8>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7,
+      T8> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8> >(
+        new CartesianProductGenerator8<T1, T2, T3, T4, T5, T6, T7, T8>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_),
+        static_cast<ParamGenerator<T4> >(g4_),
+        static_cast<ParamGenerator<T5> >(g5_),
+        static_cast<ParamGenerator<T6> >(g6_),
+        static_cast<ParamGenerator<T7> >(g7_),
+        static_cast<ParamGenerator<T8> >(g8_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder8& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+  const Generator4 g4_;
+  const Generator5 g5_;
+  const Generator6 g6_;
+  const Generator7 g7_;
+  const Generator8 g8_;
+};  // class CartesianProductHolder8
+
+template <class Generator1, class Generator2, class Generator3,
+    class Generator4, class Generator5, class Generator6, class Generator7,
+    class Generator8, class Generator9>
+class CartesianProductHolder9 {
+ public:
+CartesianProductHolder9(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3, const Generator4& g4, const Generator5& g5,
+    const Generator6& g6, const Generator7& g7, const Generator8& g8,
+    const Generator9& g9)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+          g9_(g9) {}
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+      typename T6, typename T7, typename T8, typename T9>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+      T9> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+        T9> >(
+        new CartesianProductGenerator9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_),
+        static_cast<ParamGenerator<T4> >(g4_),
+        static_cast<ParamGenerator<T5> >(g5_),
+        static_cast<ParamGenerator<T6> >(g6_),
+        static_cast<ParamGenerator<T7> >(g7_),
+        static_cast<ParamGenerator<T8> >(g8_),
+        static_cast<ParamGenerator<T9> >(g9_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder9& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+  const Generator4 g4_;
+  const Generator5 g5_;
+  const Generator6 g6_;
+  const Generator7 g7_;
+  const Generator8 g8_;
+  const Generator9 g9_;
+};  // class CartesianProductHolder9
+
+template <class Generator1, class Generator2, class Generator3,
+    class Generator4, class Generator5, class Generator6, class Generator7,
+    class Generator8, class Generator9, class Generator10>
+class CartesianProductHolder10 {
+ public:
+CartesianProductHolder10(const Generator1& g1, const Generator2& g2,
+    const Generator3& g3, const Generator4& g4, const Generator5& g5,
+    const Generator6& g6, const Generator7& g7, const Generator8& g8,
+    const Generator9& g9, const Generator10& g10)
+      : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+          g9_(g9), g10_(g10) {}
+  template <typename T1, typename T2, typename T3, typename T4, typename T5,
+      typename T6, typename T7, typename T8, typename T9, typename T10>
+  operator ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+      T10> >() const {
+    return ParamGenerator< ::testing::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+        T10> >(
+        new CartesianProductGenerator10<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+            T10>(
+        static_cast<ParamGenerator<T1> >(g1_),
+        static_cast<ParamGenerator<T2> >(g2_),
+        static_cast<ParamGenerator<T3> >(g3_),
+        static_cast<ParamGenerator<T4> >(g4_),
+        static_cast<ParamGenerator<T5> >(g5_),
+        static_cast<ParamGenerator<T6> >(g6_),
+        static_cast<ParamGenerator<T7> >(g7_),
+        static_cast<ParamGenerator<T8> >(g8_),
+        static_cast<ParamGenerator<T9> >(g9_),
+        static_cast<ParamGenerator<T10> >(g10_)));
+  }
+
+ private:
+  // No implementation - assignment is unsupported.
+  void operator=(const CartesianProductHolder10& other);
+
+  const Generator1 g1_;
+  const Generator2 g2_;
+  const Generator3 g3_;
+  const Generator4 g4_;
+  const Generator5 g5_;
+  const Generator6 g6_;
+  const Generator7 g7_;
+  const Generator8 g8_;
+  const Generator9 g9_;
+  const Generator10 g10_;
+};  // class CartesianProductHolder10
+
+# endif  // GTEST_HAS_COMBINE
+
+}  // namespace internal
+}  // namespace testing
+
+#endif  //  GTEST_HAS_PARAM_TEST
+
+#endif  // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Functions producing parameter generators.
+//
+// Google Test uses these generators to produce parameters for value-
+// parameterized tests. When a parameterized test case is instantiated
+// with a particular generator, Google Test creates and runs tests
+// for each element in the sequence produced by the generator.
+//
+// In the following sample, tests from test case FooTest are instantiated
+// each three times with parameter values 3, 5, and 8:
+//
+// class FooTest : public TestWithParam<int> { ... };
+//
+// TEST_P(FooTest, TestThis) {
+// }
+// TEST_P(FooTest, TestThat) {
+// }
+// INSTANTIATE_TEST_CASE_P(TestSequence, FooTest, Values(3, 5, 8));
+//
+
+// Range() returns generators providing sequences of values in a range.
+//
+// Synopsis:
+// Range(start, end)
+//   - returns a generator producing a sequence of values {start, start+1,
+//     start+2, ..., }.
+// Range(start, end, step)
+//   - returns a generator producing a sequence of values {start, start+step,
+//     start+step+step, ..., }.
+// Notes:
+//   * The generated sequences never include end. For example, Range(1, 5)
+//     returns a generator producing a sequence {1, 2, 3, 4}. Range(1, 9, 2)
+//     returns a generator producing {1, 3, 5, 7}.
+//   * start and end must have the same type. That type may be any integral or
+//     floating-point type or a user defined type satisfying these conditions:
+//     * It must be assignable (have operator=() defined).
+//     * It must have operator+() (operator+(int-compatible type) for
+//       two-operand version).
+//     * It must have operator<() defined.
+//     Elements in the resulting sequences will also have that type.
+//   * Condition start < end must be satisfied in order for resulting sequences
+//     to contain any elements.
+//
+template <typename T, typename IncrementT>
+internal::ParamGenerator<T> Range(T start, T end, IncrementT step) {
+  return internal::ParamGenerator<T>(
+      new internal::RangeGenerator<T, IncrementT>(start, end, step));
+}
+
+template <typename T>
+internal::ParamGenerator<T> Range(T start, T end) {
+  return Range(start, end, 1);
+}
+
+// ValuesIn() function allows generation of tests with parameters coming from
+// a container.
+//
+// Synopsis:
+// ValuesIn(const T (&array)[N])
+//   - returns a generator producing sequences with elements from
+//     a C-style array.
+// ValuesIn(const Container& container)
+//   - returns a generator producing sequences with elements from
+//     an STL-style container.
+// ValuesIn(Iterator begin, Iterator end)
+//   - returns a generator producing sequences with elements from
+//     a range [begin, end) defined by a pair of STL-style iterators. These
+//     iterators can also be plain C pointers.
+//
+// Please note that ValuesIn copies the values from the containers
+// passed in and keeps them to generate tests in RUN_ALL_TESTS().
+//
+// Examples:
+//
+// This instantiates tests from test case StringTest
+// each with C-string values of "foo", "bar", and "baz":
+//
+// const char* strings[] = {"foo", "bar", "baz"};
+// INSTANTIATE_TEST_CASE_P(StringSequence, SrtingTest, ValuesIn(strings));
+//
+// This instantiates tests from test case StlStringTest
+// each with STL strings with values "a" and "b":
+//
+// ::std::vector< ::std::string> GetParameterStrings() {
+//   ::std::vector< ::std::string> v;
+//   v.push_back("a");
+//   v.push_back("b");
+//   return v;
+// }
+//
+// INSTANTIATE_TEST_CASE_P(CharSequence,
+//                         StlStringTest,
+//                         ValuesIn(GetParameterStrings()));
+//
+//
+// This will also instantiate tests from CharTest
+// each with parameter values 'a' and 'b':
+//
+// ::std::list<char> GetParameterChars() {
+//   ::std::list<char> list;
+//   list.push_back('a');
+//   list.push_back('b');
+//   return list;
+// }
+// ::std::list<char> l = GetParameterChars();
+// INSTANTIATE_TEST_CASE_P(CharSequence2,
+//                         CharTest,
+//                         ValuesIn(l.begin(), l.end()));
+//
+template <typename ForwardIterator>
+internal::ParamGenerator<
+  typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
+ValuesIn(ForwardIterator begin, ForwardIterator end) {
+  typedef typename ::testing::internal::IteratorTraits<ForwardIterator>
+      ::value_type ParamType;
+  return internal::ParamGenerator<ParamType>(
+      new internal::ValuesInIteratorRangeGenerator<ParamType>(begin, end));
+}
+
+template <typename T, size_t N>
+internal::ParamGenerator<T> ValuesIn(const T (&array)[N]) {
+  return ValuesIn(array, array + N);
+}
+
+template <class Container>
+internal::ParamGenerator<typename Container::value_type> ValuesIn(
+    const Container& container) {
+  return ValuesIn(container.begin(), container.end());
+}
+
+// Values() allows generating tests from explicitly specified list of
+// parameters.
+//
+// Synopsis:
+// Values(T v1, T v2, ..., T vN)
+//   - returns a generator producing sequences with elements v1, v2, ..., vN.
+//
+// For example, this instantiates tests from test case BarTest each
+// with values "one", "two", and "three":
+//
+// INSTANTIATE_TEST_CASE_P(NumSequence, BarTest, Values("one", "two", "three"));
+//
+// This instantiates tests from test case BazTest each with values 1, 2, 3.5.
+// The exact type of values will depend on the type of parameter in BazTest.
+//
+// INSTANTIATE_TEST_CASE_P(FloatingNumbers, BazTest, Values(1, 2, 3.5));
+//
+// Currently, Values() supports from 1 to 50 parameters.
+//
+template <typename T1>
+internal::ValueArray1<T1> Values(T1 v1) {
+  return internal::ValueArray1<T1>(v1);
+}
+
+template <typename T1, typename T2>
+internal::ValueArray2<T1, T2> Values(T1 v1, T2 v2) {
+  return internal::ValueArray2<T1, T2>(v1, v2);
+}
+
+template <typename T1, typename T2, typename T3>
+internal::ValueArray3<T1, T2, T3> Values(T1 v1, T2 v2, T3 v3) {
+  return internal::ValueArray3<T1, T2, T3>(v1, v2, v3);
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+internal::ValueArray4<T1, T2, T3, T4> Values(T1 v1, T2 v2, T3 v3, T4 v4) {
+  return internal::ValueArray4<T1, T2, T3, T4>(v1, v2, v3, v4);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+internal::ValueArray5<T1, T2, T3, T4, T5> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+    T5 v5) {
+  return internal::ValueArray5<T1, T2, T3, T4, T5>(v1, v2, v3, v4, v5);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6>
+internal::ValueArray6<T1, T2, T3, T4, T5, T6> Values(T1 v1, T2 v2, T3 v3,
+    T4 v4, T5 v5, T6 v6) {
+  return internal::ValueArray6<T1, T2, T3, T4, T5, T6>(v1, v2, v3, v4, v5, v6);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7>
+internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7> Values(T1 v1, T2 v2, T3 v3,
+    T4 v4, T5 v5, T6 v6, T7 v7) {
+  return internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7>(v1, v2, v3, v4, v5,
+      v6, v7);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8>
+internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8> Values(T1 v1, T2 v2,
+    T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8) {
+  return internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8>(v1, v2, v3, v4,
+      v5, v6, v7, v8);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9>
+internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9> Values(T1 v1, T2 v2,
+    T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9) {
+  return internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(v1, v2, v3,
+      v4, v5, v6, v7, v8, v9);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10>
+internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> Values(T1 v1,
+    T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10) {
+  return internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>(v1,
+      v2, v3, v4, v5, v6, v7, v8, v9, v10);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11>
+internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
+    T11> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11) {
+  return internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
+      T11>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12>
+internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+    T12> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12) {
+  return internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13>
+internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+    T13> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13) {
+  return internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14>
+internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) {
+  return internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+      v14);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15>
+internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+    T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) {
+  return internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+      v13, v14, v15);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16>
+internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+    T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16) {
+  return internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+      v12, v13, v14, v15, v16);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17>
+internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+    T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17) {
+  return internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+      v11, v12, v13, v14, v15, v16, v17);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18>
+internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+    T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17, T18 v18) {
+  return internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+      v10, v11, v12, v13, v14, v15, v16, v17, v18);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19>
+internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+    T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+    T15 v15, T16 v16, T17 v17, T18 v18, T19 v19) {
+  return internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19>(v1, v2, v3, v4, v5, v6, v7, v8,
+      v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20>
+internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+    T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+    T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20) {
+  return internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20>(v1, v2, v3, v4, v5, v6, v7,
+      v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21>
+internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+    T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+    T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21) {
+  return internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21>(v1, v2, v3, v4, v5, v6,
+      v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22>
+internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22> Values(T1 v1, T2 v2, T3 v3,
+    T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+    T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+    T21 v21, T22 v22) {
+  return internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22>(v1, v2, v3, v4,
+      v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+      v20, v21, v22);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23>
+internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> Values(T1 v1, T2 v2,
+    T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+    T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+    T21 v21, T22 v22, T23 v23) {
+  return internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23>(v1, v2, v3,
+      v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+      v20, v21, v22, v23);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24>
+internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Values(T1 v1, T2 v2,
+    T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+    T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+    T21 v21, T22 v22, T23 v23, T24 v24) {
+  return internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24>(v1, v2,
+      v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
+      v19, v20, v21, v22, v23, v24);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25>
+internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Values(T1 v1,
+    T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
+    T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
+    T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25) {
+  return internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25>(v1,
+      v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
+      v18, v19, v20, v21, v22, v23, v24, v25);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26>
+internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+    T26> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26) {
+  return internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
+      v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27>
+internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+    T27> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26, T27 v27) {
+  return internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
+      v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28>
+internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+    T28> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26, T27 v27, T28 v28) {
+  return internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+      v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
+      v28);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29>
+internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26, T27 v27, T28 v28, T29 v29) {
+  return internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+      v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
+      v27, v28, v29);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30>
+internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+    T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+    T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+    T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) {
+  return internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+      v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
+      v26, v27, v28, v29, v30);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31>
+internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+    T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+    T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) {
+  return internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+      v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
+      v25, v26, v27, v28, v29, v30, v31);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32>
+internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+    T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+    T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+    T32 v32) {
+  return internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+      v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+      v24, v25, v26, v27, v28, v29, v30, v31, v32);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33>
+internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+    T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+    T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+    T32 v32, T33 v33) {
+  return internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33>(v1, v2, v3, v4, v5, v6, v7, v8,
+      v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+      v24, v25, v26, v27, v28, v29, v30, v31, v32, v33);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34>
+internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+    T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+    T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
+    T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
+    T31 v31, T32 v32, T33 v33, T34 v34) {
+  return internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34>(v1, v2, v3, v4, v5, v6, v7,
+      v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
+      v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35>
+internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+    T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+    T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+    T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+    T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35) {
+  return internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35>(v1, v2, v3, v4, v5, v6,
+      v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
+      v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36>
+internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+    T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+    T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+    T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+    T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36) {
+  return internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36>(v1, v2, v3, v4,
+      v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+      v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+      v34, v35, v36);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37>
+internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37> Values(T1 v1, T2 v2, T3 v3,
+    T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+    T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+    T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+    T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+    T37 v37) {
+  return internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37>(v1, v2, v3,
+      v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+      v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+      v34, v35, v36, v37);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38>
+internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Values(T1 v1, T2 v2,
+    T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+    T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+    T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+    T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+    T37 v37, T38 v38) {
+  return internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38>(v1, v2,
+      v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
+      v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32,
+      v33, v34, v35, v36, v37, v38);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39>
+internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Values(T1 v1, T2 v2,
+    T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+    T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+    T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+    T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+    T37 v37, T38 v38, T39 v39) {
+  return internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39>(v1,
+      v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
+      v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31,
+      v32, v33, v34, v35, v36, v37, v38, v39);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40>
+internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Values(T1 v1,
+    T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
+    T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
+    T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27,
+    T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35,
+    T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) {
+  return internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
+      v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29,
+      v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41>
+internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+    T41> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+    T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41) {
+  return internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
+      v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28,
+      v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42>
+internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+    T42> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+    T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+    T42 v42) {
+  return internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+      v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
+      v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41,
+      v42);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43>
+internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+    T43> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+    T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+    T42 v42, T43 v43) {
+  return internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+      v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
+      v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40,
+      v41, v42, v43);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44>
+internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+    T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+    T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+    T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+    T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+    T42 v42, T43 v43, T44 v44) {
+  return internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43, T44>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+      v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
+      v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39,
+      v40, v41, v42, v43, v44);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45>
+internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44, T45> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+    T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+    T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+    T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
+    T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
+    T41 v41, T42 v42, T43 v43, T44 v44, T45 v45) {
+  return internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43, T44, T45>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+      v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
+      v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38,
+      v39, v40, v41, v42, v43, v44, v45);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46>
+internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44, T45, T46> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+    T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+    T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+    T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+    T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) {
+  return internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43, T44, T45, T46>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+      v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+      v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
+      v38, v39, v40, v41, v42, v43, v44, v45, v46);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47>
+internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44, T45, T46, T47> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+    T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+    T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+    T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+    T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) {
+  return internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43, T44, T45, T46, T47>(v1, v2, v3, v4, v5, v6, v7, v8,
+      v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+      v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
+      v38, v39, v40, v41, v42, v43, v44, v45, v46, v47);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48>
+internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44, T45, T46, T47, T48> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+    T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+    T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+    T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+    T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+    T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47,
+    T48 v48) {
+  return internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43, T44, T45, T46, T47, T48>(v1, v2, v3, v4, v5, v6, v7,
+      v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
+      v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36,
+      v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49>
+internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44, T45, T46, T47, T48, T49> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+    T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+    T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
+    T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
+    T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38,
+    T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46,
+    T47 v47, T48 v48, T49 v49) {
+  return internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43, T44, T45, T46, T47, T48, T49>(v1, v2, v3, v4, v5, v6,
+      v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
+      v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35,
+      v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+    typename T6, typename T7, typename T8, typename T9, typename T10,
+    typename T11, typename T12, typename T13, typename T14, typename T15,
+    typename T16, typename T17, typename T18, typename T19, typename T20,
+    typename T21, typename T22, typename T23, typename T24, typename T25,
+    typename T26, typename T27, typename T28, typename T29, typename T30,
+    typename T31, typename T32, typename T33, typename T34, typename T35,
+    typename T36, typename T37, typename T38, typename T39, typename T40,
+    typename T41, typename T42, typename T43, typename T44, typename T45,
+    typename T46, typename T47, typename T48, typename T49, typename T50>
+internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+    T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+    T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+    T44, T45, T46, T47, T48, T49, T50> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+    T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+    T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+    T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+    T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37,
+    T38 v38, T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45,
+    T46 v46, T47 v47, T48 v48, T49 v49, T50 v50) {
+  return internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+      T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+      T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+      T40, T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>(v1, v2, v3, v4,
+      v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+      v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+      v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47,
+      v48, v49, v50);
+}
+
+// Bool() allows generating tests with parameters in a set of (false, true).
+//
+// Synopsis:
+// Bool()
+//   - returns a generator producing sequences with elements {false, true}.
+//
+// It is useful when testing code that depends on Boolean flags. Combinations
+// of multiple flags can be tested when several Bool()'s are combined using
+// Combine() function.
+//
+// In the following example all tests in the test case FlagDependentTest
+// will be instantiated twice with parameters false and true.
+//
+// class FlagDependentTest : public testing::TestWithParam<bool> {
+//   virtual void SetUp() {
+//     external_flag = GetParam();
+//   }
+// }
+// INSTANTIATE_TEST_CASE_P(BoolSequence, FlagDependentTest, Bool());
+//
+inline internal::ParamGenerator<bool> Bool() {
+  return Values(false, true);
+}
+
+# if GTEST_HAS_COMBINE
+// Combine() allows the user to combine two or more sequences to produce
+// values of a Cartesian product of those sequences' elements.
+//
+// Synopsis:
+// Combine(gen1, gen2, ..., genN)
+//   - returns a generator producing sequences with elements coming from
+//     the Cartesian product of elements from the sequences generated by
+//     gen1, gen2, ..., genN. The sequence elements will have a type of
+//     tuple<T1, T2, ..., TN> where T1, T2, ..., TN are the types
+//     of elements from sequences produces by gen1, gen2, ..., genN.
+//
+// Combine can have up to 10 arguments. This number is currently limited
+// by the maximum number of elements in the tuple implementation used by Google
+// Test.
+//
+// Example:
+//
+// This will instantiate tests in test case AnimalTest each one with
+// the parameter values tuple("cat", BLACK), tuple("cat", WHITE),
+// tuple("dog", BLACK), and tuple("dog", WHITE):
+//
+// enum Color { BLACK, GRAY, WHITE };
+// class AnimalTest
+//     : public testing::TestWithParam<tuple<const char*, Color> > {...};
+//
+// TEST_P(AnimalTest, AnimalLooksNice) {...}
+//
+// INSTANTIATE_TEST_CASE_P(AnimalVariations, AnimalTest,
+//                         Combine(Values("cat", "dog"),
+//                                 Values(BLACK, WHITE)));
+//
+// This will instantiate tests in FlagDependentTest with all variations of two
+// Boolean flags:
+//
+// class FlagDependentTest
+//     : public testing::TestWithParam<tuple<bool, bool> > {
+//   virtual void SetUp() {
+//     // Assigns external_flag_1 and external_flag_2 values from the tuple.
+//     tie(external_flag_1, external_flag_2) = GetParam();
+//   }
+// };
+//
+// TEST_P(FlagDependentTest, TestFeature1) {
+//   // Test your code using external_flag_1 and external_flag_2 here.
+// }
+// INSTANTIATE_TEST_CASE_P(TwoBoolSequence, FlagDependentTest,
+//                         Combine(Bool(), Bool()));
+//
+template <typename Generator1, typename Generator2>
+internal::CartesianProductHolder2<Generator1, Generator2> Combine(
+    const Generator1& g1, const Generator2& g2) {
+  return internal::CartesianProductHolder2<Generator1, Generator2>(
+      g1, g2);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3>
+internal::CartesianProductHolder3<Generator1, Generator2, Generator3> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3) {
+  return internal::CartesianProductHolder3<Generator1, Generator2, Generator3>(
+      g1, g2, g3);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+    typename Generator4>
+internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
+    Generator4> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3,
+        const Generator4& g4) {
+  return internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
+      Generator4>(
+      g1, g2, g3, g4);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+    typename Generator4, typename Generator5>
+internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
+    Generator4, Generator5> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3,
+        const Generator4& g4, const Generator5& g5) {
+  return internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
+      Generator4, Generator5>(
+      g1, g2, g3, g4, g5);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+    typename Generator4, typename Generator5, typename Generator6>
+internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
+    Generator4, Generator5, Generator6> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3,
+        const Generator4& g4, const Generator5& g5, const Generator6& g6) {
+  return internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
+      Generator4, Generator5, Generator6>(
+      g1, g2, g3, g4, g5, g6);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+    typename Generator4, typename Generator5, typename Generator6,
+    typename Generator7>
+internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
+    Generator4, Generator5, Generator6, Generator7> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3,
+        const Generator4& g4, const Generator5& g5, const Generator6& g6,
+        const Generator7& g7) {
+  return internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
+      Generator4, Generator5, Generator6, Generator7>(
+      g1, g2, g3, g4, g5, g6, g7);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+    typename Generator4, typename Generator5, typename Generator6,
+    typename Generator7, typename Generator8>
+internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
+    Generator4, Generator5, Generator6, Generator7, Generator8> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3,
+        const Generator4& g4, const Generator5& g5, const Generator6& g6,
+        const Generator7& g7, const Generator8& g8) {
+  return internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
+      Generator4, Generator5, Generator6, Generator7, Generator8>(
+      g1, g2, g3, g4, g5, g6, g7, g8);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+    typename Generator4, typename Generator5, typename Generator6,
+    typename Generator7, typename Generator8, typename Generator9>
+internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
+    Generator4, Generator5, Generator6, Generator7, Generator8,
+    Generator9> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3,
+        const Generator4& g4, const Generator5& g5, const Generator6& g6,
+        const Generator7& g7, const Generator8& g8, const Generator9& g9) {
+  return internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
+      Generator4, Generator5, Generator6, Generator7, Generator8, Generator9>(
+      g1, g2, g3, g4, g5, g6, g7, g8, g9);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+    typename Generator4, typename Generator5, typename Generator6,
+    typename Generator7, typename Generator8, typename Generator9,
+    typename Generator10>
+internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
+    Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
+    Generator10> Combine(
+    const Generator1& g1, const Generator2& g2, const Generator3& g3,
+        const Generator4& g4, const Generator5& g5, const Generator6& g6,
+        const Generator7& g7, const Generator8& g8, const Generator9& g9,
+        const Generator10& g10) {
+  return internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
+      Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
+      Generator10>(
+      g1, g2, g3, g4, g5, g6, g7, g8, g9, g10);
+}
+# endif  // GTEST_HAS_COMBINE
+
+
+
+# define TEST_P(test_case_name, test_name) \
+  class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
+      : public test_case_name { \
+   public: \
+    GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {} \
+    virtual void TestBody(); \
+   private: \
+    static int AddToRegistry() { \
+      ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
+          GetTestCasePatternHolder<test_case_name>(\
+              #test_case_name, \
+              ::testing::internal::CodeLocation(\
+                  __FILE__, __LINE__))->AddTestPattern(\
+                      #test_case_name, \
+                      #test_name, \
+                      new ::testing::internal::TestMetaFactory< \
+                          GTEST_TEST_CLASS_NAME_(\
+                              test_case_name, test_name)>()); \
+      return 0; \
+    } \
+    static int gtest_registering_dummy_ GTEST_ATTRIBUTE_UNUSED_; \
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(\
+        GTEST_TEST_CLASS_NAME_(test_case_name, test_name)); \
+  }; \
+  int GTEST_TEST_CLASS_NAME_(test_case_name, \
+                             test_name)::gtest_registering_dummy_ = \
+      GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::AddToRegistry(); \
+  void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
+
+// The optional last argument to INSTANTIATE_TEST_CASE_P allows the user
+// to specify a function or functor that generates custom test name suffixes
+// based on the test parameters. The function should accept one argument of
+// type testing::TestParamInfo<class ParamType>, and return std::string.
+//
+// testing::PrintToStringParamName is a builtin test suffix generator that
+// returns the value of testing::PrintToString(GetParam()). It does not work
+// for std::string or C strings.
+//
+// Note: test names must be non-empty, unique, and may only contain ASCII
+// alphanumeric characters or underscore.
+
+# define INSTANTIATE_TEST_CASE_P(prefix, test_case_name, generator, ...) \
+  ::testing::internal::ParamGenerator<test_case_name::ParamType> \
+      gtest_##prefix##test_case_name##_EvalGenerator_() { return generator; } \
+  ::std::string gtest_##prefix##test_case_name##_EvalGenerateName_( \
+      const ::testing::TestParamInfo<test_case_name::ParamType>& info) { \
+    return ::testing::internal::GetParamNameGen<test_case_name::ParamType> \
+        (__VA_ARGS__)(info); \
+  } \
+  int gtest_##prefix##test_case_name##_dummy_ GTEST_ATTRIBUTE_UNUSED_ = \
+      ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
+          GetTestCasePatternHolder<test_case_name>(\
+              #test_case_name, \
+              ::testing::internal::CodeLocation(\
+                  __FILE__, __LINE__))->AddTestCaseInstantiation(\
+                      #prefix, \
+                      &gtest_##prefix##test_case_name##_EvalGenerator_, \
+                      &gtest_##prefix##test_case_name##_EvalGenerateName_, \
+                      __FILE__, __LINE__)
+
+}  // namespace testing
+
+#endif  // GTEST_HAS_PARAM_TEST
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+// Copyright 2006, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// Google C++ Testing Framework definitions useful in production code.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+
+// When you need to test the private or protected members of a class,
+// use the FRIEND_TEST macro to declare your tests as friends of the
+// class.  For example:
+//
+// class MyClass {
+//  private:
+//   void MyMethod();
+//   FRIEND_TEST(MyClassTest, MyMethod);
+// };
+//
+// class MyClassTest : public testing::Test {
+//   // ...
+// };
+//
+// TEST_F(MyClassTest, MyMethod) {
+//   // Can call MyClass::MyMethod() here.
+// }
+
+#define FRIEND_TEST(test_case_name, test_name)\
+friend class test_case_name##_##test_name##_Test
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mheule@google.com (Markus Heule)
+//
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+#define GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+
+#include <iosfwd>
+#include <vector>
+
+namespace testing {
+
+// A copyable object representing the result of a test part (i.e. an
+// assertion or an explicit FAIL(), ADD_FAILURE(), or SUCCESS()).
+//
+// Don't inherit from TestPartResult as its destructor is not virtual.
+class GTEST_API_ TestPartResult {
+ public:
+  // The possible outcomes of a test part (i.e. an assertion or an
+  // explicit SUCCEED(), FAIL(), or ADD_FAILURE()).
+  enum Type {
+    kSuccess,          // Succeeded.
+    kNonFatalFailure,  // Failed but the test can continue.
+    kFatalFailure      // Failed and the test should be terminated.
+  };
+
+  // C'tor.  TestPartResult does NOT have a default constructor.
+  // Always use this constructor (with parameters) to create a
+  // TestPartResult object.
+  TestPartResult(Type a_type,
+                 const char* a_file_name,
+                 int a_line_number,
+                 const char* a_message)
+      : type_(a_type),
+        file_name_(a_file_name == NULL ? "" : a_file_name),
+        line_number_(a_line_number),
+        summary_(ExtractSummary(a_message)),
+        message_(a_message) {
+  }
+
+  // Gets the outcome of the test part.
+  Type type() const { return type_; }
+
+  // Gets the name of the source file where the test part took place, or
+  // NULL if it's unknown.
+  const char* file_name() const {
+    return file_name_.empty() ? NULL : file_name_.c_str();
+  }
+
+  // Gets the line in the source file where the test part took place,
+  // or -1 if it's unknown.
+  int line_number() const { return line_number_; }
+
+  // Gets the summary of the failure message.
+  const char* summary() const { return summary_.c_str(); }
+
+  // Gets the message associated with the test part.
+  const char* message() const { return message_.c_str(); }
+
+  // Returns true iff the test part passed.
+  bool passed() const { return type_ == kSuccess; }
+
+  // Returns true iff the test part failed.
+  bool failed() const { return type_ != kSuccess; }
+
+  // Returns true iff the test part non-fatally failed.
+  bool nonfatally_failed() const { return type_ == kNonFatalFailure; }
+
+  // Returns true iff the test part fatally failed.
+  bool fatally_failed() const { return type_ == kFatalFailure; }
+
+ private:
+  Type type_;
+
+  // Gets the summary of the failure message by omitting the stack
+  // trace in it.
+  static std::string ExtractSummary(const char* message);
+
+  // The name of the source file where the test part took place, or
+  // "" if the source file is unknown.
+  std::string file_name_;
+  // The line in the source file where the test part took place, or -1
+  // if the line number is unknown.
+  int line_number_;
+  std::string summary_;  // The test failure summary.
+  std::string message_;  // The test failure message.
+};
+
+// Prints a TestPartResult object.
+std::ostream& operator<<(std::ostream& os, const TestPartResult& result);
+
+// An array of TestPartResult objects.
+//
+// Don't inherit from TestPartResultArray as its destructor is not
+// virtual.
+class GTEST_API_ TestPartResultArray {
+ public:
+  TestPartResultArray() {}
+
+  // Appends the given TestPartResult to the array.
+  void Append(const TestPartResult& result);
+
+  // Returns the TestPartResult at the given index (0-based).
+  const TestPartResult& GetTestPartResult(int index) const;
+
+  // Returns the number of TestPartResult objects in the array.
+  int size() const;
+
+ private:
+  std::vector<TestPartResult> array_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestPartResultArray);
+};
+
+// This interface knows how to report a test part result.
+class TestPartResultReporterInterface {
+ public:
+  virtual ~TestPartResultReporterInterface() {}
+
+  virtual void ReportTestPartResult(const TestPartResult& result) = 0;
+};
+
+namespace internal {
+
+// This helper class is used by {ASSERT|EXPECT}_NO_FATAL_FAILURE to check if a
+// statement generates new fatal failures. To do so it registers itself as the
+// current test part result reporter. Besides checking if fatal failures were
+// reported, it only delegates the reporting to the former result reporter.
+// The original result reporter is restored in the destructor.
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+class GTEST_API_ HasNewFatalFailureHelper
+    : public TestPartResultReporterInterface {
+ public:
+  HasNewFatalFailureHelper();
+  virtual ~HasNewFatalFailureHelper();
+  virtual void ReportTestPartResult(const TestPartResult& result);
+  bool has_new_fatal_failure() const { return has_new_fatal_failure_; }
+ private:
+  bool has_new_fatal_failure_;
+  TestPartResultReporterInterface* original_reporter_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(HasNewFatalFailureHelper);
+};
+
+}  // namespace internal
+
+}  // namespace testing
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+
+// This header implements typed tests and type-parameterized tests.
+
+// Typed (aka type-driven) tests repeat the same test for types in a
+// list.  You must know which types you want to test with when writing
+// typed tests. Here's how you do it:
+
+#if 0
+
+// First, define a fixture class template.  It should be parameterized
+// by a type.  Remember to derive it from testing::Test.
+template <typename T>
+class FooTest : public testing::Test {
+ public:
+  ...
+  typedef std::list<T> List;
+  static T shared_;
+  T value_;
+};
+
+// Next, associate a list of types with the test case, which will be
+// repeated for each type in the list.  The typedef is necessary for
+// the macro to parse correctly.
+typedef testing::Types<char, int, unsigned int> MyTypes;
+TYPED_TEST_CASE(FooTest, MyTypes);
+
+// If the type list contains only one type, you can write that type
+// directly without Types<...>:
+//   TYPED_TEST_CASE(FooTest, int);
+
+// Then, use TYPED_TEST() instead of TEST_F() to define as many typed
+// tests for this test case as you want.
+TYPED_TEST(FooTest, DoesBlah) {
+  // Inside a test, refer to TypeParam to get the type parameter.
+  // Since we are inside a derived class template, C++ requires use to
+  // visit the members of FooTest via 'this'.
+  TypeParam n = this->value_;
+
+  // To visit static members of the fixture, add the TestFixture::
+  // prefix.
+  n += TestFixture::shared_;
+
+  // To refer to typedefs in the fixture, add the "typename
+  // TestFixture::" prefix.
+  typename TestFixture::List values;
+  values.push_back(n);
+  ...
+}
+
+TYPED_TEST(FooTest, HasPropertyA) { ... }
+
+#endif  // 0
+
+// Type-parameterized tests are abstract test patterns parameterized
+// by a type.  Compared with typed tests, type-parameterized tests
+// allow you to define the test pattern without knowing what the type
+// parameters are.  The defined pattern can be instantiated with
+// different types any number of times, in any number of translation
+// units.
+//
+// If you are designing an interface or concept, you can define a
+// suite of type-parameterized tests to verify properties that any
+// valid implementation of the interface/concept should have.  Then,
+// each implementation can easily instantiate the test suite to verify
+// that it conforms to the requirements, without having to write
+// similar tests repeatedly.  Here's an example:
+
+#if 0
+
+// First, define a fixture class template.  It should be parameterized
+// by a type.  Remember to derive it from testing::Test.
+template <typename T>
+class FooTest : public testing::Test {
+  ...
+};
+
+// Next, declare that you will define a type-parameterized test case
+// (the _P suffix is for "parameterized" or "pattern", whichever you
+// prefer):
+TYPED_TEST_CASE_P(FooTest);
+
+// Then, use TYPED_TEST_P() to define as many type-parameterized tests
+// for this type-parameterized test case as you want.
+TYPED_TEST_P(FooTest, DoesBlah) {
+  // Inside a test, refer to TypeParam to get the type parameter.
+  TypeParam n = 0;
+  ...
+}
+
+TYPED_TEST_P(FooTest, HasPropertyA) { ... }
+
+// Now the tricky part: you need to register all test patterns before
+// you can instantiate them.  The first argument of the macro is the
+// test case name; the rest are the names of the tests in this test
+// case.
+REGISTER_TYPED_TEST_CASE_P(FooTest,
+                           DoesBlah, HasPropertyA);
+
+// Finally, you are free to instantiate the pattern with the types you
+// want.  If you put the above code in a header file, you can #include
+// it in multiple C++ source files and instantiate it multiple times.
+//
+// To distinguish different instances of the pattern, the first
+// argument to the INSTANTIATE_* macro is a prefix that will be added
+// to the actual test case name.  Remember to pick unique prefixes for
+// different instances.
+typedef testing::Types<char, int, unsigned int> MyTypes;
+INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, MyTypes);
+
+// If the type list contains only one type, you can write that type
+// directly without Types<...>:
+//   INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, int);
+
+#endif  // 0
+
+
+// Implements typed tests.
+
+#if GTEST_HAS_TYPED_TEST
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the name of the typedef for the type parameters of the
+// given test case.
+# define GTEST_TYPE_PARAMS_(TestCaseName) gtest_type_params_##TestCaseName##_
+
+// The 'Types' template argument below must have spaces around it
+// since some compilers may choke on '>>' when passing a template
+// instance (e.g. Types<int>)
+# define TYPED_TEST_CASE(CaseName, Types) \
+  typedef ::testing::internal::TypeList< Types >::type \
+      GTEST_TYPE_PARAMS_(CaseName)
+
+# define TYPED_TEST(CaseName, TestName) \
+  template <typename gtest_TypeParam_> \
+  class GTEST_TEST_CLASS_NAME_(CaseName, TestName) \
+      : public CaseName<gtest_TypeParam_> { \
+   private: \
+    typedef CaseName<gtest_TypeParam_> TestFixture; \
+    typedef gtest_TypeParam_ TypeParam; \
+    virtual void TestBody(); \
+  }; \
+  bool gtest_##CaseName##_##TestName##_registered_ GTEST_ATTRIBUTE_UNUSED_ = \
+      ::testing::internal::TypeParameterizedTest< \
+          CaseName, \
+          ::testing::internal::TemplateSel< \
+              GTEST_TEST_CLASS_NAME_(CaseName, TestName)>, \
+          GTEST_TYPE_PARAMS_(CaseName)>::Register(\
+              "", ::testing::internal::CodeLocation(__FILE__, __LINE__), \
+              #CaseName, #TestName, 0); \
+  template <typename gtest_TypeParam_> \
+  void GTEST_TEST_CLASS_NAME_(CaseName, TestName)<gtest_TypeParam_>::TestBody()
+
+#endif  // GTEST_HAS_TYPED_TEST
+
+// Implements type-parameterized tests.
+
+#if GTEST_HAS_TYPED_TEST_P
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the namespace name that the type-parameterized tests for
+// the given type-parameterized test case are defined in.  The exact
+// name of the namespace is subject to change without notice.
+# define GTEST_CASE_NAMESPACE_(TestCaseName) \
+  gtest_case_##TestCaseName##_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the name of the variable used to remember the names of
+// the defined tests in the given test case.
+# define GTEST_TYPED_TEST_CASE_P_STATE_(TestCaseName) \
+  gtest_typed_test_case_p_state_##TestCaseName##_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE DIRECTLY.
+//
+// Expands to the name of the variable used to remember the names of
+// the registered tests in the given test case.
+# define GTEST_REGISTERED_TEST_NAMES_(TestCaseName) \
+  gtest_registered_test_names_##TestCaseName##_
+
+// The variables defined in the type-parameterized test macros are
+// static as typically these macros are used in a .h file that can be
+// #included in multiple translation units linked together.
+# define TYPED_TEST_CASE_P(CaseName) \
+  static ::testing::internal::TypedTestCasePState \
+      GTEST_TYPED_TEST_CASE_P_STATE_(CaseName)
+
+# define TYPED_TEST_P(CaseName, TestName) \
+  namespace GTEST_CASE_NAMESPACE_(CaseName) { \
+  template <typename gtest_TypeParam_> \
+  class TestName : public CaseName<gtest_TypeParam_> { \
+   private: \
+    typedef CaseName<gtest_TypeParam_> TestFixture; \
+    typedef gtest_TypeParam_ TypeParam; \
+    virtual void TestBody(); \
+  }; \
+  static bool gtest_##TestName##_defined_ GTEST_ATTRIBUTE_UNUSED_ = \
+      GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).AddTestName(\
+          __FILE__, __LINE__, #CaseName, #TestName); \
+  } \
+  template <typename gtest_TypeParam_> \
+  void GTEST_CASE_NAMESPACE_(CaseName)::TestName<gtest_TypeParam_>::TestBody()
+
+# define REGISTER_TYPED_TEST_CASE_P(CaseName, ...) \
+  namespace GTEST_CASE_NAMESPACE_(CaseName) { \
+  typedef ::testing::internal::Templates<__VA_ARGS__>::type gtest_AllTests_; \
+  } \
+  static const char* const GTEST_REGISTERED_TEST_NAMES_(CaseName) = \
+      GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).VerifyRegisteredTestNames(\
+          __FILE__, __LINE__, #__VA_ARGS__)
+
+// The 'Types' template argument below must have spaces around it
+// since some compilers may choke on '>>' when passing a template
+// instance (e.g. Types<int>)
+# define INSTANTIATE_TYPED_TEST_CASE_P(Prefix, CaseName, Types) \
+  bool gtest_##Prefix##_##CaseName GTEST_ATTRIBUTE_UNUSED_ = \
+      ::testing::internal::TypeParameterizedTestCase<CaseName, \
+          GTEST_CASE_NAMESPACE_(CaseName)::gtest_AllTests_, \
+          ::testing::internal::TypeList< Types >::type>::Register(\
+              #Prefix, \
+              ::testing::internal::CodeLocation(__FILE__, __LINE__), \
+              &GTEST_TYPED_TEST_CASE_P_STATE_(CaseName), \
+              #CaseName, GTEST_REGISTERED_TEST_NAMES_(CaseName))
+
+#endif  // GTEST_HAS_TYPED_TEST_P
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+
+// Depending on the platform, different string classes are available.
+// On Linux, in addition to ::std::string, Google also makes use of
+// class ::string, which has the same interface as ::std::string, but
+// has a different implementation.
+//
+// You can define GTEST_HAS_GLOBAL_STRING to 1 to indicate that
+// ::string is available AND is a distinct type to ::std::string, or
+// define it to 0 to indicate otherwise.
+//
+// If ::std::string and ::string are the same class on your platform
+// due to aliasing, you should define GTEST_HAS_GLOBAL_STRING to 0.
+//
+// If you do not define GTEST_HAS_GLOBAL_STRING, it is defined
+// heuristically.
+
+namespace testing {
+
+// Declares the flags.
+
+// This flag temporary enables the disabled tests.
+GTEST_DECLARE_bool_(also_run_disabled_tests);
+
+// This flag brings the debugger on an assertion failure.
+GTEST_DECLARE_bool_(break_on_failure);
+
+// This flag controls whether Google Test catches all test-thrown exceptions
+// and logs them as failures.
+GTEST_DECLARE_bool_(catch_exceptions);
+
+// This flag enables using colors in terminal output. Available values are
+// "yes" to enable colors, "no" (disable colors), or "auto" (the default)
+// to let Google Test decide.
+GTEST_DECLARE_string_(color);
+
+// This flag sets up the filter to select by name using a glob pattern
+// the tests to run. If the filter is not given all tests are executed.
+GTEST_DECLARE_string_(filter);
+
+// This flag causes the Google Test to list tests. None of the tests listed
+// are actually run if the flag is provided.
+GTEST_DECLARE_bool_(list_tests);
+
+// This flag controls whether Google Test emits a detailed XML report to a file
+// in addition to its normal textual output.
+GTEST_DECLARE_string_(output);
+
+// This flags control whether Google Test prints the elapsed time for each
+// test.
+GTEST_DECLARE_bool_(print_time);
+
+// This flag specifies the random number seed.
+GTEST_DECLARE_int32_(random_seed);
+
+// This flag sets how many times the tests are repeated. The default value
+// is 1. If the value is -1 the tests are repeating forever.
+GTEST_DECLARE_int32_(repeat);
+
+// This flag controls whether Google Test includes Google Test internal
+// stack frames in failure stack traces.
+GTEST_DECLARE_bool_(show_internal_stack_frames);
+
+// When this flag is specified, tests' order is randomized on every iteration.
+GTEST_DECLARE_bool_(shuffle);
+
+// This flag specifies the maximum number of stack frames to be
+// printed in a failure message.
+GTEST_DECLARE_int32_(stack_trace_depth);
+
+// When this flag is specified, a failed assertion will throw an
+// exception if exceptions are enabled, or exit the program with a
+// non-zero code otherwise.
+GTEST_DECLARE_bool_(throw_on_failure);
+
+// When this flag is set with a "host:port" string, on supported
+// platforms test results are streamed to the specified port on
+// the specified host machine.
+GTEST_DECLARE_string_(stream_result_to);
+
+// The upper limit for valid stack trace depths.
+const int kMaxStackTraceDepth = 100;
+
+namespace internal {
+
+class AssertHelper;
+class DefaultGlobalTestPartResultReporter;
+class ExecDeathTest;
+class NoExecDeathTest;
+class FinalSuccessChecker;
+class GTestFlagSaver;
+class StreamingListenerTest;
+class TestResultAccessor;
+class TestEventListenersAccessor;
+class TestEventRepeater;
+class UnitTestRecordPropertyTestHelper;
+class WindowsDeathTest;
+class UnitTestImpl* GetUnitTestImpl();
+void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
+                                    const std::string& message);
+
+}  // namespace internal
+
+// The friend relationship of some of these classes is cyclic.
+// If we don't forward declare them the compiler might confuse the classes
+// in friendship clauses with same named classes on the scope.
+class Test;
+class TestCase;
+class TestInfo;
+class UnitTest;
+
+// A class for indicating whether an assertion was successful.  When
+// the assertion wasn't successful, the AssertionResult object
+// remembers a non-empty message that describes how it failed.
+//
+// To create an instance of this class, use one of the factory functions
+// (AssertionSuccess() and AssertionFailure()).
+//
+// This class is useful for two purposes:
+//   1. Defining predicate functions to be used with Boolean test assertions
+//      EXPECT_TRUE/EXPECT_FALSE and their ASSERT_ counterparts
+//   2. Defining predicate-format functions to be
+//      used with predicate assertions (ASSERT_PRED_FORMAT*, etc).
+//
+// For example, if you define IsEven predicate:
+//
+//   testing::AssertionResult IsEven(int n) {
+//     if ((n % 2) == 0)
+//       return testing::AssertionSuccess();
+//     else
+//       return testing::AssertionFailure() << n << " is odd";
+//   }
+//
+// Then the failed expectation EXPECT_TRUE(IsEven(Fib(5)))
+// will print the message
+//
+//   Value of: IsEven(Fib(5))
+//     Actual: false (5 is odd)
+//   Expected: true
+//
+// instead of a more opaque
+//
+//   Value of: IsEven(Fib(5))
+//     Actual: false
+//   Expected: true
+//
+// in case IsEven is a simple Boolean predicate.
+//
+// If you expect your predicate to be reused and want to support informative
+// messages in EXPECT_FALSE and ASSERT_FALSE (negative assertions show up
+// about half as often as positive ones in our tests), supply messages for
+// both success and failure cases:
+//
+//   testing::AssertionResult IsEven(int n) {
+//     if ((n % 2) == 0)
+//       return testing::AssertionSuccess() << n << " is even";
+//     else
+//       return testing::AssertionFailure() << n << " is odd";
+//   }
+//
+// Then a statement EXPECT_FALSE(IsEven(Fib(6))) will print
+//
+//   Value of: IsEven(Fib(6))
+//     Actual: true (8 is even)
+//   Expected: false
+//
+// NB: Predicates that support negative Boolean assertions have reduced
+// performance in positive ones so be careful not to use them in tests
+// that have lots (tens of thousands) of positive Boolean assertions.
+//
+// To use this class with EXPECT_PRED_FORMAT assertions such as:
+//
+//   // Verifies that Foo() returns an even number.
+//   EXPECT_PRED_FORMAT1(IsEven, Foo());
+//
+// you need to define:
+//
+//   testing::AssertionResult IsEven(const char* expr, int n) {
+//     if ((n % 2) == 0)
+//       return testing::AssertionSuccess();
+//     else
+//       return testing::AssertionFailure()
+//         << "Expected: " << expr << " is even\n  Actual: it's " << n;
+//   }
+//
+// If Foo() returns 5, you will see the following message:
+//
+//   Expected: Foo() is even
+//     Actual: it's 5
+//
+class GTEST_API_ AssertionResult {
+ public:
+  // Copy constructor.
+  // Used in EXPECT_TRUE/FALSE(assertion_result).
+  AssertionResult(const AssertionResult& other);
+
+  GTEST_DISABLE_MSC_WARNINGS_PUSH_(4800 /* forcing value to bool */)
+
+  // Used in the EXPECT_TRUE/FALSE(bool_expression).
+  //
+  // T must be contextually convertible to bool.
+  //
+  // The second parameter prevents this overload from being considered if
+  // the argument is implicitly convertible to AssertionResult. In that case
+  // we want AssertionResult's copy constructor to be used.
+  template <typename T>
+  explicit AssertionResult(
+      const T& success,
+      typename internal::EnableIf<
+          !internal::ImplicitlyConvertible<T, AssertionResult>::value>::type*
+          /*enabler*/ = NULL)
+      : success_(success) {}
+
+  GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+  // Assignment operator.
+  AssertionResult& operator=(AssertionResult other) {
+    swap(other);
+    return *this;
+  }
+
+  // Returns true iff the assertion succeeded.
+  operator bool() const { return success_; }  // NOLINT
+
+  // Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
+  AssertionResult operator!() const;
+
+  // Returns the text streamed into this AssertionResult. Test assertions
+  // use it when they fail (i.e., the predicate's outcome doesn't match the
+  // assertion's expectation). When nothing has been streamed into the
+  // object, returns an empty string.
+  const char* message() const {
+    return message_.get() != NULL ?  message_->c_str() : "";
+  }
+  // TODO(vladl@google.com): Remove this after making sure no clients use it.
+  // Deprecated; please use message() instead.
+  const char* failure_message() const { return message(); }
+
+  // Streams a custom failure message into this object.
+  template <typename T> AssertionResult& operator<<(const T& value) {
+    AppendMessage(Message() << value);
+    return *this;
+  }
+
+  // Allows streaming basic output manipulators such as endl or flush into
+  // this object.
+  AssertionResult& operator<<(
+      ::std::ostream& (*basic_manipulator)(::std::ostream& stream)) {
+    AppendMessage(Message() << basic_manipulator);
+    return *this;
+  }
+
+ private:
+  // Appends the contents of message to message_.
+  void AppendMessage(const Message& a_message) {
+    if (message_.get() == NULL)
+      message_.reset(new ::std::string);
+    message_->append(a_message.GetString().c_str());
+  }
+
+  // Swap the contents of this AssertionResult with other.
+  void swap(AssertionResult& other);
+
+  // Stores result of the assertion predicate.
+  bool success_;
+  // Stores the message describing the condition in case the expectation
+  // construct is not satisfied with the predicate's outcome.
+  // Referenced via a pointer to avoid taking too much stack frame space
+  // with test assertions.
+  internal::scoped_ptr< ::std::string> message_;
+};
+
+// Makes a successful assertion result.
+GTEST_API_ AssertionResult AssertionSuccess();
+
+// Makes a failed assertion result.
+GTEST_API_ AssertionResult AssertionFailure();
+
+// Makes a failed assertion result with the given failure message.
+// Deprecated; use AssertionFailure() << msg.
+GTEST_API_ AssertionResult AssertionFailure(const Message& msg);
+
+// The abstract class that all tests inherit from.
+//
+// In Google Test, a unit test program contains one or many TestCases, and
+// each TestCase contains one or many Tests.
+//
+// When you define a test using the TEST macro, you don't need to
+// explicitly derive from Test - the TEST macro automatically does
+// this for you.
+//
+// The only time you derive from Test is when defining a test fixture
+// to be used a TEST_F.  For example:
+//
+//   class FooTest : public testing::Test {
+//    protected:
+//     void SetUp() override { ... }
+//     void TearDown() override { ... }
+//     ...
+//   };
+//
+//   TEST_F(FooTest, Bar) { ... }
+//   TEST_F(FooTest, Baz) { ... }
+//
+// Test is not copyable.
+class GTEST_API_ Test {
+ public:
+  friend class TestInfo;
+
+  // Defines types for pointers to functions that set up and tear down
+  // a test case.
+  typedef internal::SetUpTestCaseFunc SetUpTestCaseFunc;
+  typedef internal::TearDownTestCaseFunc TearDownTestCaseFunc;
+
+  // The d'tor is virtual as we intend to inherit from Test.
+  virtual ~Test();
+
+  // Sets up the stuff shared by all tests in this test case.
+  //
+  // Google Test will call Foo::SetUpTestCase() before running the first
+  // test in test case Foo.  Hence a sub-class can define its own
+  // SetUpTestCase() method to shadow the one defined in the super
+  // class.
+  static void SetUpTestCase() {}
+
+  // Tears down the stuff shared by all tests in this test case.
+  //
+  // Google Test will call Foo::TearDownTestCase() after running the last
+  // test in test case Foo.  Hence a sub-class can define its own
+  // TearDownTestCase() method to shadow the one defined in the super
+  // class.
+  static void TearDownTestCase() {}
+
+  // Returns true iff the current test has a fatal failure.
+  static bool HasFatalFailure();
+
+  // Returns true iff the current test has a non-fatal failure.
+  static bool HasNonfatalFailure();
+
+  // Returns true iff the current test has a (either fatal or
+  // non-fatal) failure.
+  static bool HasFailure() { return HasFatalFailure() || HasNonfatalFailure(); }
+
+  // Logs a property for the current test, test case, or for the entire
+  // invocation of the test program when used outside of the context of a
+  // test case.  Only the last value for a given key is remembered.  These
+  // are public static so they can be called from utility functions that are
+  // not members of the test fixture.  Calls to RecordProperty made during
+  // lifespan of the test (from the moment its constructor starts to the
+  // moment its destructor finishes) will be output in XML as attributes of
+  // the <testcase> element.  Properties recorded from fixture's
+  // SetUpTestCase or TearDownTestCase are logged as attributes of the
+  // corresponding <testsuite> element.  Calls to RecordProperty made in the
+  // global context (before or after invocation of RUN_ALL_TESTS and from
+  // SetUp/TearDown method of Environment objects registered with Google
+  // Test) will be output as attributes of the <testsuites> element.
+  static void RecordProperty(const std::string& key, const std::string& value);
+  static void RecordProperty(const std::string& key, int value);
+
+ protected:
+  // Creates a Test object.
+  Test();
+
+  // Sets up the test fixture.
+  virtual void SetUp();
+
+  // Tears down the test fixture.
+  virtual void TearDown();
+
+ private:
+  // Returns true iff the current test has the same fixture class as
+  // the first test in the current test case.
+  static bool HasSameFixtureClass();
+
+  // Runs the test after the test fixture has been set up.
+  //
+  // A sub-class must implement this to define the test logic.
+  //
+  // DO NOT OVERRIDE THIS FUNCTION DIRECTLY IN A USER PROGRAM.
+  // Instead, use the TEST or TEST_F macro.
+  virtual void TestBody() = 0;
+
+  // Sets up, executes, and tears down the test.
+  void Run();
+
+  // Deletes self.  We deliberately pick an unusual name for this
+  // internal method to avoid clashing with names used in user TESTs.
+  void DeleteSelf_() { delete this; }
+
+  const internal::scoped_ptr< GTEST_FLAG_SAVER_ > gtest_flag_saver_;
+
+  // Often a user misspells SetUp() as Setup() and spends a long time
+  // wondering why it is never called by Google Test.  The declaration of
+  // the following method is solely for catching such an error at
+  // compile time:
+  //
+  //   - The return type is deliberately chosen to be not void, so it
+  //   will be a conflict if void Setup() is declared in the user's
+  //   test fixture.
+  //
+  //   - This method is private, so it will be another compiler error
+  //   if the method is called from the user's test fixture.
+  //
+  // DO NOT OVERRIDE THIS FUNCTION.
+  //
+  // If you see an error about overriding the following function or
+  // about it being private, you have mis-spelled SetUp() as Setup().
+  struct Setup_should_be_spelled_SetUp {};
+  virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
+
+  // We disallow copying Tests.
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(Test);
+};
+
+typedef internal::TimeInMillis TimeInMillis;
+
+// A copyable object representing a user specified test property which can be
+// output as a key/value string pair.
+//
+// Don't inherit from TestProperty as its destructor is not virtual.
+class TestProperty {
+ public:
+  // C'tor.  TestProperty does NOT have a default constructor.
+  // Always use this constructor (with parameters) to create a
+  // TestProperty object.
+  TestProperty(const std::string& a_key, const std::string& a_value) :
+    key_(a_key), value_(a_value) {
+  }
+
+  // Gets the user supplied key.
+  const char* key() const {
+    return key_.c_str();
+  }
+
+  // Gets the user supplied value.
+  const char* value() const {
+    return value_.c_str();
+  }
+
+  // Sets a new value, overriding the one supplied in the constructor.
+  void SetValue(const std::string& new_value) {
+    value_ = new_value;
+  }
+
+ private:
+  // The key supplied by the user.
+  std::string key_;
+  // The value supplied by the user.
+  std::string value_;
+};
+
+// The result of a single Test.  This includes a list of
+// TestPartResults, a list of TestProperties, a count of how many
+// death tests there are in the Test, and how much time it took to run
+// the Test.
+//
+// TestResult is not copyable.
+class GTEST_API_ TestResult {
+ public:
+  // Creates an empty TestResult.
+  TestResult();
+
+  // D'tor.  Do not inherit from TestResult.
+  ~TestResult();
+
+  // Gets the number of all test parts.  This is the sum of the number
+  // of successful test parts and the number of failed test parts.
+  int total_part_count() const;
+
+  // Returns the number of the test properties.
+  int test_property_count() const;
+
+  // Returns true iff the test passed (i.e. no test part failed).
+  bool Passed() const { return !Failed(); }
+
+  // Returns true iff the test failed.
+  bool Failed() const;
+
+  // Returns true iff the test fatally failed.
+  bool HasFatalFailure() const;
+
+  // Returns true iff the test has a non-fatal failure.
+  bool HasNonfatalFailure() const;
+
+  // Returns the elapsed time, in milliseconds.
+  TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+  // Returns the i-th test part result among all the results. i can range
+  // from 0 to test_property_count() - 1. If i is not in that range, aborts
+  // the program.
+  const TestPartResult& GetTestPartResult(int i) const;
+
+  // Returns the i-th test property. i can range from 0 to
+  // test_property_count() - 1. If i is not in that range, aborts the
+  // program.
+  const TestProperty& GetTestProperty(int i) const;
+
+ private:
+  friend class TestInfo;
+  friend class TestCase;
+  friend class UnitTest;
+  friend class internal::DefaultGlobalTestPartResultReporter;
+  friend class internal::ExecDeathTest;
+  friend class internal::TestResultAccessor;
+  friend class internal::UnitTestImpl;
+  friend class internal::WindowsDeathTest;
+
+  // Gets the vector of TestPartResults.
+  const std::vector<TestPartResult>& test_part_results() const {
+    return test_part_results_;
+  }
+
+  // Gets the vector of TestProperties.
+  const std::vector<TestProperty>& test_properties() const {
+    return test_properties_;
+  }
+
+  // Sets the elapsed time.
+  void set_elapsed_time(TimeInMillis elapsed) { elapsed_time_ = elapsed; }
+
+  // Adds a test property to the list. The property is validated and may add
+  // a non-fatal failure if invalid (e.g., if it conflicts with reserved
+  // key names). If a property is already recorded for the same key, the
+  // value will be updated, rather than storing multiple values for the same
+  // key.  xml_element specifies the element for which the property is being
+  // recorded and is used for validation.
+  void RecordProperty(const std::string& xml_element,
+                      const TestProperty& test_property);
+
+  // Adds a failure if the key is a reserved attribute of Google Test
+  // testcase tags.  Returns true if the property is valid.
+  // TODO(russr): Validate attribute names are legal and human readable.
+  static bool ValidateTestProperty(const std::string& xml_element,
+                                   const TestProperty& test_property);
+
+  // Adds a test part result to the list.
+  void AddTestPartResult(const TestPartResult& test_part_result);
+
+  // Returns the death test count.
+  int death_test_count() const { return death_test_count_; }
+
+  // Increments the death test count, returning the new count.
+  int increment_death_test_count() { return ++death_test_count_; }
+
+  // Clears the test part results.
+  void ClearTestPartResults();
+
+  // Clears the object.
+  void Clear();
+
+  // Protects mutable state of the property vector and of owned
+  // properties, whose values may be updated.
+  internal::Mutex test_properites_mutex_;
+
+  // The vector of TestPartResults
+  std::vector<TestPartResult> test_part_results_;
+  // The vector of TestProperties
+  std::vector<TestProperty> test_properties_;
+  // Running count of death tests.
+  int death_test_count_;
+  // The elapsed time, in milliseconds.
+  TimeInMillis elapsed_time_;
+
+  // We disallow copying TestResult.
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestResult);
+};  // class TestResult
+
+// A TestInfo object stores the following information about a test:
+//
+//   Test case name
+//   Test name
+//   Whether the test should be run
+//   A function pointer that creates the test object when invoked
+//   Test result
+//
+// The constructor of TestInfo registers itself with the UnitTest
+// singleton such that the RUN_ALL_TESTS() macro knows which tests to
+// run.
+class GTEST_API_ TestInfo {
+ public:
+  // Destructs a TestInfo object.  This function is not virtual, so
+  // don't inherit from TestInfo.
+  ~TestInfo();
+
+  // Returns the test case name.
+  const char* test_case_name() const { return test_case_name_.c_str(); }
+
+  // Returns the test name.
+  const char* name() const { return name_.c_str(); }
+
+  // Returns the name of the parameter type, or NULL if this is not a typed
+  // or a type-parameterized test.
+  const char* type_param() const {
+    if (type_param_.get() != NULL)
+      return type_param_->c_str();
+    return NULL;
+  }
+
+  // Returns the text representation of the value parameter, or NULL if this
+  // is not a value-parameterized test.
+  const char* value_param() const {
+    if (value_param_.get() != NULL)
+      return value_param_->c_str();
+    return NULL;
+  }
+
+  // Returns the file name where this test is defined.
+  const char* file() const { return location_.file.c_str(); }
+
+  // Returns the line where this test is defined.
+  int line() const { return location_.line; }
+
+  // Returns true if this test should run, that is if the test is not
+  // disabled (or it is disabled but the also_run_disabled_tests flag has
+  // been specified) and its full name matches the user-specified filter.
+  //
+  // Google Test allows the user to filter the tests by their full names.
+  // The full name of a test Bar in test case Foo is defined as
+  // "Foo.Bar".  Only the tests that match the filter will run.
+  //
+  // A filter is a colon-separated list of glob (not regex) patterns,
+  // optionally followed by a '-' and a colon-separated list of
+  // negative patterns (tests to exclude).  A test is run if it
+  // matches one of the positive patterns and does not match any of
+  // the negative patterns.
+  //
+  // For example, *A*:Foo.* is a filter that matches any string that
+  // contains the character 'A' or starts with "Foo.".
+  bool should_run() const { return should_run_; }
+
+  // Returns true iff this test will appear in the XML report.
+  bool is_reportable() const {
+    // For now, the XML report includes all tests matching the filter.
+    // In the future, we may trim tests that are excluded because of
+    // sharding.
+    return matches_filter_;
+  }
+
+  // Returns the result of the test.
+  const TestResult* result() const { return &result_; }
+
+ private:
+#if GTEST_HAS_DEATH_TEST
+  friend class internal::DefaultDeathTestFactory;
+#endif  // GTEST_HAS_DEATH_TEST
+  friend class Test;
+  friend class TestCase;
+  friend class internal::UnitTestImpl;
+  friend class internal::StreamingListenerTest;
+  friend TestInfo* internal::MakeAndRegisterTestInfo(
+      const char* test_case_name,
+      const char* name,
+      const char* type_param,
+      const char* value_param,
+      internal::CodeLocation code_location,
+      internal::TypeId fixture_class_id,
+      Test::SetUpTestCaseFunc set_up_tc,
+      Test::TearDownTestCaseFunc tear_down_tc,
+      internal::TestFactoryBase* factory);
+
+  // Constructs a TestInfo object. The newly constructed instance assumes
+  // ownership of the factory object.
+  TestInfo(const std::string& test_case_name,
+           const std::string& name,
+           const char* a_type_param,   // NULL if not a type-parameterized test
+           const char* a_value_param,  // NULL if not a value-parameterized test
+           internal::CodeLocation a_code_location,
+           internal::TypeId fixture_class_id,
+           internal::TestFactoryBase* factory);
+
+  // Increments the number of death tests encountered in this test so
+  // far.
+  int increment_death_test_count() {
+    return result_.increment_death_test_count();
+  }
+
+  // Creates the test object, runs it, records its result, and then
+  // deletes it.
+  void Run();
+
+  static void ClearTestResult(TestInfo* test_info) {
+    test_info->result_.Clear();
+  }
+
+  // These fields are immutable properties of the test.
+  const std::string test_case_name_;     // Test case name
+  const std::string name_;               // Test name
+  // Name of the parameter type, or NULL if this is not a typed or a
+  // type-parameterized test.
+  const internal::scoped_ptr<const ::std::string> type_param_;
+  // Text representation of the value parameter, or NULL if this is not a
+  // value-parameterized test.
+  const internal::scoped_ptr<const ::std::string> value_param_;
+  internal::CodeLocation location_;
+  const internal::TypeId fixture_class_id_;   // ID of the test fixture class
+  bool should_run_;                 // True iff this test should run
+  bool is_disabled_;                // True iff this test is disabled
+  bool matches_filter_;             // True if this test matches the
+                                    // user-specified filter.
+  internal::TestFactoryBase* const factory_;  // The factory that creates
+                                              // the test object
+
+  // This field is mutable and needs to be reset before running the
+  // test for the second time.
+  TestResult result_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestInfo);
+};
+
+// A test case, which consists of a vector of TestInfos.
+//
+// TestCase is not copyable.
+class GTEST_API_ TestCase {
+ public:
+  // Creates a TestCase with the given name.
+  //
+  // TestCase does NOT have a default constructor.  Always use this
+  // constructor to create a TestCase object.
+  //
+  // Arguments:
+  //
+  //   name:         name of the test case
+  //   a_type_param: the name of the test's type parameter, or NULL if
+  //                 this is not a type-parameterized test.
+  //   set_up_tc:    pointer to the function that sets up the test case
+  //   tear_down_tc: pointer to the function that tears down the test case
+  TestCase(const char* name, const char* a_type_param,
+           Test::SetUpTestCaseFunc set_up_tc,
+           Test::TearDownTestCaseFunc tear_down_tc);
+
+  // Destructor of TestCase.
+  virtual ~TestCase();
+
+  // Gets the name of the TestCase.
+  const char* name() const { return name_.c_str(); }
+
+  // Returns the name of the parameter type, or NULL if this is not a
+  // type-parameterized test case.
+  const char* type_param() const {
+    if (type_param_.get() != NULL)
+      return type_param_->c_str();
+    return NULL;
+  }
+
+  // Returns true if any test in this test case should run.
+  bool should_run() const { return should_run_; }
+
+  // Gets the number of successful tests in this test case.
+  int successful_test_count() const;
+
+  // Gets the number of failed tests in this test case.
+  int failed_test_count() const;
+
+  // Gets the number of disabled tests that will be reported in the XML report.
+  int reportable_disabled_test_count() const;
+
+  // Gets the number of disabled tests in this test case.
+  int disabled_test_count() const;
+
+  // Gets the number of tests to be printed in the XML report.
+  int reportable_test_count() const;
+
+  // Get the number of tests in this test case that should run.
+  int test_to_run_count() const;
+
+  // Gets the number of all tests in this test case.
+  int total_test_count() const;
+
+  // Returns true iff the test case passed.
+  bool Passed() const { return !Failed(); }
+
+  // Returns true iff the test case failed.
+  bool Failed() const { return failed_test_count() > 0; }
+
+  // Returns the elapsed time, in milliseconds.
+  TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+  // Returns the i-th test among all the tests. i can range from 0 to
+  // total_test_count() - 1. If i is not in that range, returns NULL.
+  const TestInfo* GetTestInfo(int i) const;
+
+  // Returns the TestResult that holds test properties recorded during
+  // execution of SetUpTestCase and TearDownTestCase.
+  const TestResult& ad_hoc_test_result() const { return ad_hoc_test_result_; }
+
+ private:
+  friend class Test;
+  friend class internal::UnitTestImpl;
+
+  // Gets the (mutable) vector of TestInfos in this TestCase.
+  std::vector<TestInfo*>& test_info_list() { return test_info_list_; }
+
+  // Gets the (immutable) vector of TestInfos in this TestCase.
+  const std::vector<TestInfo*>& test_info_list() const {
+    return test_info_list_;
+  }
+
+  // Returns the i-th test among all the tests. i can range from 0 to
+  // total_test_count() - 1. If i is not in that range, returns NULL.
+  TestInfo* GetMutableTestInfo(int i);
+
+  // Sets the should_run member.
+  void set_should_run(bool should) { should_run_ = should; }
+
+  // Adds a TestInfo to this test case.  Will delete the TestInfo upon
+  // destruction of the TestCase object.
+  void AddTestInfo(TestInfo * test_info);
+
+  // Clears the results of all tests in this test case.
+  void ClearResult();
+
+  // Clears the results of all tests in the given test case.
+  static void ClearTestCaseResult(TestCase* test_case) {
+    test_case->ClearResult();
+  }
+
+  // Runs every test in this TestCase.
+  void Run();
+
+  // Runs SetUpTestCase() for this TestCase.  This wrapper is needed
+  // for catching exceptions thrown from SetUpTestCase().
+  void RunSetUpTestCase() { (*set_up_tc_)(); }
+
+  // Runs TearDownTestCase() for this TestCase.  This wrapper is
+  // needed for catching exceptions thrown from TearDownTestCase().
+  void RunTearDownTestCase() { (*tear_down_tc_)(); }
+
+  // Returns true iff test passed.
+  static bool TestPassed(const TestInfo* test_info) {
+    return test_info->should_run() && test_info->result()->Passed();
+  }
+
+  // Returns true iff test failed.
+  static bool TestFailed(const TestInfo* test_info) {
+    return test_info->should_run() && test_info->result()->Failed();
+  }
+
+  // Returns true iff the test is disabled and will be reported in the XML
+  // report.
+  static bool TestReportableDisabled(const TestInfo* test_info) {
+    return test_info->is_reportable() && test_info->is_disabled_;
+  }
+
+  // Returns true iff test is disabled.
+  static bool TestDisabled(const TestInfo* test_info) {
+    return test_info->is_disabled_;
+  }
+
+  // Returns true iff this test will appear in the XML report.
+  static bool TestReportable(const TestInfo* test_info) {
+    return test_info->is_reportable();
+  }
+
+  // Returns true if the given test should run.
+  static bool ShouldRunTest(const TestInfo* test_info) {
+    return test_info->should_run();
+  }
+
+  // Shuffles the tests in this test case.
+  void ShuffleTests(internal::Random* random);
+
+  // Restores the test order to before the first shuffle.
+  void UnshuffleTests();
+
+  // Name of the test case.
+  std::string name_;
+  // Name of the parameter type, or NULL if this is not a typed or a
+  // type-parameterized test.
+  const internal::scoped_ptr<const ::std::string> type_param_;
+  // The vector of TestInfos in their original order.  It owns the
+  // elements in the vector.
+  std::vector<TestInfo*> test_info_list_;
+  // Provides a level of indirection for the test list to allow easy
+  // shuffling and restoring the test order.  The i-th element in this
+  // vector is the index of the i-th test in the shuffled test list.
+  std::vector<int> test_indices_;
+  // Pointer to the function that sets up the test case.
+  Test::SetUpTestCaseFunc set_up_tc_;
+  // Pointer to the function that tears down the test case.
+  Test::TearDownTestCaseFunc tear_down_tc_;
+  // True iff any test in this test case should run.
+  bool should_run_;
+  // Elapsed time, in milliseconds.
+  TimeInMillis elapsed_time_;
+  // Holds test properties recorded during execution of SetUpTestCase and
+  // TearDownTestCase.
+  TestResult ad_hoc_test_result_;
+
+  // We disallow copying TestCases.
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestCase);
+};
+
+// An Environment object is capable of setting up and tearing down an
+// environment.  You should subclass this to define your own
+// environment(s).
+//
+// An Environment object does the set-up and tear-down in virtual
+// methods SetUp() and TearDown() instead of the constructor and the
+// destructor, as:
+//
+//   1. You cannot safely throw from a destructor.  This is a problem
+//      as in some cases Google Test is used where exceptions are enabled, and
+//      we may want to implement ASSERT_* using exceptions where they are
+//      available.
+//   2. You cannot use ASSERT_* directly in a constructor or
+//      destructor.
+class Environment {
+ public:
+  // The d'tor is virtual as we need to subclass Environment.
+  virtual ~Environment() {}
+
+  // Override this to define how to set up the environment.
+  virtual void SetUp() {}
+
+  // Override this to define how to tear down the environment.
+  virtual void TearDown() {}
+ private:
+  // If you see an error about overriding the following function or
+  // about it being private, you have mis-spelled SetUp() as Setup().
+  struct Setup_should_be_spelled_SetUp {};
+  virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
+};
+
+// The interface for tracing execution of tests. The methods are organized in
+// the order the corresponding events are fired.
+class TestEventListener {
+ public:
+  virtual ~TestEventListener() {}
+
+  // Fired before any test activity starts.
+  virtual void OnTestProgramStart(const UnitTest& unit_test) = 0;
+
+  // Fired before each iteration of tests starts.  There may be more than
+  // one iteration if GTEST_FLAG(repeat) is set. iteration is the iteration
+  // index, starting from 0.
+  virtual void OnTestIterationStart(const UnitTest& unit_test,
+                                    int iteration) = 0;
+
+  // Fired before environment set-up for each iteration of tests starts.
+  virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test) = 0;
+
+  // Fired after environment set-up for each iteration of tests ends.
+  virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test) = 0;
+
+  // Fired before the test case starts.
+  virtual void OnTestCaseStart(const TestCase& test_case) = 0;
+
+  // Fired before the test starts.
+  virtual void OnTestStart(const TestInfo& test_info) = 0;
+
+  // Fired after a failed assertion or a SUCCEED() invocation.
+  virtual void OnTestPartResult(const TestPartResult& test_part_result) = 0;
+
+  // Fired after the test ends.
+  virtual void OnTestEnd(const TestInfo& test_info) = 0;
+
+  // Fired after the test case ends.
+  virtual void OnTestCaseEnd(const TestCase& test_case) = 0;
+
+  // Fired before environment tear-down for each iteration of tests starts.
+  virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test) = 0;
+
+  // Fired after environment tear-down for each iteration of tests ends.
+  virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test) = 0;
+
+  // Fired after each iteration of tests finishes.
+  virtual void OnTestIterationEnd(const UnitTest& unit_test,
+                                  int iteration) = 0;
+
+  // Fired after all test activities have ended.
+  virtual void OnTestProgramEnd(const UnitTest& unit_test) = 0;
+};
+
+// The convenience class for users who need to override just one or two
+// methods and are not concerned that a possible change to a signature of
+// the methods they override will not be caught during the build.  For
+// comments about each method please see the definition of TestEventListener
+// above.
+class EmptyTestEventListener : public TestEventListener {
+ public:
+  virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
+  virtual void OnTestIterationStart(const UnitTest& /*unit_test*/,
+                                    int /*iteration*/) {}
+  virtual void OnEnvironmentsSetUpStart(const UnitTest& /*unit_test*/) {}
+  virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
+  virtual void OnTestCaseStart(const TestCase& /*test_case*/) {}
+  virtual void OnTestStart(const TestInfo& /*test_info*/) {}
+  virtual void OnTestPartResult(const TestPartResult& /*test_part_result*/) {}
+  virtual void OnTestEnd(const TestInfo& /*test_info*/) {}
+  virtual void OnTestCaseEnd(const TestCase& /*test_case*/) {}
+  virtual void OnEnvironmentsTearDownStart(const UnitTest& /*unit_test*/) {}
+  virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
+  virtual void OnTestIterationEnd(const UnitTest& /*unit_test*/,
+                                  int /*iteration*/) {}
+  virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
+};
+
+// TestEventListeners lets users add listeners to track events in Google Test.
+class GTEST_API_ TestEventListeners {
+ public:
+  TestEventListeners();
+  ~TestEventListeners();
+
+  // Appends an event listener to the end of the list. Google Test assumes
+  // the ownership of the listener (i.e. it will delete the listener when
+  // the test program finishes).
+  void Append(TestEventListener* listener);
+
+  // Removes the given event listener from the list and returns it.  It then
+  // becomes the caller's responsibility to delete the listener. Returns
+  // NULL if the listener is not found in the list.
+  TestEventListener* Release(TestEventListener* listener);
+
+  // Returns the standard listener responsible for the default console
+  // output.  Can be removed from the listeners list to shut down default
+  // console output.  Note that removing this object from the listener list
+  // with Release transfers its ownership to the caller and makes this
+  // function return NULL the next time.
+  TestEventListener* default_result_printer() const {
+    return default_result_printer_;
+  }
+
+  // Returns the standard listener responsible for the default XML output
+  // controlled by the --gtest_output=xml flag.  Can be removed from the
+  // listeners list by users who want to shut down the default XML output
+  // controlled by this flag and substitute it with custom one.  Note that
+  // removing this object from the listener list with Release transfers its
+  // ownership to the caller and makes this function return NULL the next
+  // time.
+  TestEventListener* default_xml_generator() const {
+    return default_xml_generator_;
+  }
+
+ private:
+  friend class TestCase;
+  friend class TestInfo;
+  friend class internal::DefaultGlobalTestPartResultReporter;
+  friend class internal::NoExecDeathTest;
+  friend class internal::TestEventListenersAccessor;
+  friend class internal::UnitTestImpl;
+
+  // Returns repeater that broadcasts the TestEventListener events to all
+  // subscribers.
+  TestEventListener* repeater();
+
+  // Sets the default_result_printer attribute to the provided listener.
+  // The listener is also added to the listener list and previous
+  // default_result_printer is removed from it and deleted. The listener can
+  // also be NULL in which case it will not be added to the list. Does
+  // nothing if the previous and the current listener objects are the same.
+  void SetDefaultResultPrinter(TestEventListener* listener);
+
+  // Sets the default_xml_generator attribute to the provided listener.  The
+  // listener is also added to the listener list and previous
+  // default_xml_generator is removed from it and deleted. The listener can
+  // also be NULL in which case it will not be added to the list. Does
+  // nothing if the previous and the current listener objects are the same.
+  void SetDefaultXmlGenerator(TestEventListener* listener);
+
+  // Controls whether events will be forwarded by the repeater to the
+  // listeners in the list.
+  bool EventForwardingEnabled() const;
+  void SuppressEventForwarding();
+
+  // The actual list of listeners.
+  internal::TestEventRepeater* repeater_;
+  // Listener responsible for the standard result output.
+  TestEventListener* default_result_printer_;
+  // Listener responsible for the creation of the XML output file.
+  TestEventListener* default_xml_generator_;
+
+  // We disallow copying TestEventListeners.
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventListeners);
+};
+
+// A UnitTest consists of a vector of TestCases.
+//
+// This is a singleton class.  The only instance of UnitTest is
+// created when UnitTest::GetInstance() is first called.  This
+// instance is never deleted.
+//
+// UnitTest is not copyable.
+//
+// This class is thread-safe as long as the methods are called
+// according to their specification.
+class GTEST_API_ UnitTest {
+ public:
+  // Gets the singleton UnitTest object.  The first time this method
+  // is called, a UnitTest object is constructed and returned.
+  // Consecutive calls will return the same object.
+  static UnitTest* GetInstance();
+
+  // Runs all tests in this UnitTest object and prints the result.
+  // Returns 0 if successful, or 1 otherwise.
+  //
+  // This method can only be called from the main thread.
+  //
+  // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+  int Run() GTEST_MUST_USE_RESULT_;
+
+  // Returns the working directory when the first TEST() or TEST_F()
+  // was executed.  The UnitTest object owns the string.
+  const char* original_working_dir() const;
+
+  // Returns the TestCase object for the test that's currently running,
+  // or NULL if no test is running.
+  const TestCase* current_test_case() const
+      GTEST_LOCK_EXCLUDED_(mutex_);
+
+  // Returns the TestInfo object for the test that's currently running,
+  // or NULL if no test is running.
+  const TestInfo* current_test_info() const
+      GTEST_LOCK_EXCLUDED_(mutex_);
+
+  // Returns the random seed used at the start of the current test run.
+  int random_seed() const;
+
+#if GTEST_HAS_PARAM_TEST
+  // Returns the ParameterizedTestCaseRegistry object used to keep track of
+  // value-parameterized tests and instantiate and register them.
+  //
+  // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+  internal::ParameterizedTestCaseRegistry& parameterized_test_registry()
+      GTEST_LOCK_EXCLUDED_(mutex_);
+#endif  // GTEST_HAS_PARAM_TEST
+
+  // Gets the number of successful test cases.
+  int successful_test_case_count() const;
+
+  // Gets the number of failed test cases.
+  int failed_test_case_count() const;
+
+  // Gets the number of all test cases.
+  int total_test_case_count() const;
+
+  // Gets the number of all test cases that contain at least one test
+  // that should run.
+  int test_case_to_run_count() const;
+
+  // Gets the number of successful tests.
+  int successful_test_count() const;
+
+  // Gets the number of failed tests.
+  int failed_test_count() const;
+
+  // Gets the number of disabled tests that will be reported in the XML report.
+  int reportable_disabled_test_count() const;
+
+  // Gets the number of disabled tests.
+  int disabled_test_count() const;
+
+  // Gets the number of tests to be printed in the XML report.
+  int reportable_test_count() const;
+
+  // Gets the number of all tests.
+  int total_test_count() const;
+
+  // Gets the number of tests that should run.
+  int test_to_run_count() const;
+
+  // Gets the time of the test program start, in ms from the start of the
+  // UNIX epoch.
+  TimeInMillis start_timestamp() const;
+
+  // Gets the elapsed time, in milliseconds.
+  TimeInMillis elapsed_time() const;
+
+  // Returns true iff the unit test passed (i.e. all test cases passed).
+  bool Passed() const;
+
+  // Returns true iff the unit test failed (i.e. some test case failed
+  // or something outside of all tests failed).
+  bool Failed() const;
+
+  // Gets the i-th test case among all the test cases. i can range from 0 to
+  // total_test_case_count() - 1. If i is not in that range, returns NULL.
+  const TestCase* GetTestCase(int i) const;
+
+  // Returns the TestResult containing information on test failures and
+  // properties logged outside of individual test cases.
+  const TestResult& ad_hoc_test_result() const;
+
+  // Returns the list of event listeners that can be used to track events
+  // inside Google Test.
+  TestEventListeners& listeners();
+
+ private:
+  // Registers and returns a global test environment.  When a test
+  // program is run, all global test environments will be set-up in
+  // the order they were registered.  After all tests in the program
+  // have finished, all global test environments will be torn-down in
+  // the *reverse* order they were registered.
+  //
+  // The UnitTest object takes ownership of the given environment.
+  //
+  // This method can only be called from the main thread.
+  Environment* AddEnvironment(Environment* env);
+
+  // Adds a TestPartResult to the current TestResult object.  All
+  // Google Test assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc)
+  // eventually call this to report their results.  The user code
+  // should use the assertion macros instead of calling this directly.
+  void AddTestPartResult(TestPartResult::Type result_type,
+                         const char* file_name,
+                         int line_number,
+                         const std::string& message,
+                         const std::string& os_stack_trace)
+      GTEST_LOCK_EXCLUDED_(mutex_);
+
+  // Adds a TestProperty to the current TestResult object when invoked from
+  // inside a test, to current TestCase's ad_hoc_test_result_ when invoked
+  // from SetUpTestCase or TearDownTestCase, or to the global property set
+  // when invoked elsewhere.  If the result already contains a property with
+  // the same key, the value will be updated.
+  void RecordProperty(const std::string& key, const std::string& value);
+
+  // Gets the i-th test case among all the test cases. i can range from 0 to
+  // total_test_case_count() - 1. If i is not in that range, returns NULL.
+  TestCase* GetMutableTestCase(int i);
+
+  // Accessors for the implementation object.
+  internal::UnitTestImpl* impl() { return impl_; }
+  const internal::UnitTestImpl* impl() const { return impl_; }
+
+  // These classes and funcions are friends as they need to access private
+  // members of UnitTest.
+  friend class Test;
+  friend class internal::AssertHelper;
+  friend class internal::ScopedTrace;
+  friend class internal::StreamingListenerTest;
+  friend class internal::UnitTestRecordPropertyTestHelper;
+  friend Environment* AddGlobalTestEnvironment(Environment* env);
+  friend internal::UnitTestImpl* internal::GetUnitTestImpl();
+  friend void internal::ReportFailureInUnknownLocation(
+      TestPartResult::Type result_type,
+      const std::string& message);
+
+  // Creates an empty UnitTest.
+  UnitTest();
+
+  // D'tor
+  virtual ~UnitTest();
+
+  // Pushes a trace defined by SCOPED_TRACE() on to the per-thread
+  // Google Test trace stack.
+  void PushGTestTrace(const internal::TraceInfo& trace)
+      GTEST_LOCK_EXCLUDED_(mutex_);
+
+  // Pops a trace from the per-thread Google Test trace stack.
+  void PopGTestTrace()
+      GTEST_LOCK_EXCLUDED_(mutex_);
+
+  // Protects mutable state in *impl_.  This is mutable as some const
+  // methods need to lock it too.
+  mutable internal::Mutex mutex_;
+
+  // Opaque implementation object.  This field is never changed once
+  // the object is constructed.  We don't mark it as const here, as
+  // doing so will cause a warning in the constructor of UnitTest.
+  // Mutable state in *impl_ is protected by mutex_.
+  internal::UnitTestImpl* impl_;
+
+  // We disallow copying UnitTest.
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTest);
+};
+
+// A convenient wrapper for adding an environment for the test
+// program.
+//
+// You should call this before RUN_ALL_TESTS() is called, probably in
+// main().  If you use gtest_main, you need to call this before main()
+// starts for it to take effect.  For example, you can define a global
+// variable like this:
+//
+//   testing::Environment* const foo_env =
+//       testing::AddGlobalTestEnvironment(new FooEnvironment);
+//
+// However, we strongly recommend you to write your own main() and
+// call AddGlobalTestEnvironment() there, as relying on initialization
+// of global variables makes the code harder to read and may cause
+// problems when you register multiple environments from different
+// translation units and the environments have dependencies among them
+// (remember that the compiler doesn't guarantee the order in which
+// global variables from different translation units are initialized).
+inline Environment* AddGlobalTestEnvironment(Environment* env) {
+  return UnitTest::GetInstance()->AddEnvironment(env);
+}
+
+// Initializes Google Test.  This must be called before calling
+// RUN_ALL_TESTS().  In particular, it parses a command line for the
+// flags that Google Test recognizes.  Whenever a Google Test flag is
+// seen, it is removed from argv, and *argc is decremented.
+//
+// No value is returned.  Instead, the Google Test flag variables are
+// updated.
+//
+// Calling the function for the second time has no user-visible effect.
+GTEST_API_ void InitGoogleTest(int* argc, char** argv);
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+GTEST_API_ void InitGoogleTest(int* argc, wchar_t** argv);
+
+namespace internal {
+
+// Separate the error generating code from the code path to reduce the stack
+// frame size of CmpHelperEQ. This helps reduce the overhead of some sanitizers
+// when calling EXPECT_* in a tight loop.
+template <typename T1, typename T2>
+AssertionResult CmpHelperEQFailure(const char* lhs_expression,
+                                   const char* rhs_expression,
+                                   const T1& lhs, const T2& rhs) {
+  return EqFailure(lhs_expression,
+                   rhs_expression,
+                   FormatForComparisonFailureMessage(lhs, rhs),
+                   FormatForComparisonFailureMessage(rhs, lhs),
+                   false);
+}
+
+// The helper function for {ASSERT|EXPECT}_EQ.
+template <typename T1, typename T2>
+AssertionResult CmpHelperEQ(const char* lhs_expression,
+                            const char* rhs_expression,
+                            const T1& lhs,
+                            const T2& rhs) {
+GTEST_DISABLE_MSC_WARNINGS_PUSH_(4389 /* signed/unsigned mismatch */)
+  if (lhs == rhs) {
+    return AssertionSuccess();
+  }
+GTEST_DISABLE_MSC_WARNINGS_POP_()
+
+  return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
+}
+
+// With this overloaded version, we allow anonymous enums to be used
+// in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous enums
+// can be implicitly cast to BiggestInt.
+GTEST_API_ AssertionResult CmpHelperEQ(const char* lhs_expression,
+                                       const char* rhs_expression,
+                                       BiggestInt lhs,
+                                       BiggestInt rhs);
+
+// The helper class for {ASSERT|EXPECT}_EQ.  The template argument
+// lhs_is_null_literal is true iff the first argument to ASSERT_EQ()
+// is a null pointer literal.  The following default implementation is
+// for lhs_is_null_literal being false.
+template <bool lhs_is_null_literal>
+class EqHelper {
+ public:
+  // This templatized version is for the general case.
+  template <typename T1, typename T2>
+  static AssertionResult Compare(const char* lhs_expression,
+                                 const char* rhs_expression,
+                                 const T1& lhs,
+                                 const T2& rhs) {
+    return CmpHelperEQ(lhs_expression, rhs_expression, lhs, rhs);
+  }
+
+  // With this overloaded version, we allow anonymous enums to be used
+  // in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous
+  // enums can be implicitly cast to BiggestInt.
+  //
+  // Even though its body looks the same as the above version, we
+  // cannot merge the two, as it will make anonymous enums unhappy.
+  static AssertionResult Compare(const char* lhs_expression,
+                                 const char* rhs_expression,
+                                 BiggestInt lhs,
+                                 BiggestInt rhs) {
+    return CmpHelperEQ(lhs_expression, rhs_expression, lhs, rhs);
+  }
+};
+
+// This specialization is used when the first argument to ASSERT_EQ()
+// is a null pointer literal, like NULL, false, or 0.
+template <>
+class EqHelper<true> {
+ public:
+  // We define two overloaded versions of Compare().  The first
+  // version will be picked when the second argument to ASSERT_EQ() is
+  // NOT a pointer, e.g. ASSERT_EQ(0, AnIntFunction()) or
+  // EXPECT_EQ(false, a_bool).
+  template <typename T1, typename T2>
+  static AssertionResult Compare(
+      const char* lhs_expression,
+      const char* rhs_expression,
+      const T1& lhs,
+      const T2& rhs,
+      // The following line prevents this overload from being considered if T2
+      // is not a pointer type.  We need this because ASSERT_EQ(NULL, my_ptr)
+      // expands to Compare("", "", NULL, my_ptr), which requires a conversion
+      // to match the Secret* in the other overload, which would otherwise make
+      // this template match better.
+      typename EnableIf<!is_pointer<T2>::value>::type* = 0) {
+    return CmpHelperEQ(lhs_expression, rhs_expression, lhs, rhs);
+  }
+
+  // This version will be picked when the second argument to ASSERT_EQ() is a
+  // pointer, e.g. ASSERT_EQ(NULL, a_pointer).
+  template <typename T>
+  static AssertionResult Compare(
+      const char* lhs_expression,
+      const char* rhs_expression,
+      // We used to have a second template parameter instead of Secret*.  That
+      // template parameter would deduce to 'long', making this a better match
+      // than the first overload even without the first overload's EnableIf.
+      // Unfortunately, gcc with -Wconversion-null warns when "passing NULL to
+      // non-pointer argument" (even a deduced integral argument), so the old
+      // implementation caused warnings in user code.
+      Secret* /* lhs (NULL) */,
+      T* rhs) {
+    // We already know that 'lhs' is a null pointer.
+    return CmpHelperEQ(lhs_expression, rhs_expression,
+                       static_cast<T*>(NULL), rhs);
+  }
+};
+
+// Separate the error generating code from the code path to reduce the stack
+// frame size of CmpHelperOP. This helps reduce the overhead of some sanitizers
+// when calling EXPECT_OP in a tight loop.
+template <typename T1, typename T2>
+AssertionResult CmpHelperOpFailure(const char* expr1, const char* expr2,
+                                   const T1& val1, const T2& val2,
+                                   const char* op) {
+  return AssertionFailure()
+         << "Expected: (" << expr1 << ") " << op << " (" << expr2
+         << "), actual: " << FormatForComparisonFailureMessage(val1, val2)
+         << " vs " << FormatForComparisonFailureMessage(val2, val1);
+}
+
+// A macro for implementing the helper functions needed to implement
+// ASSERT_?? and EXPECT_??.  It is here just to avoid copy-and-paste
+// of similar code.
+//
+// For each templatized helper function, we also define an overloaded
+// version for BiggestInt in order to reduce code bloat and allow
+// anonymous enums to be used with {ASSERT|EXPECT}_?? when compiled
+// with gcc 4.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+
+#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
+template <typename T1, typename T2>\
+AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
+                                   const T1& val1, const T2& val2) {\
+  if (val1 op val2) {\
+    return AssertionSuccess();\
+  } else {\
+    return CmpHelperOpFailure(expr1, expr2, val1, val2, #op);\
+  }\
+}\
+GTEST_API_ AssertionResult CmpHelper##op_name(\
+    const char* expr1, const char* expr2, BiggestInt val1, BiggestInt val2)
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+
+// Implements the helper function for {ASSERT|EXPECT}_NE
+GTEST_IMPL_CMP_HELPER_(NE, !=);
+// Implements the helper function for {ASSERT|EXPECT}_LE
+GTEST_IMPL_CMP_HELPER_(LE, <=);
+// Implements the helper function for {ASSERT|EXPECT}_LT
+GTEST_IMPL_CMP_HELPER_(LT, <);
+// Implements the helper function for {ASSERT|EXPECT}_GE
+GTEST_IMPL_CMP_HELPER_(GE, >=);
+// Implements the helper function for {ASSERT|EXPECT}_GT
+GTEST_IMPL_CMP_HELPER_(GT, >);
+
+#undef GTEST_IMPL_CMP_HELPER_
+
+// The helper function for {ASSERT|EXPECT}_STREQ.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTREQ(const char* s1_expression,
+                                          const char* s2_expression,
+                                          const char* s1,
+                                          const char* s2);
+
+// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRCASEEQ(const char* s1_expression,
+                                              const char* s2_expression,
+                                              const char* s1,
+                                              const char* s2);
+
+// The helper function for {ASSERT|EXPECT}_STRNE.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
+                                          const char* s2_expression,
+                                          const char* s1,
+                                          const char* s2);
+
+// The helper function for {ASSERT|EXPECT}_STRCASENE.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
+                                              const char* s2_expression,
+                                              const char* s1,
+                                              const char* s2);
+
+
+// Helper function for *_STREQ on wide strings.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTREQ(const char* s1_expression,
+                                          const char* s2_expression,
+                                          const wchar_t* s1,
+                                          const wchar_t* s2);
+
+// Helper function for *_STRNE on wide strings.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
+                                          const char* s2_expression,
+                                          const wchar_t* s1,
+                                          const wchar_t* s2);
+
+}  // namespace internal
+
+// IsSubstring() and IsNotSubstring() are intended to be used as the
+// first argument to {EXPECT,ASSERT}_PRED_FORMAT2(), not by
+// themselves.  They check whether needle is a substring of haystack
+// (NULL is considered a substring of itself only), and return an
+// appropriate error message when they fail.
+//
+// The {needle,haystack}_expr arguments are the stringified
+// expressions that generated the two real arguments.
+GTEST_API_ AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const char* needle, const char* haystack);
+GTEST_API_ AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const wchar_t* needle, const wchar_t* haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const char* needle, const char* haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const wchar_t* needle, const wchar_t* haystack);
+GTEST_API_ AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::string& needle, const ::std::string& haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::string& needle, const ::std::string& haystack);
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_API_ AssertionResult IsSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::wstring& needle, const ::std::wstring& haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+    const char* needle_expr, const char* haystack_expr,
+    const ::std::wstring& needle, const ::std::wstring& haystack);
+#endif  // GTEST_HAS_STD_WSTRING
+
+namespace internal {
+
+// Helper template function for comparing floating-points.
+//
+// Template parameter:
+//
+//   RawType: the raw floating-point type (either float or double)
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+template <typename RawType>
+AssertionResult CmpHelperFloatingPointEQ(const char* lhs_expression,
+                                         const char* rhs_expression,
+                                         RawType lhs_value,
+                                         RawType rhs_value) {
+  const FloatingPoint<RawType> lhs(lhs_value), rhs(rhs_value);
+
+  if (lhs.AlmostEquals(rhs)) {
+    return AssertionSuccess();
+  }
+
+  ::std::stringstream lhs_ss;
+  lhs_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+         << lhs_value;
+
+  ::std::stringstream rhs_ss;
+  rhs_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+         << rhs_value;
+
+  return EqFailure(lhs_expression,
+                   rhs_expression,
+                   StringStreamToString(&lhs_ss),
+                   StringStreamToString(&rhs_ss),
+                   false);
+}
+
+// Helper function for implementing ASSERT_NEAR.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult DoubleNearPredFormat(const char* expr1,
+                                                const char* expr2,
+                                                const char* abs_error_expr,
+                                                double val1,
+                                                double val2,
+                                                double abs_error);
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+// A class that enables one to stream messages to assertion macros
+class GTEST_API_ AssertHelper {
+ public:
+  // Constructor.
+  AssertHelper(TestPartResult::Type type,
+               const char* file,
+               int line,
+               const char* message);
+  ~AssertHelper();
+
+  // Message assignment is a semantic trick to enable assertion
+  // streaming; see the GTEST_MESSAGE_ macro below.
+  void operator=(const Message& message) const;
+
+ private:
+  // We put our data in a struct so that the size of the AssertHelper class can
+  // be as small as possible.  This is important because gcc is incapable of
+  // re-using stack space even for temporary variables, so every EXPECT_EQ
+  // reserves stack space for another AssertHelper.
+  struct AssertHelperData {
+    AssertHelperData(TestPartResult::Type t,
+                     const char* srcfile,
+                     int line_num,
+                     const char* msg)
+        : type(t), file(srcfile), line(line_num), message(msg) { }
+
+    TestPartResult::Type const type;
+    const char* const file;
+    int const line;
+    std::string const message;
+
+   private:
+    GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelperData);
+  };
+
+  AssertHelperData* const data_;
+
+  GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelper);
+};
+
+}  // namespace internal
+
+#if GTEST_HAS_PARAM_TEST
+// The pure interface class that all value-parameterized tests inherit from.
+// A value-parameterized class must inherit from both ::testing::Test and
+// ::testing::WithParamInterface. In most cases that just means inheriting
+// from ::testing::TestWithParam, but more complicated test hierarchies
+// may need to inherit from Test and WithParamInterface at different levels.
+//
+// This interface has support for accessing the test parameter value via
+// the GetParam() method.
+//
+// Use it with one of the parameter generator defining functions, like Range(),
+// Values(), ValuesIn(), Bool(), and Combine().
+//
+// class FooTest : public ::testing::TestWithParam<int> {
+//  protected:
+//   FooTest() {
+//     // Can use GetParam() here.
+//   }
+//   virtual ~FooTest() {
+//     // Can use GetParam() here.
+//   }
+//   virtual void SetUp() {
+//     // Can use GetParam() here.
+//   }
+//   virtual void TearDown {
+//     // Can use GetParam() here.
+//   }
+// };
+// TEST_P(FooTest, DoesBar) {
+//   // Can use GetParam() method here.
+//   Foo foo;
+//   ASSERT_TRUE(foo.DoesBar(GetParam()));
+// }
+// INSTANTIATE_TEST_CASE_P(OneToTenRange, FooTest, ::testing::Range(1, 10));
+
+template <typename T>
+class WithParamInterface {
+ public:
+  typedef T ParamType;
+  virtual ~WithParamInterface() {}
+
+  // The current parameter value. Is also available in the test fixture's
+  // constructor. This member function is non-static, even though it only
+  // references static data, to reduce the opportunity for incorrect uses
+  // like writing 'WithParamInterface<bool>::GetParam()' for a test that
+  // uses a fixture whose parameter type is int.
+  const ParamType& GetParam() const {
+    GTEST_CHECK_(parameter_ != NULL)
+        << "GetParam() can only be called inside a value-parameterized test "
+        << "-- did you intend to write TEST_P instead of TEST_F?";
+    return *parameter_;
+  }
+
+ private:
+  // Sets parameter value. The caller is responsible for making sure the value
+  // remains alive and unchanged throughout the current test.
+  static void SetParam(const ParamType* parameter) {
+    parameter_ = parameter;
+  }
+
+  // Static value used for accessing parameter during a test lifetime.
+  static const ParamType* parameter_;
+
+  // TestClass must be a subclass of WithParamInterface<T> and Test.
+  template <class TestClass> friend class internal::ParameterizedTestFactory;
+};
+
+template <typename T>
+const T* WithParamInterface<T>::parameter_ = NULL;
+
+// Most value-parameterized classes can ignore the existence of
+// WithParamInterface, and can just inherit from ::testing::TestWithParam.
+
+template <typename T>
+class TestWithParam : public Test, public WithParamInterface<T> {
+};
+
+#endif  // GTEST_HAS_PARAM_TEST
+
+// Macros for indicating success/failure in test code.
+
+// ADD_FAILURE unconditionally adds a failure to the current test.
+// SUCCEED generates a success - it doesn't automatically make the
+// current test successful, as a test is only successful when it has
+// no failure.
+//
+// EXPECT_* verifies that a certain condition is satisfied.  If not,
+// it behaves like ADD_FAILURE.  In particular:
+//
+//   EXPECT_TRUE  verifies that a Boolean condition is true.
+//   EXPECT_FALSE verifies that a Boolean condition is false.
+//
+// FAIL and ASSERT_* are similar to ADD_FAILURE and EXPECT_*, except
+// that they will also abort the current function on failure.  People
+// usually want the fail-fast behavior of FAIL and ASSERT_*, but those
+// writing data-driven tests often find themselves using ADD_FAILURE
+// and EXPECT_* more.
+
+// Generates a nonfatal failure with a generic message.
+#define ADD_FAILURE() GTEST_NONFATAL_FAILURE_("Failed")
+
+// Generates a nonfatal failure at the given source file location with
+// a generic message.
+#define ADD_FAILURE_AT(file, line) \
+  GTEST_MESSAGE_AT_(file, line, "Failed", \
+                    ::testing::TestPartResult::kNonFatalFailure)
+
+// Generates a fatal failure with a generic message.
+#define GTEST_FAIL() GTEST_FATAL_FAILURE_("Failed")
+
+// Define this macro to 1 to omit the definition of FAIL(), which is a
+// generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_FAIL
+# define FAIL() GTEST_FAIL()
+#endif
+
+// Generates a success with a generic message.
+#define GTEST_SUCCEED() GTEST_SUCCESS_("Succeeded")
+
+// Define this macro to 1 to omit the definition of SUCCEED(), which
+// is a generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_SUCCEED
+# define SUCCEED() GTEST_SUCCEED()
+#endif
+
+// Macros for testing exceptions.
+//
+//    * {ASSERT|EXPECT}_THROW(statement, expected_exception):
+//         Tests that the statement throws the expected exception.
+//    * {ASSERT|EXPECT}_NO_THROW(statement):
+//         Tests that the statement doesn't throw any exception.
+//    * {ASSERT|EXPECT}_ANY_THROW(statement):
+//         Tests that the statement throws an exception.
+
+#define EXPECT_THROW(statement, expected_exception) \
+  GTEST_TEST_THROW_(statement, expected_exception, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_NO_THROW(statement) \
+  GTEST_TEST_NO_THROW_(statement, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_ANY_THROW(statement) \
+  GTEST_TEST_ANY_THROW_(statement, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_THROW(statement, expected_exception) \
+  GTEST_TEST_THROW_(statement, expected_exception, GTEST_FATAL_FAILURE_)
+#define ASSERT_NO_THROW(statement) \
+  GTEST_TEST_NO_THROW_(statement, GTEST_FATAL_FAILURE_)
+#define ASSERT_ANY_THROW(statement) \
+  GTEST_TEST_ANY_THROW_(statement, GTEST_FATAL_FAILURE_)
+
+// Boolean assertions. Condition can be either a Boolean expression or an
+// AssertionResult. For more information on how to use AssertionResult with
+// these macros see comments on that class.
+#define EXPECT_TRUE(condition) \
+  GTEST_TEST_BOOLEAN_((condition), #condition, false, true, \
+                      GTEST_NONFATAL_FAILURE_)
+#define EXPECT_FALSE(condition) \
+  GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
+                      GTEST_NONFATAL_FAILURE_)
+#define ASSERT_TRUE(condition) \
+  GTEST_TEST_BOOLEAN_((condition), #condition, false, true, \
+                      GTEST_FATAL_FAILURE_)
+#define ASSERT_FALSE(condition) \
+  GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
+                      GTEST_FATAL_FAILURE_)
+
+// Includes the auto-generated header that implements a family of
+// generic predicate assertion macros.
+// Copyright 2006, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+//     * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// This file is AUTOMATICALLY GENERATED on 10/31/2011 by command
+// 'gen_gtest_pred_impl.py 5'.  DO NOT EDIT BY HAND!
+//
+// Implements a family of generic predicate assertion macros.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+
+// Makes sure this header is not included before gtest.h.
+#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
+# error Do not include gtest_pred_impl.h directly.  Include gtest.h instead.
+#endif  // GTEST_INCLUDE_GTEST_GTEST_H_
+
+// This header implements a family of generic predicate assertion
+// macros:
+//
+//   ASSERT_PRED_FORMAT1(pred_format, v1)
+//   ASSERT_PRED_FORMAT2(pred_format, v1, v2)
+//   ...
+//
+// where pred_format is a function or functor that takes n (in the
+// case of ASSERT_PRED_FORMATn) values and their source expression
+// text, and returns a testing::AssertionResult.  See the definition
+// of ASSERT_EQ in gtest.h for an example.
+//
+// If you don't care about formatting, you can use the more
+// restrictive version:
+//
+//   ASSERT_PRED1(pred, v1)
+//   ASSERT_PRED2(pred, v1, v2)
+//   ...
+//
+// where pred is an n-ary function or functor that returns bool,
+// and the values v1, v2, ..., must support the << operator for
+// streaming to std::ostream.
+//
+// We also define the EXPECT_* variations.
+//
+// For now we only support predicates whose arity is at most 5.
+// Please email googletestframework@googlegroups.com if you need
+// support for higher arities.
+
+// GTEST_ASSERT_ is the basic statement to which all of the assertions
+// in this file reduce.  Don't use this in your code.
+
+#define GTEST_ASSERT_(expression, on_failure) \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+  if (const ::testing::AssertionResult gtest_ar = (expression)) \
+    ; \
+  else \
+    on_failure(gtest_ar.failure_message())
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED1.  Don't use
+// this in your code.
+template <typename Pred,
+          typename T1>
+AssertionResult AssertPred1Helper(const char* pred_text,
+                                  const char* e1,
+                                  Pred pred,
+                                  const T1& v1) {
+  if (pred(v1)) return AssertionSuccess();
+
+  return AssertionFailure() << pred_text << "("
+                            << e1 << ") evaluates to false, where"
+                            << "\n" << e1 << " evaluates to " << v1;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT1.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT1_(pred_format, v1, on_failure)\
+  GTEST_ASSERT_(pred_format(#v1, v1), \
+                on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED1.  Don't use
+// this in your code.
+#define GTEST_PRED1_(pred, v1, on_failure)\
+  GTEST_ASSERT_(::testing::AssertPred1Helper(#pred, \
+                                             #v1, \
+                                             pred, \
+                                             v1), on_failure)
+
+// Unary predicate assertion macros.
+#define EXPECT_PRED_FORMAT1(pred_format, v1) \
+  GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED1(pred, v1) \
+  GTEST_PRED1_(pred, v1, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT1(pred_format, v1) \
+  GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED1(pred, v1) \
+  GTEST_PRED1_(pred, v1, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED2.  Don't use
+// this in your code.
+template <typename Pred,
+          typename T1,
+          typename T2>
+AssertionResult AssertPred2Helper(const char* pred_text,
+                                  const char* e1,
+                                  const char* e2,
+                                  Pred pred,
+                                  const T1& v1,
+                                  const T2& v2) {
+  if (pred(v1, v2)) return AssertionSuccess();
+
+  return AssertionFailure() << pred_text << "("
+                            << e1 << ", "
+                            << e2 << ") evaluates to false, where"
+                            << "\n" << e1 << " evaluates to " << v1
+                            << "\n" << e2 << " evaluates to " << v2;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT2.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT2_(pred_format, v1, v2, on_failure)\
+  GTEST_ASSERT_(pred_format(#v1, #v2, v1, v2), \
+                on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED2.  Don't use
+// this in your code.
+#define GTEST_PRED2_(pred, v1, v2, on_failure)\
+  GTEST_ASSERT_(::testing::AssertPred2Helper(#pred, \
+                                             #v1, \
+                                             #v2, \
+                                             pred, \
+                                             v1, \
+                                             v2), on_failure)
+
+// Binary predicate assertion macros.
+#define EXPECT_PRED_FORMAT2(pred_format, v1, v2) \
+  GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED2(pred, v1, v2) \
+  GTEST_PRED2_(pred, v1, v2, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT2(pred_format, v1, v2) \
+  GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED2(pred, v1, v2) \
+  GTEST_PRED2_(pred, v1, v2, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED3.  Don't use
+// this in your code.
+template <typename Pred,
+          typename T1,
+          typename T2,
+          typename T3>
+AssertionResult AssertPred3Helper(const char* pred_text,
+                                  const char* e1,
+                                  const char* e2,
+                                  const char* e3,
+                                  Pred pred,
+                                  const T1& v1,
+                                  const T2& v2,
+                                  const T3& v3) {
+  if (pred(v1, v2, v3)) return AssertionSuccess();
+
+  return AssertionFailure() << pred_text << "("
+                            << e1 << ", "
+                            << e2 << ", "
+                            << e3 << ") evaluates to false, where"
+                            << "\n" << e1 << " evaluates to " << v1
+                            << "\n" << e2 << " evaluates to " << v2
+                            << "\n" << e3 << " evaluates to " << v3;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT3.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, on_failure)\
+  GTEST_ASSERT_(pred_format(#v1, #v2, #v3, v1, v2, v3), \
+                on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED3.  Don't use
+// this in your code.
+#define GTEST_PRED3_(pred, v1, v2, v3, on_failure)\
+  GTEST_ASSERT_(::testing::AssertPred3Helper(#pred, \
+                                             #v1, \
+                                             #v2, \
+                                             #v3, \
+                                             pred, \
+                                             v1, \
+                                             v2, \
+                                             v3), on_failure)
+
+// Ternary predicate assertion macros.
+#define EXPECT_PRED_FORMAT3(pred_format, v1, v2, v3) \
+  GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED3(pred, v1, v2, v3) \
+  GTEST_PRED3_(pred, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT3(pred_format, v1, v2, v3) \
+  GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED3(pred, v1, v2, v3) \
+  GTEST_PRED3_(pred, v1, v2, v3, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED4.  Don't use
+// this in your code.
+template <typename Pred,
+          typename T1,
+          typename T2,
+          typename T3,
+          typename T4>
+AssertionResult AssertPred4Helper(const char* pred_text,
+                                  const char* e1,
+                                  const char* e2,
+                                  const char* e3,
+                                  const char* e4,
+                                  Pred pred,
+                                  const T1& v1,
+                                  const T2& v2,
+                                  const T3& v3,
+                                  const T4& v4) {
+  if (pred(v1, v2, v3, v4)) return AssertionSuccess();
+
+  return AssertionFailure() << pred_text << "("
+                            << e1 << ", "
+                            << e2 << ", "
+                            << e3 << ", "
+                            << e4 << ") evaluates to false, where"
+                            << "\n" << e1 << " evaluates to " << v1
+                            << "\n" << e2 << " evaluates to " << v2
+                            << "\n" << e3 << " evaluates to " << v3
+                            << "\n" << e4 << " evaluates to " << v4;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT4.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, on_failure)\
+  GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, v1, v2, v3, v4), \
+                on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED4.  Don't use
+// this in your code.
+#define GTEST_PRED4_(pred, v1, v2, v3, v4, on_failure)\
+  GTEST_ASSERT_(::testing::AssertPred4Helper(#pred, \
+                                             #v1, \
+                                             #v2, \
+                                             #v3, \
+                                             #v4, \
+                                             pred, \
+                                             v1, \
+                                             v2, \
+                                             v3, \
+                                             v4), on_failure)
+
+// 4-ary predicate assertion macros.
+#define EXPECT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
+  GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED4(pred, v1, v2, v3, v4) \
+  GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
+  GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED4(pred, v1, v2, v3, v4) \
+  GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED5.  Don't use
+// this in your code.
+template <typename Pred,
+          typename T1,
+          typename T2,
+          typename T3,
+          typename T4,
+          typename T5>
+AssertionResult AssertPred5Helper(const char* pred_text,
+                                  const char* e1,
+                                  const char* e2,
+                                  const char* e3,
+                                  const char* e4,
+                                  const char* e5,
+                                  Pred pred,
+                                  const T1& v1,
+                                  const T2& v2,
+                                  const T3& v3,
+                                  const T4& v4,
+                                  const T5& v5) {
+  if (pred(v1, v2, v3, v4, v5)) return AssertionSuccess();
+
+  return AssertionFailure() << pred_text << "("
+                            << e1 << ", "
+                            << e2 << ", "
+                            << e3 << ", "
+                            << e4 << ", "
+                            << e5 << ") evaluates to false, where"
+                            << "\n" << e1 << " evaluates to " << v1
+                            << "\n" << e2 << " evaluates to " << v2
+                            << "\n" << e3 << " evaluates to " << v3
+                            << "\n" << e4 << " evaluates to " << v4
+                            << "\n" << e5 << " evaluates to " << v5;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT5.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, on_failure)\
+  GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, #v5, v1, v2, v3, v4, v5), \
+                on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED5.  Don't use
+// this in your code.
+#define GTEST_PRED5_(pred, v1, v2, v3, v4, v5, on_failure)\
+  GTEST_ASSERT_(::testing::AssertPred5Helper(#pred, \
+                                             #v1, \
+                                             #v2, \
+                                             #v3, \
+                                             #v4, \
+                                             #v5, \
+                                             pred, \
+                                             v1, \
+                                             v2, \
+                                             v3, \
+                                             v4, \
+                                             v5), on_failure)
+
+// 5-ary predicate assertion macros.
+#define EXPECT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
+  GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED5(pred, v1, v2, v3, v4, v5) \
+  GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
+  GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED5(pred, v1, v2, v3, v4, v5) \
+  GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
+
+
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+
+// Macros for testing equalities and inequalities.
+//
+//    * {ASSERT|EXPECT}_EQ(v1, v2): Tests that v1 == v2
+//    * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
+//    * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
+//    * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
+//    * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
+//    * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
+//
+// When they are not, Google Test prints both the tested expressions and
+// their actual values.  The values must be compatible built-in types,
+// or you will get a compiler error.  By "compatible" we mean that the
+// values can be compared by the respective operator.
+//
+// Note:
+//
+//   1. It is possible to make a user-defined type work with
+//   {ASSERT|EXPECT}_??(), but that requires overloading the
+//   comparison operators and is thus discouraged by the Google C++
+//   Usage Guide.  Therefore, you are advised to use the
+//   {ASSERT|EXPECT}_TRUE() macro to assert that two objects are
+//   equal.
+//
+//   2. The {ASSERT|EXPECT}_??() macros do pointer comparisons on
+//   pointers (in particular, C strings).  Therefore, if you use it
+//   with two C strings, you are testing how their locations in memory
+//   are related, not how their content is related.  To compare two C
+//   strings by content, use {ASSERT|EXPECT}_STR*().
+//
+//   3. {ASSERT|EXPECT}_EQ(v1, v2) is preferred to
+//   {ASSERT|EXPECT}_TRUE(v1 == v2), as the former tells you
+//   what the actual value is when it fails, and similarly for the
+//   other comparisons.
+//
+//   4. Do not depend on the order in which {ASSERT|EXPECT}_??()
+//   evaluate their arguments, which is undefined.
+//
+//   5. These macros evaluate their arguments exactly once.
+//
+// Examples:
+//
+//   EXPECT_NE(5, Foo());
+//   EXPECT_EQ(NULL, a_pointer);
+//   ASSERT_LT(i, array_size);
+//   ASSERT_GT(records.size(), 0) << "There is no record left.";
+
+#define EXPECT_EQ(val1, val2) \
+  EXPECT_PRED_FORMAT2(::testing::internal:: \
+                      EqHelper<GTEST_IS_NULL_LITERAL_(val1)>::Compare, \
+                      val1, val2)
+#define EXPECT_NE(val1, val2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperNE, val1, val2)
+#define EXPECT_LE(val1, val2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
+#define EXPECT_LT(val1, val2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
+#define EXPECT_GE(val1, val2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
+#define EXPECT_GT(val1, val2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
+
+#define GTEST_ASSERT_EQ(val1, val2) \
+  ASSERT_PRED_FORMAT2(::testing::internal:: \
+                      EqHelper<GTEST_IS_NULL_LITERAL_(val1)>::Compare, \
+                      val1, val2)
+#define GTEST_ASSERT_NE(val1, val2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperNE, val1, val2)
+#define GTEST_ASSERT_LE(val1, val2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
+#define GTEST_ASSERT_LT(val1, val2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
+#define GTEST_ASSERT_GE(val1, val2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
+#define GTEST_ASSERT_GT(val1, val2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
+
+// Define macro GTEST_DONT_DEFINE_ASSERT_XY to 1 to omit the definition of
+// ASSERT_XY(), which clashes with some users' own code.
+
+#if !GTEST_DONT_DEFINE_ASSERT_EQ
+# define ASSERT_EQ(val1, val2) GTEST_ASSERT_EQ(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_NE
+# define ASSERT_NE(val1, val2) GTEST_ASSERT_NE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_LE
+# define ASSERT_LE(val1, val2) GTEST_ASSERT_LE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_LT
+# define ASSERT_LT(val1, val2) GTEST_ASSERT_LT(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_GE
+# define ASSERT_GE(val1, val2) GTEST_ASSERT_GE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_GT
+# define ASSERT_GT(val1, val2) GTEST_ASSERT_GT(val1, val2)
+#endif
+
+// C-string Comparisons.  All tests treat NULL and any non-NULL string
+// as different.  Two NULLs are equal.
+//
+//    * {ASSERT|EXPECT}_STREQ(s1, s2):     Tests that s1 == s2
+//    * {ASSERT|EXPECT}_STRNE(s1, s2):     Tests that s1 != s2
+//    * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
+//    * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
+//
+// For wide or narrow string objects, you can use the
+// {ASSERT|EXPECT}_??() macros.
+//
+// Don't depend on the order in which the arguments are evaluated,
+// which is undefined.
+//
+// These macros evaluate their arguments exactly once.
+
+#define EXPECT_STREQ(s1, s2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, s1, s2)
+#define EXPECT_STRNE(s1, s2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
+#define EXPECT_STRCASEEQ(s1, s2) \
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, s1, s2)
+#define EXPECT_STRCASENE(s1, s2)\
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
+
+#define ASSERT_STREQ(s1, s2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, s1, s2)
+#define ASSERT_STRNE(s1, s2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
+#define ASSERT_STRCASEEQ(s1, s2) \
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, s1, s2)
+#define ASSERT_STRCASENE(s1, s2)\
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
+
+// Macros for comparing floating-point numbers.
+//
+//    * {ASSERT|EXPECT}_FLOAT_EQ(val1, val2):
+//         Tests that two float values are almost equal.
+//    * {ASSERT|EXPECT}_DOUBLE_EQ(val1, val2):
+//         Tests that two double values are almost equal.
+//    * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
+//         Tests that v1 and v2 are within the given distance to each other.
+//
+// Google Test uses ULP-based comparison to automatically pick a default
+// error bound that is appropriate for the operands.  See the
+// FloatingPoint template class in gtest-internal.h if you are
+// interested in the implementation details.
+
+#define EXPECT_FLOAT_EQ(val1, val2)\
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
+                      val1, val2)
+
+#define EXPECT_DOUBLE_EQ(val1, val2)\
+  EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
+                      val1, val2)
+
+#define ASSERT_FLOAT_EQ(val1, val2)\
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
+                      val1, val2)
+
+#define ASSERT_DOUBLE_EQ(val1, val2)\
+  ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
+                      val1, val2)
+
+#define EXPECT_NEAR(val1, val2, abs_error)\
+  EXPECT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
+                      val1, val2, abs_error)
+
+#define ASSERT_NEAR(val1, val2, abs_error)\
+  ASSERT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
+                      val1, val2, abs_error)
+
+// These predicate format functions work on floating-point values, and
+// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
+//
+//   EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
+
+// Asserts that val1 is less than, or almost equal to, val2.  Fails
+// otherwise.  In particular, it fails if either val1 or val2 is NaN.
+GTEST_API_ AssertionResult FloatLE(const char* expr1, const char* expr2,
+                                   float val1, float val2);
+GTEST_API_ AssertionResult DoubleLE(const char* expr1, const char* expr2,
+                                    double val1, double val2);
+
+
+#if GTEST_OS_WINDOWS
+
+// Macros that test for HRESULT failure and success, these are only useful
+// on Windows, and rely on Windows SDK macros and APIs to compile.
+//
+//    * {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}(expr)
+//
+// When expr unexpectedly fails or succeeds, Google Test prints the
+// expected result and the actual result with both a human-readable
+// string representation of the error, if available, as well as the
+// hex result code.
+# define EXPECT_HRESULT_SUCCEEDED(expr) \
+    EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
+
+# define ASSERT_HRESULT_SUCCEEDED(expr) \
+    ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
+
+# define EXPECT_HRESULT_FAILED(expr) \
+    EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
+
+# define ASSERT_HRESULT_FAILED(expr) \
+    ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
+
+#endif  // GTEST_OS_WINDOWS
+
+// Macros that execute statement and check that it doesn't generate new fatal
+// failures in the current thread.
+//
+//   * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
+//
+// Examples:
+//
+//   EXPECT_NO_FATAL_FAILURE(Process());
+//   ASSERT_NO_FATAL_FAILURE(Process()) << "Process() failed";
+//
+#define ASSERT_NO_FATAL_FAILURE(statement) \
+    GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_FATAL_FAILURE_)
+#define EXPECT_NO_FATAL_FAILURE(statement) \
+    GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_NONFATAL_FAILURE_)
+
+// Causes a trace (including the source file path, the current line
+// number, and the given message) to be included in every test failure
+// message generated by code in the current scope.  The effect is
+// undone when the control leaves the current scope.
+//
+// The message argument can be anything streamable to std::ostream.
+//
+// In the implementation, we include the current line number as part
+// of the dummy variable name, thus allowing multiple SCOPED_TRACE()s
+// to appear in the same block - as long as they are on different
+// lines.
+#define SCOPED_TRACE(message) \
+  ::testing::internal::ScopedTrace GTEST_CONCAT_TOKEN_(gtest_trace_, __LINE__)(\
+    __FILE__, __LINE__, ::testing::Message() << (message))
+
+// Compile-time assertion for type equality.
+// StaticAssertTypeEq<type1, type2>() compiles iff type1 and type2 are
+// the same type.  The value it returns is not interesting.
+//
+// Instead of making StaticAssertTypeEq a class template, we make it a
+// function template that invokes a helper class template.  This
+// prevents a user from misusing StaticAssertTypeEq<T1, T2> by
+// defining objects of that type.
+//
+// CAVEAT:
+//
+// When used inside a method of a class template,
+// StaticAssertTypeEq<T1, T2>() is effective ONLY IF the method is
+// instantiated.  For example, given:
+//
+//   template <typename T> class Foo {
+//    public:
+//     void Bar() { testing::StaticAssertTypeEq<int, T>(); }
+//   };
+//
+// the code:
+//
+//   void Test1() { Foo<bool> foo; }
+//
+// will NOT generate a compiler error, as Foo<bool>::Bar() is never
+// actually instantiated.  Instead, you need:
+//
+//   void Test2() { Foo<bool> foo; foo.Bar(); }
+//
+// to cause a compiler error.
+template <typename T1, typename T2>
+bool StaticAssertTypeEq() {
+  (void)internal::StaticAssertTypeEqHelper<T1, T2>();
+  return true;
+}
+
+// Defines a test.
+//
+// The first parameter is the name of the test case, and the second
+// parameter is the name of the test within the test case.
+//
+// The convention is to end the test case name with "Test".  For
+// example, a test case for the Foo class can be named FooTest.
+//
+// Test code should appear between braces after an invocation of
+// this macro.  Example:
+//
+//   TEST(FooTest, InitializesCorrectly) {
+//     Foo foo;
+//     EXPECT_TRUE(foo.StatusIsOK());
+//   }
+
+// Note that we call GetTestTypeId() instead of GetTypeId<
+// ::testing::Test>() here to get the type ID of testing::Test.  This
+// is to work around a suspected linker bug when using Google Test as
+// a framework on Mac OS X.  The bug causes GetTypeId<
+// ::testing::Test>() to return different values depending on whether
+// the call is from the Google Test framework itself or from user test
+// code.  GetTestTypeId() is guaranteed to always return the same
+// value, as it always calls GetTypeId<>() from the Google Test
+// framework.
+#define GTEST_TEST(test_case_name, test_name)\
+  GTEST_TEST_(test_case_name, test_name, \
+              ::testing::Test, ::testing::internal::GetTestTypeId())
+
+// Define this macro to 1 to omit the definition of TEST(), which
+// is a generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_TEST
+# define TEST(test_case_name, test_name) GTEST_TEST(test_case_name, test_name)
+#endif
+
+// Defines a test that uses a test fixture.
+//
+// The first parameter is the name of the test fixture class, which
+// also doubles as the test case name.  The second parameter is the
+// name of the test within the test case.
+//
+// A test fixture class must be declared earlier.  The user should put
+// his test code between braces after using this macro.  Example:
+//
+//   class FooTest : public testing::Test {
+//    protected:
+//     virtual void SetUp() { b_.AddElement(3); }
+//
+//     Foo a_;
+//     Foo b_;
+//   };
+//
+//   TEST_F(FooTest, InitializesCorrectly) {
+//     EXPECT_TRUE(a_.StatusIsOK());
+//   }
+//
+//   TEST_F(FooTest, ReturnsElementCountCorrectly) {
+//     EXPECT_EQ(0, a_.size());
+//     EXPECT_EQ(1, b_.size());
+//   }
+
+#define TEST_F(test_fixture, test_name)\
+  GTEST_TEST_(test_fixture, test_name, test_fixture, \
+              ::testing::internal::GetTypeId<test_fixture>())
+
+}  // namespace testing
+
+// Use this function in main() to run all tests.  It returns 0 if all
+// tests are successful, or 1 otherwise.
+//
+// RUN_ALL_TESTS() should be invoked after the command line has been
+// parsed by InitGoogleTest().
+//
+// This function was formerly a macro; thus, it is in the global
+// namespace and has an all-caps name.
+int RUN_ALL_TESTS() GTEST_MUST_USE_RESULT_;
+
+inline int RUN_ALL_TESTS() {
+  return ::testing::UnitTest::GetInstance()->Run();
+}
+
+#endif  // GTEST_INCLUDE_GTEST_GTEST_H_
diff --git a/internal/ceres/householder_vector.h b/internal/ceres/householder_vector.h
new file mode 100644
index 0000000..f54feea
--- /dev/null
+++ b/internal/ceres/householder_vector.h
@@ -0,0 +1,85 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#ifndef CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
+#define CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
+
+#include "Eigen/Core"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Algorithm 5.1.1 from 'Matrix Computations' by Golub et al. (Johns Hopkins
+// Studies in Mathematical Sciences) but using the nth element of the input
+// vector as pivot instead of first. This computes the vector v with v(n) = 1
+// and beta such that H = I - beta * v * v^T is orthogonal and
+// H * x = ||x||_2 * e_n.
+template <typename Scalar>
+void ComputeHouseholderVector(const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x,
+                              Eigen::Matrix<Scalar, Eigen::Dynamic, 1>* v,
+                              Scalar* beta) {
+  CHECK_NOTNULL(beta);
+  CHECK_NOTNULL(v);
+  CHECK_GT(x.rows(), 1);
+  CHECK_EQ(x.rows(), v->rows());
+
+  Scalar sigma = x.head(x.rows() - 1).squaredNorm();
+  *v = x;
+  (*v)(v->rows() - 1) = Scalar(1.0);
+
+  *beta = Scalar(0.0);
+  const Scalar& x_pivot = x(x.rows() - 1);
+
+  if (sigma <= Scalar(std::numeric_limits<double>::epsilon())) {
+    if (x_pivot < Scalar(0.0)) {
+      *beta = Scalar(2.0);
+    }
+    return;
+  }
+
+  const Scalar mu = sqrt(x_pivot * x_pivot + sigma);
+  Scalar v_pivot = Scalar(1.0);
+
+  if (x_pivot <= Scalar(0.0)) {
+    v_pivot = x_pivot - mu;
+  } else {
+    v_pivot = -sigma / (x_pivot + mu);
+  }
+
+  *beta = Scalar(2.0) * v_pivot * v_pivot / (sigma + v_pivot * v_pivot);
+
+  v->head(v->rows() - 1) /= v_pivot;
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
diff --git a/internal/ceres/householder_vector_test.cc b/internal/ceres/householder_vector_test.cc
new file mode 100644
index 0000000..fca0360
--- /dev/null
+++ b/internal/ceres/householder_vector_test.cc
@@ -0,0 +1,115 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#include "ceres/householder_vector.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void HouseholderTestHelper(const Vector& x) {
+  const double kTolerance = 1e-14;
+
+  // Check to ensure that H * x = ||x|| * [0 ... 0 1]'.
+  Vector v(x.rows());
+  double beta;
+  ComputeHouseholderVector(x, &v, &beta);
+  Vector result = x - beta * v * (v.transpose() * x);
+
+  Vector expected_result(x.rows());
+  expected_result.setZero();
+  expected_result(x.rows() - 1) = 1;
+  expected_result *= x.norm();
+
+  for (int i = 0; i < x.rows(); ++i) {
+    EXPECT_NEAR(expected_result[i], result[i], kTolerance);
+  }
+}
+
+TEST(HouseholderVector, ZeroPositive) {
+  Vector x(3);
+  x << 0.0, 0.0, 0.25;
+
+  HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, ZeroNegative) {
+  Vector x(3);
+  x << 0.0, 0.0, -0.25;
+
+  HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NearZeroPositive) {
+  Vector x(3);
+  x << 1e-18, 1e-18, 0.25;
+
+  HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NearZeroNegative) {
+  Vector x(3);
+  x << 1e-18, 1e-18, -0.25;
+
+  HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroNegative) {
+  Vector x(3);
+  x << 1.0, 0.0, -3.0;
+
+  HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroPositive) {
+  Vector x(3);
+  x << 1.0, 1.0, 1.0;
+
+  HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, NonZeroPositive_Size4) {
+  Vector x(4);
+  x << 1.0, 1.0, 0.0, 2.0;
+
+  HouseholderTestHelper(x);
+}
+
+TEST(HouseholderVector, LastElementZero) {
+  Vector x(4);
+  x << 1.0, 1.0, 0.0, 0.0;
+
+  HouseholderTestHelper(x);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/implicit_schur_complement.cc b/internal/ceres/implicit_schur_complement.cc
new file mode 100644
index 0000000..d05f038
--- /dev/null
+++ b/internal/ceres/implicit_schur_complement.cc
@@ -0,0 +1,225 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/implicit_schur_complement.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+ImplicitSchurComplement::ImplicitSchurComplement(
+    const LinearSolver::Options& options)
+    : options_(options),
+      D_(NULL),
+      b_(NULL) {
+}
+
+ImplicitSchurComplement::~ImplicitSchurComplement() {
+}
+
+void ImplicitSchurComplement::Init(const BlockSparseMatrix& A,
+                                   const double* D,
+                                   const double* b) {
+  // Since initialization is reasonably heavy, perhaps we can save on
+  // constructing a new object everytime.
+  if (A_ == NULL) {
+    A_.reset(PartitionedMatrixViewBase::Create(options_, A));
+  }
+
+  D_ = D;
+  b_ = b;
+
+  // Initialize temporary storage and compute the block diagonals of
+  // E'E and F'E.
+  if (block_diagonal_EtE_inverse_ == NULL) {
+    block_diagonal_EtE_inverse_.reset(A_->CreateBlockDiagonalEtE());
+    if (options_.preconditioner_type == JACOBI) {
+      block_diagonal_FtF_inverse_.reset(A_->CreateBlockDiagonalFtF());
+    }
+    rhs_.resize(A_->num_cols_f());
+    rhs_.setZero();
+    tmp_rows_.resize(A_->num_rows());
+    tmp_e_cols_.resize(A_->num_cols_e());
+    tmp_e_cols_2_.resize(A_->num_cols_e());
+    tmp_f_cols_.resize(A_->num_cols_f());
+  } else {
+    A_->UpdateBlockDiagonalEtE(block_diagonal_EtE_inverse_.get());
+    if (options_.preconditioner_type == JACOBI) {
+      A_->UpdateBlockDiagonalFtF(block_diagonal_FtF_inverse_.get());
+    }
+  }
+
+  // The block diagonals of the augmented linear system contain
+  // contributions from the diagonal D if it is non-null. Add that to
+  // the block diagonals and invert them.
+  AddDiagonalAndInvert(D_, block_diagonal_EtE_inverse_.get());
+  if (options_.preconditioner_type == JACOBI) {
+    AddDiagonalAndInvert((D_ ==  NULL) ? NULL : D_ + A_->num_cols_e(),
+                         block_diagonal_FtF_inverse_.get());
+  }
+
+  // Compute the RHS of the Schur complement system.
+  UpdateRhs();
+}
+
+// Evaluate the product
+//
+//   Sx = [F'F - F'E (E'E)^-1 E'F]x
+//
+// By breaking it down into individual matrix vector products
+// involving the matrices E and F. This is implemented using a
+// PartitionedMatrixView of the input matrix A.
+void ImplicitSchurComplement::RightMultiply(const double* x, double* y) const {
+  // y1 = F x
+  tmp_rows_.setZero();
+  A_->RightMultiplyF(x, tmp_rows_.data());
+
+  // y2 = E' y1
+  tmp_e_cols_.setZero();
+  A_->LeftMultiplyE(tmp_rows_.data(), tmp_e_cols_.data());
+
+  // y3 = -(E'E)^-1 y2
+  tmp_e_cols_2_.setZero();
+  block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(),
+                                             tmp_e_cols_2_.data());
+  tmp_e_cols_2_ *= -1.0;
+
+  // y1 = y1 + E y3
+  A_->RightMultiplyE(tmp_e_cols_2_.data(), tmp_rows_.data());
+
+  // y5 = D * x
+  if (D_ != NULL) {
+    ConstVectorRef Dref(D_ + A_->num_cols_e(), num_cols());
+    VectorRef(y, num_cols()) =
+        (Dref.array().square() *
+         ConstVectorRef(x, num_cols()).array()).matrix();
+  } else {
+    VectorRef(y, num_cols()).setZero();
+  }
+
+  // y = y5 + F' y1
+  A_->LeftMultiplyF(tmp_rows_.data(), y);
+}
+
+// Given a block diagonal matrix and an optional array of diagonal
+// entries D, add them to the diagonal of the matrix and compute the
+// inverse of each diagonal block.
+void ImplicitSchurComplement::AddDiagonalAndInvert(
+    const double* D,
+    BlockSparseMatrix* block_diagonal) {
+  const CompressedRowBlockStructure* block_diagonal_structure =
+      block_diagonal->block_structure();
+  for (int r = 0; r < block_diagonal_structure->rows.size(); ++r) {
+    const int row_block_pos = block_diagonal_structure->rows[r].block.position;
+    const int row_block_size = block_diagonal_structure->rows[r].block.size;
+    const Cell& cell = block_diagonal_structure->rows[r].cells[0];
+    MatrixRef m(block_diagonal->mutable_values() + cell.position,
+                row_block_size, row_block_size);
+
+    if (D != NULL) {
+      ConstVectorRef d(D + row_block_pos, row_block_size);
+      m += d.array().square().matrix().asDiagonal();
+    }
+
+    m = m
+        .selfadjointView<Eigen::Upper>()
+        .llt()
+        .solve(Matrix::Identity(row_block_size, row_block_size));
+  }
+}
+
+// Similar to RightMultiply, use the block structure of the matrix A
+// to compute y = (E'E)^-1 (E'b - E'F x).
+void ImplicitSchurComplement::BackSubstitute(const double* x, double* y) {
+  const int num_cols_e = A_->num_cols_e();
+  const int num_cols_f = A_->num_cols_f();
+  const int num_cols =  A_->num_cols();
+  const int num_rows = A_->num_rows();
+
+  // y1 = F x
+  tmp_rows_.setZero();
+  A_->RightMultiplyF(x, tmp_rows_.data());
+
+  // y2 = b - y1
+  tmp_rows_ = ConstVectorRef(b_, num_rows) - tmp_rows_;
+
+  // y3 = E' y2
+  tmp_e_cols_.setZero();
+  A_->LeftMultiplyE(tmp_rows_.data(), tmp_e_cols_.data());
+
+  // y = (E'E)^-1 y3
+  VectorRef(y, num_cols).setZero();
+  block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(), y);
+
+  // The full solution vector y has two blocks. The first block of
+  // variables corresponds to the eliminated variables, which we just
+  // computed via back substitution. The second block of variables
+  // corresponds to the Schur complement system, so we just copy those
+  // values from the solution to the Schur complement.
+  VectorRef(y + num_cols_e, num_cols_f) =  ConstVectorRef(x, num_cols_f);
+}
+
+// Compute the RHS of the Schur complement system.
+//
+// rhs = F'b - F'E (E'E)^-1 E'b
+//
+// Like BackSubstitute, we use the block structure of A to implement
+// this using a series of matrix vector products.
+void ImplicitSchurComplement::UpdateRhs() {
+  // y1 = E'b
+  tmp_e_cols_.setZero();
+  A_->LeftMultiplyE(b_, tmp_e_cols_.data());
+
+  // y2 = (E'E)^-1 y1
+  Vector y2 = Vector::Zero(A_->num_cols_e());
+  block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(), y2.data());
+
+  // y3 = E y2
+  tmp_rows_.setZero();
+  A_->RightMultiplyE(y2.data(), tmp_rows_.data());
+
+  // y3 = b - y3
+  tmp_rows_ = ConstVectorRef(b_, A_->num_rows()) - tmp_rows_;
+
+  // rhs = F' y3
+  rhs_.setZero();
+  A_->LeftMultiplyF(tmp_rows_.data(), rhs_.data());
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/implicit_schur_complement.h b/internal/ceres/implicit_schur_complement.h
new file mode 100644
index 0000000..5d822eb
--- /dev/null
+++ b/internal/ceres/implicit_schur_complement.h
@@ -0,0 +1,167 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An iterative solver for solving the Schur complement/reduced camera
+// linear system that arise in SfM problems.
+
+#ifndef CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
+#define CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
+
+#include "ceres/linear_operator.h"
+#include "ceres/linear_solver.h"
+#include "ceres/partitioned_matrix_view.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+
+// This class implements various linear algebraic operations related
+// to the Schur complement without explicitly forming it.
+//
+//
+// Given a reactangular linear system Ax = b, where
+//
+//   A = [E F]
+//
+// The normal equations are given by
+//
+//   A'Ax = A'b
+//
+//  |E'E E'F||y| = |E'b|
+//  |F'E F'F||z|   |F'b|
+//
+// and the Schur complement system is given by
+//
+//  [F'F - F'E (E'E)^-1 E'F] z = F'b - F'E (E'E)^-1 E'b
+//
+// Now if we wish to solve Ax = b in the least squares sense, one way
+// is to form this Schur complement system and solve it using
+// Preconditioned Conjugate Gradients.
+//
+// The key operation in a conjugate gradient solver is the evaluation of the
+// matrix vector product with the Schur complement
+//
+//   S = F'F - F'E (E'E)^-1 E'F
+//
+// It is straightforward to see that matrix vector products with S can
+// be evaluated without storing S in memory. Instead, given (E'E)^-1
+// (which for our purposes is an easily inverted block diagonal
+// matrix), it can be done in terms of matrix vector products with E,
+// F and (E'E)^-1. This class implements this functionality and other
+// auxilliary bits needed to implement a CG solver on the Schur
+// complement using the PartitionedMatrixView object.
+//
+// THREAD SAFETY: This class is nqot thread safe. In particular, the
+// RightMultiply (and the LeftMultiply) methods are not thread safe as
+// they depend on mutable arrays used for the temporaries needed to
+// compute the product y += Sx;
+class ImplicitSchurComplement : public LinearOperator {
+ public:
+  // num_eliminate_blocks is the number of E blocks in the matrix
+  // A.
+  //
+  // preconditioner indicates whether the inverse of the matrix F'F
+  // should be computed or not as a preconditioner for the Schur
+  // Complement.
+  //
+  // TODO(sameeragarwal): Get rid of the two bools below and replace
+  // them with enums.
+  explicit ImplicitSchurComplement(const LinearSolver::Options& options);
+  virtual ~ImplicitSchurComplement();
+
+  // Initialize the Schur complement for a linear least squares
+  // problem of the form
+  //
+  //   |A      | x = |b|
+  //   |diag(D)|     |0|
+  //
+  // If D is null, then it is treated as a zero dimensional matrix. It
+  // is important that the matrix A have a BlockStructure object
+  // associated with it and has a block structure that is compatible
+  // with the SchurComplement solver.
+  void Init(const BlockSparseMatrix& A, const double* D, const double* b);
+
+  // y += Sx, where S is the Schur complement.
+  virtual void RightMultiply(const double* x, double* y) const;
+
+  // The Schur complement is a symmetric positive definite matrix,
+  // thus the left and right multiply operators are the same.
+  virtual void LeftMultiply(const double* x, double* y) const {
+    RightMultiply(x, y);
+  }
+
+  // y = (E'E)^-1 (E'b - E'F x). Given an estimate of the solution to
+  // the Schur complement system, this method computes the value of
+  // the e_block variables that were eliminated to form the Schur
+  // complement.
+  void BackSubstitute(const double* x, double* y);
+
+  virtual int num_rows() const { return A_->num_cols_f(); }
+  virtual int num_cols() const { return A_->num_cols_f(); }
+  const Vector& rhs()    const { return rhs_;             }
+
+  const BlockSparseMatrix* block_diagonal_EtE_inverse() const {
+    return block_diagonal_EtE_inverse_.get();
+  }
+
+  const BlockSparseMatrix* block_diagonal_FtF_inverse() const {
+    return block_diagonal_FtF_inverse_.get();
+  }
+
+ private:
+  void AddDiagonalAndInvert(const double* D, BlockSparseMatrix* matrix);
+  void UpdateRhs();
+
+  const LinearSolver::Options& options_;
+
+  scoped_ptr<PartitionedMatrixViewBase> A_;
+  const double* D_;
+  const double* b_;
+
+  scoped_ptr<BlockSparseMatrix> block_diagonal_EtE_inverse_;
+  scoped_ptr<BlockSparseMatrix> block_diagonal_FtF_inverse_;
+
+  Vector rhs_;
+
+  // Temporary storage vectors used to implement RightMultiply.
+  mutable Vector tmp_rows_;
+  mutable Vector tmp_e_cols_;
+  mutable Vector tmp_e_cols_2_;
+  mutable Vector tmp_f_cols_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
diff --git a/internal/ceres/implicit_schur_complement_test.cc b/internal/ceres/implicit_schur_complement_test.cc
new file mode 100644
index 0000000..21401f7
--- /dev/null
+++ b/internal/ceres/implicit_schur_complement_test.cc
@@ -0,0 +1,200 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/implicit_schur_complement.h"
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using testing::AssertionResult;
+
+const double kEpsilon = 1e-14;
+
+class ImplicitSchurComplementTest : public ::testing::Test {
+ protected :
+  virtual void SetUp() {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(2));
+
+    CHECK_NOTNULL(problem.get());
+    A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+    b_.reset(problem->b.release());
+    D_.reset(problem->D.release());
+
+    num_cols_ = A_->num_cols();
+    num_rows_ = A_->num_rows();
+    num_eliminate_blocks_ = problem->num_eliminate_blocks;
+  }
+
+  void ReducedLinearSystemAndSolution(double* D,
+                                      Matrix* lhs,
+                                      Vector* rhs,
+                                      Vector* solution) {
+    const CompressedRowBlockStructure* bs = A_->block_structure();
+    const int num_col_blocks = bs->cols.size();
+    std::vector<int> blocks(num_col_blocks - num_eliminate_blocks_, 0);
+    for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+      blocks[i - num_eliminate_blocks_] = bs->cols[i].size;
+    }
+
+    BlockRandomAccessDenseMatrix blhs(blocks);
+    const int num_schur_rows = blhs.num_rows();
+
+    LinearSolver::Options options;
+    options.elimination_groups.push_back(num_eliminate_blocks_);
+    options.type = DENSE_SCHUR;
+
+    scoped_ptr<SchurEliminatorBase> eliminator(
+        SchurEliminatorBase::Create(options));
+    CHECK_NOTNULL(eliminator.get());
+    const bool kFullRankETE = true;
+    eliminator->Init(num_eliminate_blocks_, kFullRankETE, bs);
+
+    lhs->resize(num_schur_rows, num_schur_rows);
+    rhs->resize(num_schur_rows);
+
+    eliminator->Eliminate(A_.get(), b_.get(), D, &blhs, rhs->data());
+
+    MatrixRef lhs_ref(blhs.mutable_values(), num_schur_rows, num_schur_rows);
+
+    // lhs_ref is an upper triangular matrix. Construct a full version
+    // of lhs_ref in lhs by transposing lhs_ref, choosing the strictly
+    // lower triangular part of the matrix and adding it to lhs_ref.
+    *lhs = lhs_ref;
+    lhs->triangularView<Eigen::StrictlyLower>() =
+        lhs_ref.triangularView<Eigen::StrictlyUpper>().transpose();
+
+    solution->resize(num_cols_);
+    solution->setZero();
+    VectorRef schur_solution(solution->data() + num_cols_ - num_schur_rows,
+                             num_schur_rows);
+    schur_solution = lhs->selfadjointView<Eigen::Upper>().llt().solve(*rhs);
+    eliminator->BackSubstitute(A_.get(), b_.get(), D,
+                               schur_solution.data(), solution->data());
+  }
+
+  AssertionResult TestImplicitSchurComplement(double* D) {
+    Matrix lhs;
+    Vector rhs;
+    Vector reference_solution;
+    ReducedLinearSystemAndSolution(D, &lhs, &rhs, &reference_solution);
+
+    LinearSolver::Options options;
+    options.elimination_groups.push_back(num_eliminate_blocks_);
+    options.preconditioner_type = JACOBI;
+    ImplicitSchurComplement isc(options);
+    isc.Init(*A_, D, b_.get());
+
+    int num_sc_cols = lhs.cols();
+
+    for (int i = 0; i < num_sc_cols; ++i) {
+      Vector x(num_sc_cols);
+      x.setZero();
+      x(i) = 1.0;
+
+      Vector y(num_sc_cols);
+      y = lhs * x;
+
+      Vector z(num_sc_cols);
+      isc.RightMultiply(x.data(), z.data());
+
+      // The i^th column of the implicit schur complement is the same as
+      // the explicit schur complement.
+      if ((y - z).norm() > kEpsilon) {
+        return testing::AssertionFailure()
+            << "Explicit and Implicit SchurComplements differ in "
+            << "column " << i << ". explicit: " << y.transpose()
+            << " implicit: " << z.transpose();
+      }
+    }
+
+    // Compare the rhs of the reduced linear system
+    if ((isc.rhs() - rhs).norm() > kEpsilon) {
+      return testing::AssertionFailure()
+            << "Explicit and Implicit SchurComplements differ in "
+            << "rhs. explicit: " << rhs.transpose()
+            << " implicit: " << isc.rhs().transpose();
+    }
+
+    // Reference solution to the f_block.
+    const Vector reference_f_sol =
+        lhs.selfadjointView<Eigen::Upper>().llt().solve(rhs);
+
+    // Backsubstituted solution from the implicit schur solver using the
+    // reference solution to the f_block.
+    Vector sol(num_cols_);
+    isc.BackSubstitute(reference_f_sol.data(), sol.data());
+    if ((sol - reference_solution).norm() > kEpsilon) {
+      return testing::AssertionFailure()
+          << "Explicit and Implicit SchurComplements solutions differ. "
+          << "explicit: " << reference_solution.transpose()
+          << " implicit: " << sol.transpose();
+    }
+
+    return testing::AssertionSuccess();
+  }
+
+  int num_rows_;
+  int num_cols_;
+  int num_eliminate_blocks_;
+
+  scoped_ptr<BlockSparseMatrix> A_;
+  scoped_array<double> b_;
+  scoped_array<double> D_;
+};
+
+// Verify that the Schur Complement matrix implied by the
+// ImplicitSchurComplement class matches the one explicitly computed
+// by the SchurComplement solver.
+//
+// We do this with and without regularization to check that the
+// support for the LM diagonal is correct.
+TEST_F(ImplicitSchurComplementTest, SchurMatrixValuesTest) {
+  EXPECT_TRUE(TestImplicitSchurComplement(NULL));
+  EXPECT_TRUE(TestImplicitSchurComplement(D_.get()));
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/inner_product_computer.cc b/internal/ceres/inner_product_computer.cc
new file mode 100644
index 0000000..83a48cd
--- /dev/null
+++ b/internal/ceres/inner_product_computer.cc
@@ -0,0 +1,372 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/inner_product_computer.h"
+
+#include <algorithm>
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Compute the product (in MATLAB notation)
+//
+// c(0:a_cols, 0:b_cols) = a' * b
+//
+// Where:
+//
+//  a is ab_rows x a_cols
+//  b is ab_rows x b_cols
+//  c is a_cos x c_col_stride
+//
+// a, b and c are row-major matrices.
+//
+// Performance note:
+// ----------------
+//
+// Technically this function is a repeat of a similarly named function
+// in small_blas.h but its performance is considerably better than
+// that of the version there due to the way it accesses memory.
+//
+// TODO(sameeragarwal): Measure and tune the performance of
+// small_blas.h based on the insights gained here.
+EIGEN_STRONG_INLINE void MatrixTransposeMatrixMultiply(const int ab_rows,
+                                                       const double* a,
+                                                       const int a_cols,
+                                                       const double* b,
+                                                       const int b_cols,
+                                                       double* c,
+                                                       int c_cols) {
+  // Compute c as the sum of ab_rows, rank 1 outer products of the
+  // corresponding rows of a and b.
+  for (int r = 0; r < ab_rows; ++r) {
+    double* c_r = c;
+    for (int i1 = 0; i1 < a_cols; ++i1) {
+      const double a_v = a[i1];
+      for (int i2 = 0; i2 < b_cols; ++i2) {
+        c_r[i2] += a_v * b[i2];
+      }
+      c_r += c_cols;
+    }
+    a += a_cols;
+    b += b_cols;
+  }
+}
+
+}  // namespace
+
+// Create the CompressedRowSparseMatrix matrix that will contain the
+// inner product.
+//
+// storage_type controls whether the result matrix contains the upper
+// or the lower triangular part of the product.
+//
+// num_nonzeros is the number of non-zeros in the result matrix.
+CompressedRowSparseMatrix* InnerProductComputer::CreateResultMatrix(
+    const CompressedRowSparseMatrix::StorageType storage_type,
+    const int num_nonzeros) {
+  CompressedRowSparseMatrix* matrix =
+      new CompressedRowSparseMatrix(m_.num_cols(), m_.num_cols(), num_nonzeros);
+  matrix->set_storage_type(storage_type);
+
+  const CompressedRowBlockStructure* bs = m_.block_structure();
+  const std::vector<Block>& blocks = bs->cols;
+  matrix->mutable_row_blocks()->resize(blocks.size());
+  matrix->mutable_col_blocks()->resize(blocks.size());
+  for (int i = 0; i < blocks.size(); ++i) {
+    (*(matrix->mutable_row_blocks()))[i] = blocks[i].size;
+    (*(matrix->mutable_col_blocks()))[i] = blocks[i].size;
+  }
+
+  return matrix;
+}
+
+// Given the set of product terms in the inner product, return the
+// total number of non-zeros in the result and for each row block of
+// the result matrix, compute the number of non-zeros in any one row
+// of the row block.
+int InnerProductComputer::ComputeNonzeros(
+    const std::vector<InnerProductComputer::ProductTerm>& product_terms,
+    std::vector<int>* row_nnz) {
+  const CompressedRowBlockStructure* bs = m_.block_structure();
+  const std::vector<Block>& blocks = bs->cols;
+
+  row_nnz->resize(blocks.size());
+  std::fill(row_nnz->begin(), row_nnz->end(), 0);
+
+  // First product term.
+  (*row_nnz)[product_terms[0].row] = blocks[product_terms[0].col].size;
+  int num_nonzeros =
+      blocks[product_terms[0].row].size * blocks[product_terms[0].col].size;
+
+  // Remaining product terms.
+  for (int i = 1; i < product_terms.size(); ++i) {
+    const ProductTerm& previous = product_terms[i - 1];
+    const ProductTerm& current = product_terms[i];
+
+    // Each (row, col) block counts only once.
+    // This check depends on product sorted on (row, col).
+    if (current.row != previous.row || current.col != previous.col) {
+      (*row_nnz)[current.row] += blocks[current.col].size;
+      num_nonzeros += blocks[current.row].size * blocks[current.col].size;
+    }
+  }
+
+  return num_nonzeros;
+}
+
+InnerProductComputer::InnerProductComputer(const BlockSparseMatrix& m,
+                                           const int start_row_block,
+                                           const int end_row_block)
+    : m_(m), start_row_block_(start_row_block), end_row_block_(end_row_block) {}
+
+// Compute the sparsity structure of the product m.transpose() * m
+// and create a CompressedRowSparseMatrix corresponding to it.
+//
+// Also compute the "program" vector, which for every term in the
+// block outer product provides the information for the entry in the
+// values array of the result matrix where it should be accumulated.
+//
+// Since the entries of the program are the same for rows with the
+// same sparsity structure, the program only stores the result for one
+// row per row block. The Compute function reuses this information for
+// each row in the row block.
+//
+// product_storage_type controls the form of the output matrix. It
+// can be LOWER_TRIANGULAR or UPPER_TRIANGULAR.
+InnerProductComputer* InnerProductComputer::Create(
+    const BlockSparseMatrix& m,
+    CompressedRowSparseMatrix::StorageType product_storage_type) {
+  return InnerProductComputer::Create(
+      m, 0, m.block_structure()->rows.size(), product_storage_type);
+}
+
+InnerProductComputer* InnerProductComputer::Create(
+    const BlockSparseMatrix& m,
+    const int start_row_block,
+    const int end_row_block,
+    CompressedRowSparseMatrix::StorageType product_storage_type) {
+  CHECK(product_storage_type == CompressedRowSparseMatrix::LOWER_TRIANGULAR ||
+        product_storage_type == CompressedRowSparseMatrix::UPPER_TRIANGULAR);
+  CHECK_GT(m.num_nonzeros(), 0)
+      << "Congratulations, you found a bug in Ceres. Please report it.";
+  InnerProductComputer* inner_product_computer =
+      new InnerProductComputer(m, start_row_block, end_row_block);
+  inner_product_computer->Init(product_storage_type);
+  return inner_product_computer;
+}
+
+void InnerProductComputer::Init(
+    const CompressedRowSparseMatrix::StorageType product_storage_type) {
+  std::vector<InnerProductComputer::ProductTerm> product_terms;
+  const CompressedRowBlockStructure* bs = m_.block_structure();
+
+  // Give input matrix m in Block Sparse format
+  //     (row_block, col_block)
+  // represent each block multiplication
+  //     (row_block, col_block1)' X (row_block, col_block2)
+  // by its product term:
+  //     (col_block1, col_block2, index)
+  for (int row_block = start_row_block_; row_block < end_row_block_;
+       ++row_block) {
+    const CompressedRow& row = bs->rows[row_block];
+    for (int c1 = 0; c1 < row.cells.size(); ++c1) {
+      const Cell& cell1 = row.cells[c1];
+      int c2_begin, c2_end;
+      if (product_storage_type == CompressedRowSparseMatrix::LOWER_TRIANGULAR) {
+        c2_begin = 0;
+        c2_end = c1 + 1;
+      } else {
+        c2_begin = c1;
+        c2_end = row.cells.size();
+      }
+
+      for (int c2 = c2_begin; c2 < c2_end; ++c2) {
+        const Cell& cell2 = row.cells[c2];
+        product_terms.push_back(InnerProductComputer::ProductTerm(
+            cell1.block_id, cell2.block_id, product_terms.size()));
+      }
+    }
+  }
+
+  std::sort(product_terms.begin(), product_terms.end());
+  ComputeOffsetsAndCreateResultMatrix(product_storage_type, product_terms);
+}
+
+void InnerProductComputer::ComputeOffsetsAndCreateResultMatrix(
+    const CompressedRowSparseMatrix::StorageType product_storage_type,
+    const std::vector<InnerProductComputer::ProductTerm>& product_terms) {
+  const std::vector<Block>& col_blocks = m_.block_structure()->cols;
+
+  std::vector<int> row_block_nnz;
+  const int num_nonzeros = ComputeNonzeros(product_terms, &row_block_nnz);
+
+  result_.reset(CreateResultMatrix(product_storage_type, num_nonzeros));
+
+  // Populate the row non-zero counts in the result matrix.
+  int* crsm_rows = result_->mutable_rows();
+  crsm_rows[0] = 0;
+  for (int i = 0; i < col_blocks.size(); ++i) {
+    for (int j = 0; j < col_blocks[i].size; ++j, ++crsm_rows) {
+      *(crsm_rows + 1) = *crsm_rows + row_block_nnz[i];
+    }
+  }
+
+  // The following macro FILL_CRSM_COL_BLOCK is key to understanding
+  // how this class works.
+  //
+  // It does two things.
+  //
+  // Sets the value for the current term in the result_offsets_ array
+  // and populates the cols array of the result matrix.
+  //
+  // row_block and col_block as the names imply, refer to the row and
+  // column blocks of the current term.
+  //
+  // row_nnz is the number of nonzeros in the result_matrix at the
+  // beginning of the first row of row_block.
+  //
+  // col_nnz is the number of nonzeros in the first row of the row
+  // block that occur before the current column block, i.e. this is
+  // sum of the sizes of all the column blocks in this row block that
+  // came before this column block.
+  //
+  // Given these two numbers and the total number of nonzeros in this
+  // row (nnz_in_row), we can now populate the cols array as follows:
+  //
+  // nnz + j * nnz_in_row is the beginning of the j^th row.
+  //
+  // nnz + j * nnz_in_row + col_nnz is the beginning of the column
+  // block in the j^th row.
+  //
+  // nnz + j * nnz_in_row + col_nnz + k is then the j^th row and the
+  // k^th column of the product block, whose value is
+  //
+  // col_blocks[col_block].position + k, which is the column number of
+  // the k^th column of the current column block.
+#define FILL_CRSM_COL_BLOCK                                \
+  const int row_block = current->row;                      \
+  const int col_block = current->col;                      \
+  const int nnz_in_row = row_block_nnz[row_block];         \
+  int* crsm_cols = result_->mutable_cols();                \
+  result_offsets_[current->index] = nnz + col_nnz;         \
+  for (int j = 0; j < col_blocks[row_block].size; ++j) {   \
+    for (int k = 0; k < col_blocks[col_block].size; ++k) { \
+      crsm_cols[nnz + j * nnz_in_row + col_nnz + k] =      \
+          col_blocks[col_block].position + k;              \
+    }                                                      \
+  }
+
+  result_offsets_.resize(product_terms.size());
+  int col_nnz = 0;
+  int nnz = 0;
+
+  // Process the first term.
+  const InnerProductComputer::ProductTerm* current = &product_terms[0];
+  FILL_CRSM_COL_BLOCK;
+
+  // Process the rest of the terms.
+  for (int i = 1; i < product_terms.size(); ++i) {
+    current = &product_terms[i];
+    const InnerProductComputer::ProductTerm* previous = &product_terms[i - 1];
+
+    // If the current term is the same as the previous term, then it
+    // stores its product at the same location as the previous term.
+    if (previous->row == current->row && previous->col == current->col) {
+      result_offsets_[current->index] = result_offsets_[previous->index];
+      continue;
+    }
+
+    if (previous->row == current->row) {
+      // if the current and previous terms are in the same row block,
+      // then they differ in the column block, in which case advance
+      // col_nnz by the column size of the prevous term.
+      col_nnz += col_blocks[previous->col].size;
+    } else {
+      // If we have moved to a new row-block , then col_nnz is zero,
+      // and nnz is set to the beginning of the row block.
+      col_nnz = 0;
+      nnz += row_block_nnz[previous->row] * col_blocks[previous->row].size;
+    }
+
+    FILL_CRSM_COL_BLOCK;
+  }
+}
+
+// Use the results_offsets_ array to numerically compute the product
+// m' * m and store it in result_.
+//
+// TODO(sameeragarwal): Multithreading support.
+void InnerProductComputer::Compute() {
+  const double* m_values = m_.values();
+  const CompressedRowBlockStructure* bs = m_.block_structure();
+
+  const CompressedRowSparseMatrix::StorageType storage_type =
+      result_->storage_type();
+  result_->SetZero();
+  double* values = result_->mutable_values();
+  const int* rows = result_->rows();
+  int cursor = 0;
+
+  // Iterate row blocks.
+  for (int r = start_row_block_; r < end_row_block_; ++r) {
+    const CompressedRow& m_row = bs->rows[r];
+    for (int c1 = 0; c1 < m_row.cells.size(); ++c1) {
+      const Cell& cell1 = m_row.cells[c1];
+      const int c1_size = bs->cols[cell1.block_id].size;
+      const int row_nnz = rows[bs->cols[cell1.block_id].position + 1] -
+          rows[bs->cols[cell1.block_id].position];
+
+      int c2_begin, c2_end;
+      if (storage_type == CompressedRowSparseMatrix::LOWER_TRIANGULAR) {
+        c2_begin = 0;
+        c2_end = c1 + 1;
+      } else {
+        c2_begin = c1;
+        c2_end = m_row.cells.size();
+      }
+
+      for (int c2 = c2_begin; c2 < c2_end; ++c2, ++cursor) {
+        const Cell& cell2 = m_row.cells[c2];
+        const int c2_size = bs->cols[cell2.block_id].size;
+        MatrixTransposeMatrixMultiply(m_row.block.size,
+                                      m_values + cell1.position, c1_size,
+                                      m_values + cell2.position, c2_size,
+                                      values + result_offsets_[cursor],
+                                      row_nnz);
+      }
+    }
+  }
+
+  CHECK_EQ(cursor, result_offsets_.size());
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/inner_product_computer.h b/internal/ceres/inner_product_computer.h
new file mode 100644
index 0000000..d206707
--- /dev/null
+++ b/internal/ceres/inner_product_computer.h
@@ -0,0 +1,157 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_INNER_PRODUCT_COMPUTER_H_
+#define CERES_INTERNAL_INNER_PRODUCT_COMPUTER_H_
+
+#include <vector>
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// This class is used to repeatedly compute the inner product
+//
+//   result = m' * m
+//
+// where the sparsity structure of m remains constant across calls.
+//
+// Upon creation, the class computes and caches information needed to
+// compute v, and then uses it to efficiently compute the product
+// every time InnerProductComputer::Compute is called.
+//
+// See sparse_normal_cholesky_solver.cc for example usage.
+//
+// Note that the result matrix is a block upper or lower-triangular
+// matrix, i.e., it will contain entries in the upper or lower
+// triangular part of the matrix corresponding to the block that occur
+// along its diagonal.
+//
+// This is not a problem as sparse linear algebra libraries can ignore
+// these entries with ease and the space used is minimal/linear in the
+// size of the matrices.
+class InnerProductComputer {
+ public:
+  // Factory
+  //
+  // m is the input matrix
+  //
+  // Since m' * m is a symmetric matrix, we only compute half of the
+  // matrix and the value of storage_type which must be
+  // UPPER_TRIANGULAR or LOWER_TRIANGULAR determines which half is
+  // computed.
+  //
+  // The user must ensure that the matrix m is valid for the life time
+  // of this object.
+  static InnerProductComputer* Create(
+      const BlockSparseMatrix& m,
+      CompressedRowSparseMatrix::StorageType storage_type);
+
+  // This factory method allows the user control over range of row
+  // blocks of m that should be used to compute the inner product.
+  //
+  // a = m(start_row_block : end_row_block, :);
+  // result = a' * a;
+  static InnerProductComputer* Create(
+      const BlockSparseMatrix& m,
+      int start_row_block,
+      int end_row_block,
+      CompressedRowSparseMatrix::StorageType storage_type);
+
+  // Update result_ to be numerically equal to m' * m.
+  void Compute();
+
+  // Accessors for the result containing the inner product.
+  //
+  // Compute must be called before accessing this result for
+  // the first time.
+  const CompressedRowSparseMatrix& result() const { return *result_; }
+  CompressedRowSparseMatrix* mutable_result() const { return result_.get(); }
+
+ private:
+  // A ProductTerm is a term in the block inner product of a matrix
+  // with itself.
+  struct ProductTerm {
+    ProductTerm(const int row, const int col, const int index)
+        : row(row), col(col), index(index) {}
+
+    bool operator<(const ProductTerm& right) const {
+      if (row == right.row) {
+        if (col == right.col) {
+          return index < right.index;
+        }
+        return col < right.col;
+      }
+      return row < right.row;
+    }
+
+    int row;
+    int col;
+    int index;
+  };
+
+  InnerProductComputer(const BlockSparseMatrix& m,
+                       int start_row_block,
+                       int end_row_block);
+
+  void Init(CompressedRowSparseMatrix::StorageType storage_type);
+
+  CompressedRowSparseMatrix* CreateResultMatrix(
+      const CompressedRowSparseMatrix::StorageType storage_type,
+      int num_nonzeros);
+
+  int ComputeNonzeros(const std::vector<ProductTerm>& product_terms,
+                      std::vector<int>* row_block_nnz);
+
+  void ComputeOffsetsAndCreateResultMatrix(
+      const CompressedRowSparseMatrix::StorageType storage_type,
+      const std::vector<ProductTerm>& product_terms);
+
+  const BlockSparseMatrix& m_;
+  const int start_row_block_;
+  const int end_row_block_;
+  scoped_ptr<CompressedRowSparseMatrix> result_;
+
+  // For each term in the inner product, result_offsets_ contains the
+  // location in the values array of the result_ matrix where it
+  // should be stored.
+  //
+  // This is the principal look up table that allows this class to
+  // compute the inner product fast.
+  std::vector<int> result_offsets_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_INNER_PRODUCT_COMPUTER_H_
diff --git a/internal/ceres/inner_product_computer_test.cc b/internal/ceres/inner_product_computer_test.cc
new file mode 100644
index 0000000..fa667b1
--- /dev/null
+++ b/internal/ceres/inner_product_computer_test.cc
@@ -0,0 +1,228 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/inner_product_computer.h"
+
+#include <numeric>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/random.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/SparseCore"
+
+namespace ceres {
+namespace internal {
+
+#define COMPUTE_AND_COMPARE                                                  \
+  {                                                                          \
+    inner_product_computer->Compute();                                       \
+    CompressedRowSparseMatrix* actual_product_crsm =                         \
+        inner_product_computer->mutable_result();                            \
+    Matrix actual_inner_product =                                            \
+        Eigen::MappedSparseMatrix<double, Eigen::ColMajor>(                  \
+            actual_product_crsm->num_rows(),                                 \
+            actual_product_crsm->num_rows(),                                 \
+            actual_product_crsm->num_nonzeros(),                             \
+            actual_product_crsm->mutable_rows(),                             \
+            actual_product_crsm->mutable_cols(),                             \
+            actual_product_crsm->mutable_values());                          \
+    EXPECT_EQ(actual_inner_product.rows(), actual_inner_product.cols());     \
+    EXPECT_EQ(expected_inner_product.rows(), expected_inner_product.cols()); \
+    EXPECT_EQ(actual_inner_product.rows(), expected_inner_product.rows());   \
+    Matrix expected_t, actual_t;                                             \
+    if (actual_product_crsm->storage_type() ==                               \
+        CompressedRowSparseMatrix::LOWER_TRIANGULAR) {                       \
+      expected_t = expected_inner_product.triangularView<Eigen::Upper>();    \
+      actual_t = actual_inner_product.triangularView<Eigen::Upper>();        \
+    } else {                                                                 \
+      expected_t = expected_inner_product.triangularView<Eigen::Lower>();    \
+      actual_t = actual_inner_product.triangularView<Eigen::Lower>();        \
+    }                                                                        \
+    EXPECT_LE((expected_t - actual_t).norm() / actual_t.norm(),              \
+              100 * std::numeric_limits<double>::epsilon())                  \
+        << "expected: \n"                                                    \
+        << expected_t << "\nactual: \n"                                      \
+        << actual_t;                                                         \
+  }
+
+TEST(InnerProductComputer, NormalOperation) {
+  // "Randomly generated seed."
+  SetRandomState(29823);
+  const int kMaxNumRowBlocks = 10;
+  const int kMaxNumColBlocks = 10;
+  const int kNumTrials = 10;
+
+  // Create a random matrix, compute its outer product using Eigen and
+  // ComputeOuterProduct. Convert both matrices to dense matrices and
+  // compare their upper triangular parts.
+  for (int num_row_blocks = 1; num_row_blocks < kMaxNumRowBlocks;
+       ++num_row_blocks) {
+    for (int num_col_blocks = 1; num_col_blocks < kMaxNumColBlocks;
+         ++num_col_blocks) {
+      for (int trial = 0; trial < kNumTrials; ++trial) {
+        BlockSparseMatrix::RandomMatrixOptions options;
+        options.num_row_blocks = num_row_blocks;
+        options.num_col_blocks = num_col_blocks;
+        options.min_row_block_size = 1;
+        options.max_row_block_size = 5;
+        options.min_col_block_size = 1;
+        options.max_col_block_size = 10;
+        options.block_density = std::max(0.1, RandDouble());
+
+        VLOG(2) << "num row blocks: " << options.num_row_blocks;
+        VLOG(2) << "num col blocks: " << options.num_col_blocks;
+        VLOG(2) << "min row block size: " << options.min_row_block_size;
+        VLOG(2) << "max row block size: " << options.max_row_block_size;
+        VLOG(2) << "min col block size: " << options.min_col_block_size;
+        VLOG(2) << "max col block size: " << options.max_col_block_size;
+        VLOG(2) << "block density: " << options.block_density;
+
+        scoped_ptr<BlockSparseMatrix> random_matrix(
+            BlockSparseMatrix::CreateRandomMatrix(options));
+
+        TripletSparseMatrix tsm(random_matrix->num_rows(),
+                                random_matrix->num_cols(),
+                                random_matrix->num_nonzeros());
+        random_matrix->ToTripletSparseMatrix(&tsm);
+        std::vector<Eigen::Triplet<double> > triplets;
+        for (int i = 0; i < tsm.num_nonzeros(); ++i) {
+          triplets.push_back(Eigen::Triplet<double>(
+              tsm.rows()[i], tsm.cols()[i], tsm.values()[i]));
+        }
+        Eigen::SparseMatrix<double> eigen_random_matrix(
+            random_matrix->num_rows(), random_matrix->num_cols());
+        eigen_random_matrix.setFromTriplets(triplets.begin(), triplets.end());
+        Matrix expected_inner_product =
+            eigen_random_matrix.transpose() * eigen_random_matrix;
+
+        scoped_ptr<InnerProductComputer> inner_product_computer;
+
+        inner_product_computer.reset(InnerProductComputer::Create(
+            *random_matrix, CompressedRowSparseMatrix::LOWER_TRIANGULAR));
+        COMPUTE_AND_COMPARE;
+        inner_product_computer.reset(InnerProductComputer::Create(
+            *random_matrix, CompressedRowSparseMatrix::UPPER_TRIANGULAR));
+        COMPUTE_AND_COMPARE;
+
+      }
+    }
+  }
+}
+
+
+TEST(InnerProductComputer, SubMatrix) {
+  // "Randomly generated seed."
+  SetRandomState(29823);
+  const int kNumRowBlocks = 10;
+  const int kNumColBlocks = 20;
+  const int kNumTrials = 5;
+
+  // Create a random matrix, compute its outer product using Eigen and
+  // ComputeInnerProductComputer. Convert both matrices to dense matrices and
+  // compare their upper triangular parts.
+  for (int trial = 0; trial < kNumTrials; ++trial) {
+    BlockSparseMatrix::RandomMatrixOptions options;
+    options.num_row_blocks = kNumRowBlocks;
+    options.num_col_blocks = kNumColBlocks;
+    options.min_row_block_size = 1;
+    options.max_row_block_size = 5;
+    options.min_col_block_size = 1;
+    options.max_col_block_size = 10;
+    options.block_density = std::max(0.1, RandDouble());
+
+    VLOG(2) << "num row blocks: " << options.num_row_blocks;
+    VLOG(2) << "num col blocks: " << options.num_col_blocks;
+    VLOG(2) << "min row block size: " << options.min_row_block_size;
+    VLOG(2) << "max row block size: " << options.max_row_block_size;
+    VLOG(2) << "min col block size: " << options.min_col_block_size;
+    VLOG(2) << "max col block size: " << options.max_col_block_size;
+    VLOG(2) << "block density: " << options.block_density;
+
+    scoped_ptr<BlockSparseMatrix> random_matrix(
+        BlockSparseMatrix::CreateRandomMatrix(options));
+
+    const std::vector<CompressedRow>& row_blocks =
+        random_matrix->block_structure()->rows;
+    const int num_row_blocks = row_blocks.size();
+
+    for (int start_row_block = 0; start_row_block < num_row_blocks - 1;
+         ++start_row_block) {
+      for (int end_row_block = start_row_block + 1;
+           end_row_block < num_row_blocks;
+           ++end_row_block) {
+        const int start_row = row_blocks[start_row_block].block.position;
+        const int end_row = row_blocks[end_row_block].block.position;
+
+        TripletSparseMatrix tsm(random_matrix->num_rows(),
+                                random_matrix->num_cols(),
+                                random_matrix->num_nonzeros());
+        random_matrix->ToTripletSparseMatrix(&tsm);
+        std::vector<Eigen::Triplet<double> > triplets;
+        for (int i = 0; i < tsm.num_nonzeros(); ++i) {
+          if (tsm.rows()[i] >= start_row && tsm.rows()[i] < end_row) {
+            triplets.push_back(Eigen::Triplet<double>(
+                tsm.rows()[i], tsm.cols()[i], tsm.values()[i]));
+          }
+        }
+
+        Eigen::SparseMatrix<double> eigen_random_matrix(
+            random_matrix->num_rows(), random_matrix->num_cols());
+        eigen_random_matrix.setFromTriplets(triplets.begin(), triplets.end());
+
+        Matrix expected_inner_product =
+            eigen_random_matrix.transpose() * eigen_random_matrix;
+
+        scoped_ptr<InnerProductComputer> inner_product_computer;
+        inner_product_computer.reset(InnerProductComputer::Create(
+            *random_matrix,
+            start_row_block,
+            end_row_block,
+            CompressedRowSparseMatrix::LOWER_TRIANGULAR));
+        COMPUTE_AND_COMPARE;
+        inner_product_computer.reset(InnerProductComputer::Create(
+            *random_matrix,
+            start_row_block,
+            end_row_block,
+            CompressedRowSparseMatrix::UPPER_TRIANGULAR));
+        COMPUTE_AND_COMPARE;
+
+      }
+    }
+  }
+}
+
+#undef COMPUTE_AND_COMPARE
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/integral_types.h b/internal/ceres/integral_types.h
new file mode 100644
index 0000000..98a746f
--- /dev/null
+++ b/internal/ceres/integral_types.h
@@ -0,0 +1,91 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Portable typedefs for various fixed-size integers. Uses template
+// metaprogramming instead of fragile compiler defines.
+
+#ifndef CERES_INTERNAL_INTEGRAL_TYPES_H_
+#define CERES_INTERNAL_INTEGRAL_TYPES_H_
+
+namespace ceres {
+namespace internal {
+
+// Compile time ternary on types.
+template<bool kCondition, typename kTrueType, typename kFalseType>
+struct Ternary {
+  typedef kTrueType type;
+};
+template<typename kTrueType, typename kFalseType>
+struct Ternary<false, kTrueType, kFalseType> {
+  typedef kFalseType type;
+};
+
+#define CERES_INTSIZE(TYPE) \
+    typename Ternary<sizeof(TYPE) * 8 == kBits, TYPE,
+
+template<int kBits>
+struct Integer {
+  typedef
+      CERES_INTSIZE(char)
+      CERES_INTSIZE(short)
+      CERES_INTSIZE(int)
+      CERES_INTSIZE(long int)
+      CERES_INTSIZE(long long)
+      void>::type >::type >::type >::type >::type
+      type;
+};
+
+template<int kBits>
+struct UnsignedInteger {
+  typedef
+      CERES_INTSIZE(unsigned char)
+      CERES_INTSIZE(unsigned short)
+      CERES_INTSIZE(unsigned int)
+      CERES_INTSIZE(unsigned long int)
+      CERES_INTSIZE(unsigned long long)
+      void>::type >::type >::type >::type >::type
+      type;
+};
+
+#undef CERES_INTSIZE
+
+typedef Integer< 8>::type int8;
+typedef Integer<32>::type int32;
+typedef Integer<64>::type int64;
+
+typedef UnsignedInteger< 8>::type uint8;
+typedef UnsignedInteger<16>::type uint16;
+typedef UnsignedInteger<32>::type uint32;
+typedef UnsignedInteger<64>::type uint64;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_INTEGRAL_TYPES_H_
diff --git a/internal/ceres/invert_psd_matrix.h b/internal/ceres/invert_psd_matrix.h
new file mode 100644
index 0000000..2319fea
--- /dev/null
+++ b/internal/ceres/invert_psd_matrix.h
@@ -0,0 +1,78 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_INVERT_PSD_MATRIX_H_
+#define CERES_INTERNAL_INVERT_PSD_MATRIX_H_
+
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "Eigen/Dense"
+
+namespace ceres {
+namespace internal {
+
+// Helper routine to compute the inverse or pseudo-inverse of a
+// symmetric positive semi-definite matrix.
+//
+// assume_full_rank controls whether a Cholesky factorization or an
+// Singular Value Decomposition is used to compute the inverse and the
+// pseudo-inverse respectively.
+//
+// The template parameter kSize can either be Eigen::Dynamic or a
+// positive integer equal to the number of rows of m.
+template <int kSize>
+typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
+    const bool assume_full_rank,
+    const typename EigenTypes<kSize, kSize>::Matrix& m) {
+  const int size = m.rows();
+
+  // If the matrix can be assumed to be full rank, then just use the
+  // Cholesky factorization to invert it.
+  if (assume_full_rank) {
+    return m.template selfadjointView<Eigen::Upper>().llt().solve(
+        Matrix::Identity(size, size));
+  }
+
+  Eigen::JacobiSVD<Matrix> svd(m, Eigen::ComputeThinU | Eigen::ComputeThinV);
+  const double tolerance =
+      std::numeric_limits<double>::epsilon() * size * svd.singularValues()(0);
+
+  return svd.matrixV() *
+         (svd.singularValues().array() > tolerance)
+             .select(svd.singularValues().array().inverse(), 0)
+             .matrix()
+             .asDiagonal() *
+         svd.matrixU().adjoint();
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif // CERES_INTERNAL_INVERT_PSD_MATRIX_H_
diff --git a/internal/ceres/invert_psd_matrix_test.cc b/internal/ceres/invert_psd_matrix_test.cc
new file mode 100644
index 0000000..5da9c11
--- /dev/null
+++ b/internal/ceres/invert_psd_matrix_test.cc
@@ -0,0 +1,86 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/invert_psd_matrix.h"
+
+#include "ceres/internal/eigen.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+static const bool kFullRank = true;
+static const bool kRankDeficient = false;
+
+template <int kSize>
+typename EigenTypes<kSize, kSize>::Matrix RandomPSDMatrixWithEigenValues(
+    const typename EigenTypes<kSize>::Vector& eigenvalues) {
+  typename EigenTypes<kSize, kSize>::Matrix m;
+  m.setRandom();
+  Eigen::SelfAdjointEigenSolver<typename EigenTypes<kSize, kSize>::Matrix> es(
+      m);
+  return es.eigenvectors() * eigenvalues.asDiagonal() *
+         es.eigenvectors().transpose();
+}
+
+TEST(InvertPSDMatrix, Identity3x3) {
+  const Matrix m = Matrix::Identity(3, 3);
+  const Matrix inverse_m = InvertPSDMatrix<3>(kFullRank, m);
+  EXPECT_NEAR((inverse_m - m).norm() / m.norm(),
+              0.0,
+              std::numeric_limits<double>::epsilon());
+}
+
+TEST(InvertPSDMatrix, FullRank5x5) {
+  EigenTypes<5>::Vector eigenvalues;
+  eigenvalues.setRandom();
+  eigenvalues = eigenvalues.array().abs().matrix();
+  const Matrix m = RandomPSDMatrixWithEigenValues<5>(eigenvalues);
+  const Matrix inverse_m = InvertPSDMatrix<5>(kFullRank, m);
+  EXPECT_NEAR((m * inverse_m - Matrix::Identity(5,5)).norm() / 5.0,  0.0,
+              std::numeric_limits<double>::epsilon());
+}
+
+TEST(InvertPSDMatrix, RankDeficient5x5) {
+  EigenTypes<5>::Vector eigenvalues;
+  eigenvalues.setRandom();
+  eigenvalues = eigenvalues.array().abs().matrix();
+  eigenvalues(3) = 0.0;
+  const Matrix m = RandomPSDMatrixWithEigenValues<5>(eigenvalues);
+  const Matrix inverse_m = InvertPSDMatrix<5>(kRankDeficient, m);
+  Matrix pseudo_identity = Matrix::Identity(5, 5);
+  pseudo_identity(3, 3) = 0.0;
+  EXPECT_NEAR((m * inverse_m * m - m).norm() / m.norm(),
+              0.0,
+              10 * std::numeric_limits<double>::epsilon());
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/is_close.cc b/internal/ceres/is_close.cc
new file mode 100644
index 0000000..a91a174
--- /dev/null
+++ b/internal/ceres/is_close.cc
@@ -0,0 +1,59 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: keir@google.com (Keir Mierle), dgossow@google.com (David Gossow)
+
+#include "ceres/is_close.h"
+
+#include <algorithm>
+#include <cmath>
+
+namespace ceres {
+namespace internal {
+bool IsClose(double x, double y, double relative_precision,
+             double *relative_error,
+             double *absolute_error) {
+  double local_absolute_error;
+  double local_relative_error;
+  if (!absolute_error) {
+    absolute_error = &local_absolute_error;
+  }
+  if (!relative_error) {
+    relative_error = &local_relative_error;
+  }
+  *absolute_error = std::fabs(x - y);
+  *relative_error = *absolute_error / std::max(std::fabs(x), std::fabs(y));
+  if (x == 0 || y == 0) {
+    // If x or y is exactly zero, then relative difference doesn't have any
+    // meaning. Take the absolute difference instead.
+    *relative_error = *absolute_error;
+  }
+  return *relative_error < std::fabs(relative_precision);
+}
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/is_close.h b/internal/ceres/is_close.h
new file mode 100644
index 0000000..7789448
--- /dev/null
+++ b/internal/ceres/is_close.h
@@ -0,0 +1,51 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: keir@google.com (Keir Mierle), dgossow@google.com (David Gossow)
+//
+// Utility routine for comparing two values.
+
+#ifndef CERES_INTERNAL_IS_CLOSE_H_
+#define CERES_INTERNAL_IS_CLOSE_H_
+
+namespace ceres {
+namespace internal {
+// Returns true if x and y have a relative (unsigned) difference less than
+// relative_precision and false otherwise. Stores the relative and absolute
+// difference in relative/absolute_error if non-NULL. If one of the two values
+// is exactly zero, the absolute difference will be compared, and relative_error
+// will be set to the absolute difference.
+bool IsClose(double x,
+             double y,
+             double relative_precision,
+             double *relative_error,
+             double *absolute_error);
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_IS_CLOSE_H_
diff --git a/internal/ceres/is_close_test.cc b/internal/ceres/is_close_test.cc
new file mode 100644
index 0000000..8f7aaba
--- /dev/null
+++ b/internal/ceres/is_close_test.cc
@@ -0,0 +1,177 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: dgossow@google.com (David Gossow)
+//
+// This file contains tests for the IsClose function.
+
+#include "ceres/is_close.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 1e-9;
+
+TEST(IsClose, BothParametersPositive) {
+  double relative_error = -1;
+  double absolute_error = -1;
+
+  // Test cases where both values are positive.
+  EXPECT_TRUE(IsClose(9.9, 10.0, 0.011, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_TRUE(IsClose(10.0, 9.9, 0.011, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+
+  EXPECT_FALSE(IsClose(9.9, 10.0, 0.009, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_FALSE(IsClose(10.0, 9.9, 0.009, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+}
+
+TEST(IsClose, BothParametersNegative) {
+  double relative_error = -1;
+  double absolute_error = -1;
+
+  // Test cases where both values are negative.
+  EXPECT_TRUE(IsClose(-9.9, -10.0, 0.011, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_TRUE(IsClose(-10.0, -9.9, 0.011, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+
+  EXPECT_FALSE(IsClose(-9.9, -10.0, 0.009, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_FALSE(IsClose(-10.0, -9.9, 0.009, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.01, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.1, kTolerance);
+}
+
+TEST(IsClose, ParametersHaveMixedSigns) {
+  double relative_error = -1;
+  double absolute_error = -1;
+
+  // Test cases with mixed signs.
+  EXPECT_FALSE(IsClose(-0.1, 0.1, 1.99, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 2.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_TRUE(IsClose(-0.1, 0.1, 2.01, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 2.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_FALSE(IsClose(0.1, -0.1, 1.99, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 2.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_TRUE(IsClose(0.1, -0.1, 2.01, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 2.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.2, kTolerance);
+}
+
+TEST(IsClose, OneParameterZero) {
+  double relative_error = -1;
+  double absolute_error = -1;
+
+  // Test cases where one of the values is zero.
+  EXPECT_TRUE(IsClose(0.0, 10.0, 10.1, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_TRUE(IsClose(10.0, 0.0, 10.1, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_TRUE(IsClose(0.0, -10.0, 10.1, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_TRUE(IsClose(-10.0, 0.0, 10.1, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+
+  EXPECT_FALSE(IsClose(0, 10.0, 9.9, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_FALSE(IsClose(10.0, 0.0, 9.9, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_FALSE(IsClose(0, -10.0, 9.9, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_FALSE(IsClose(-10.0, 0.0, 9.9, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 10.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 10.0, kTolerance);
+}
+
+TEST(IsClose, BothParametersZero) {
+  double relative_error = -1;
+  double absolute_error = -1;
+  EXPECT_TRUE(IsClose(0.0, 0.0, 0.1, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.0, kTolerance);
+  relative_error = -1;
+  absolute_error = -1;
+  EXPECT_FALSE(IsClose(0.0, 0.0, 0.0, &relative_error, &absolute_error));
+  EXPECT_NEAR(relative_error, 0.0, kTolerance);
+  EXPECT_NEAR(absolute_error, 0.0, kTolerance);
+}
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/iterative_schur_complement_solver.cc b/internal/ceres/iterative_schur_complement_solver.cc
new file mode 100644
index 0000000..900e669
--- /dev/null
+++ b/internal/ceres/iterative_schur_complement_solver.cc
@@ -0,0 +1,174 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/iterative_schur_complement_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/detect_structure.h"
+#include "ceres/implicit_schur_complement.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/preconditioner.h"
+#include "ceres/schur_jacobi_preconditioner.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/visibility_based_preconditioner.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+IterativeSchurComplementSolver::IterativeSchurComplementSolver(
+    const LinearSolver::Options& options)
+    : options_(options) {}
+
+IterativeSchurComplementSolver::~IterativeSchurComplementSolver() {}
+
+LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl(
+    BlockSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("IterativeSchurComplementSolver::Solve");
+
+  CHECK_NOTNULL(A->block_structure());
+  const int num_eliminate_blocks = options_.elimination_groups[0];
+  // Initialize a ImplicitSchurComplement object.
+  if (schur_complement_ == NULL) {
+    DetectStructure(*(A->block_structure()),
+                    num_eliminate_blocks,
+                    &options_.row_block_size,
+                    &options_.e_block_size,
+                    &options_.f_block_size);
+    schur_complement_.reset(new ImplicitSchurComplement(options_));
+  }
+  schur_complement_->Init(*A, per_solve_options.D, b);
+
+  const int num_schur_complement_blocks =
+      A->block_structure()->cols.size() - num_eliminate_blocks;
+  if (num_schur_complement_blocks == 0) {
+    VLOG(2) << "No parameter blocks left in the schur complement.";
+    LinearSolver::Summary summary;
+    summary.num_iterations = 0;
+    summary.termination_type = LINEAR_SOLVER_SUCCESS;
+    schur_complement_->BackSubstitute(NULL, x);
+    return summary;
+  }
+
+  // Initialize the solution to the Schur complement system to zero.
+  reduced_linear_system_solution_.resize(schur_complement_->num_rows());
+  reduced_linear_system_solution_.setZero();
+
+  LinearSolver::Options cg_options;
+  cg_options.min_num_iterations = options_.min_num_iterations;
+  cg_options.max_num_iterations = options_.max_num_iterations;
+  ConjugateGradientsSolver cg_solver(cg_options);
+
+  LinearSolver::PerSolveOptions cg_per_solve_options;
+  cg_per_solve_options.r_tolerance = per_solve_options.r_tolerance;
+  cg_per_solve_options.q_tolerance = per_solve_options.q_tolerance;
+
+  CreatePreconditioner(A);
+  if (preconditioner_.get() != NULL) {
+    if (!preconditioner_->Update(*A, per_solve_options.D)) {
+      LinearSolver::Summary summary;
+      summary.num_iterations = 0;
+      summary.termination_type = LINEAR_SOLVER_FAILURE;
+      summary.message = "Preconditioner update failed.";
+      return summary;
+    }
+
+    cg_per_solve_options.preconditioner = preconditioner_.get();
+  }
+
+  event_logger.AddEvent("Setup");
+  LinearSolver::Summary summary =
+      cg_solver.Solve(schur_complement_.get(),
+                      schur_complement_->rhs().data(),
+                      cg_per_solve_options,
+                      reduced_linear_system_solution_.data());
+  if (summary.termination_type != LINEAR_SOLVER_FAILURE &&
+      summary.termination_type != LINEAR_SOLVER_FATAL_ERROR) {
+    schur_complement_->BackSubstitute(reduced_linear_system_solution_.data(),
+                                      x);
+  }
+  event_logger.AddEvent("Solve");
+  return summary;
+}
+
+void IterativeSchurComplementSolver::CreatePreconditioner(
+    BlockSparseMatrix* A) {
+  if (options_.preconditioner_type == IDENTITY ||
+      preconditioner_.get() != NULL) {
+    return;
+  }
+
+  Preconditioner::Options preconditioner_options;
+  preconditioner_options.type = options_.preconditioner_type;
+  preconditioner_options.visibility_clustering_type =
+      options_.visibility_clustering_type;
+  preconditioner_options.sparse_linear_algebra_library_type =
+      options_.sparse_linear_algebra_library_type;
+  preconditioner_options.num_threads = options_.num_threads;
+  preconditioner_options.row_block_size = options_.row_block_size;
+  preconditioner_options.e_block_size = options_.e_block_size;
+  preconditioner_options.f_block_size = options_.f_block_size;
+  preconditioner_options.elimination_groups = options_.elimination_groups;
+
+  switch (options_.preconditioner_type) {
+    case JACOBI:
+      preconditioner_.reset(new SparseMatrixPreconditionerWrapper(
+          schur_complement_->block_diagonal_FtF_inverse()));
+      break;
+    case SCHUR_JACOBI:
+      preconditioner_.reset(new SchurJacobiPreconditioner(
+          *A->block_structure(), preconditioner_options));
+      break;
+    case CLUSTER_JACOBI:
+    case CLUSTER_TRIDIAGONAL:
+      preconditioner_.reset(new VisibilityBasedPreconditioner(
+          *A->block_structure(), preconditioner_options));
+      break;
+    default:
+      LOG(FATAL) << "Unknown Preconditioner Type";
+  }
+};
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/iterative_schur_complement_solver.h b/internal/ceres/iterative_schur_complement_solver.h
new file mode 100644
index 0000000..ffcfd8d
--- /dev/null
+++ b/internal/ceres/iterative_schur_complement_solver.h
@@ -0,0 +1,94 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
+#define CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class ImplicitSchurComplement;
+class Preconditioner;
+
+// This class implements an iterative solver for the linear least
+// squares problems that have a bi-partite sparsity structure common
+// to Structure from Motion problems.
+//
+// The algorithm used by this solver was developed in a series of
+// papers - "Agarwal et al, Bundle Adjustment in the Large, ECCV 2010"
+// and "Wu et al, Multicore Bundle Adjustment, submitted to CVPR
+// 2011" at the Univeristy of Washington.
+//
+// The key idea is that one can run Conjugate Gradients on the Schur
+// Complement system without explicitly forming the Schur Complement
+// in memory. The heavy lifting for this is done by the
+// ImplicitSchurComplement class. Not forming the Schur complement in
+// memory and factoring it results in substantial savings in time and
+// memory. Further, iterative solvers like this open up the
+// possibility of solving the Newton equations in a non-linear solver
+// only approximately and terminating early, thereby saving even more
+// time.
+//
+// For the curious, running CG on the Schur complement is the same as
+// running CG on the Normal Equations with an SSOR preconditioner. For
+// a proof of this fact and others related to this solver please see
+// the section on Domain Decomposition Methods in Saad's book
+// "Iterative Methods for Sparse Linear Systems".
+class IterativeSchurComplementSolver : public BlockSparseMatrixSolver {
+ public:
+  explicit IterativeSchurComplementSolver(const LinearSolver::Options& options);
+  virtual ~IterativeSchurComplementSolver();
+
+ private:
+  virtual LinearSolver::Summary SolveImpl(
+      BlockSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& options,
+      double* x);
+
+  void CreatePreconditioner(BlockSparseMatrix* A);
+
+  LinearSolver::Options options_;
+  scoped_ptr<internal::ImplicitSchurComplement> schur_complement_;
+  scoped_ptr<Preconditioner> preconditioner_;
+  Vector reduced_linear_system_solution_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(IterativeSchurComplementSolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
diff --git a/internal/ceres/iterative_schur_complement_solver_test.cc b/internal/ceres/iterative_schur_complement_solver_test.cc
new file mode 100644
index 0000000..41cce4d
--- /dev/null
+++ b/internal/ceres/iterative_schur_complement_solver_test.cc
@@ -0,0 +1,132 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// TODO(sameeragarwal): Add support for larger, more complicated and
+// poorly conditioned problems both for correctness testing as well as
+// benchmarking.
+
+#include "ceres/iterative_schur_complement_solver.h"
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using testing::AssertionResult;
+
+const double kEpsilon = 1e-14;
+
+class IterativeSchurComplementSolverTest : public ::testing::Test {
+ protected :
+  void SetUpProblem(int problem_id) {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(problem_id));
+
+    CHECK_NOTNULL(problem.get());
+    A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+    b_.reset(problem->b.release());
+    D_.reset(problem->D.release());
+
+    num_cols_ = A_->num_cols();
+    num_rows_ = A_->num_rows();
+    num_eliminate_blocks_ = problem->num_eliminate_blocks;
+  }
+
+  AssertionResult TestSolver(double* D) {
+    TripletSparseMatrix triplet_A(A_->num_rows(),
+                                  A_->num_cols(),
+                                  A_->num_nonzeros());
+    A_->ToTripletSparseMatrix(&triplet_A);
+
+    DenseSparseMatrix dense_A(triplet_A);
+
+    LinearSolver::Options options;
+    options.type = DENSE_QR;
+    scoped_ptr<LinearSolver> qr(LinearSolver::Create(options));
+
+    LinearSolver::PerSolveOptions per_solve_options;
+    per_solve_options.D = D;
+    Vector reference_solution(num_cols_);
+    qr->Solve(&dense_A, b_.get(), per_solve_options, reference_solution.data());
+
+    options.elimination_groups.push_back(num_eliminate_blocks_);
+    options.elimination_groups.push_back(0);
+    options.max_num_iterations = num_cols_;
+    options.preconditioner_type = SCHUR_JACOBI;
+    IterativeSchurComplementSolver isc(options);
+
+    Vector isc_sol(num_cols_);
+    per_solve_options.r_tolerance  = 1e-12;
+    isc.Solve(A_.get(), b_.get(), per_solve_options, isc_sol.data());
+    double diff = (isc_sol - reference_solution).norm();
+    if (diff < kEpsilon) {
+      return testing::AssertionSuccess();
+    } else {
+      return testing::AssertionFailure()
+          << "The reference solution differs from the ITERATIVE_SCHUR"
+          << " solution by " << diff << " which is more than " << kEpsilon;
+    }
+  }
+
+  int num_rows_;
+  int num_cols_;
+  int num_eliminate_blocks_;
+  scoped_ptr<BlockSparseMatrix> A_;
+  scoped_array<double> b_;
+  scoped_array<double> D_;
+};
+
+TEST_F(IterativeSchurComplementSolverTest, NormalProblem) {
+  SetUpProblem(2);
+  EXPECT_TRUE(TestSolver(NULL));
+  EXPECT_TRUE(TestSolver(D_.get()));
+}
+
+TEST_F(IterativeSchurComplementSolverTest, ProblemWithNoFBlocks) {
+  SetUpProblem(3);
+  EXPECT_TRUE(TestSolver(NULL));
+  EXPECT_TRUE(TestSolver(D_.get()));
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/jet_test.cc b/internal/ceres/jet_test.cc
new file mode 100644
index 0000000..16d37c6
--- /dev/null
+++ b/internal/ceres/jet_test.cc
@@ -0,0 +1,674 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/jet.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "ceres/fpclassify.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+
+#define VL VLOG(1)
+
+namespace ceres {
+namespace internal {
+
+const double kE = 2.71828182845904523536;
+
+typedef Jet<double, 2> J;
+
+// Convenient shorthand for making a jet.
+J MakeJet(double a, double v0, double v1) {
+  J z;
+  z.a = a;
+  z.v[0] = v0;
+  z.v[1] = v1;
+  return z;
+}
+
+// On a 32-bit optimized build, the mismatch is about 1.4e-14.
+double const kTolerance = 1e-13;
+
+void ExpectJetsClose(const J &x, const J &y) {
+  ExpectClose(x.a, y.a, kTolerance);
+  ExpectClose(x.v[0], y.v[0], kTolerance);
+  ExpectClose(x.v[1], y.v[1], kTolerance);
+}
+
+TEST(Jet, Jet) {
+  // Pick arbitrary values for x and y.
+  J x = MakeJet(2.3, -2.7, 1e-3);
+  J y = MakeJet(1.7,  0.5, 1e+2);
+
+  VL << "x = " << x;
+  VL << "y = " << y;
+
+  { // Check that log(exp(x)) == x.
+    J z = exp(x);
+    J w = log(z);
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(w, x);
+  }
+
+  { // Check that (x * y) / x == y.
+    J z = x * y;
+    J w = z / x;
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(w, y);
+  }
+
+  { // Check that sqrt(x * x) == x.
+    J z = x * x;
+    J w = sqrt(z);
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(w, x);
+  }
+
+  { // Check that sqrt(y) * sqrt(y) == y.
+    J z = sqrt(y);
+    J w = z * z;
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(w, y);
+  }
+
+  { // Check that cos(2*x) = cos(x)^2 - sin(x)^2
+    J z = cos(J(2.0) * x);
+    J w = cos(x)*cos(x) - sin(x)*sin(x);
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(w, z);
+  }
+
+  { // Check that sin(2*x) = 2*cos(x)*sin(x)
+    J z = sin(J(2.0) * x);
+    J w = J(2.0)*cos(x)*sin(x);
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(w, z);
+  }
+
+  { // Check that cos(x)*cos(x) + sin(x)*sin(x) = 1
+    J z = cos(x) * cos(x);
+    J w = sin(x) * sin(x);
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(z + w, J(1.0));
+  }
+
+  { // Check that atan2(r*sin(t), r*cos(t)) = t.
+    J t = MakeJet(0.7, -0.3, +1.5);
+    J r = MakeJet(2.3, 0.13, -2.4);
+    VL << "t = " << t;
+    VL << "r = " << r;
+
+    J u = atan2(r * sin(t), r * cos(t));
+    VL << "u = " << u;
+
+    ExpectJetsClose(u, t);
+  }
+
+  { // Check that tan(x) = sin(x) / cos(x).
+    J z = tan(x);
+    J w = sin(x) / cos(x);
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(z, w);
+  }
+
+  { // Check that tan(atan(x)) = x.
+    J z = tan(atan(x));
+    J w = x;
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(z, w);
+  }
+
+  { // Check that cosh(x)*cosh(x) - sinh(x)*sinh(x) = 1
+    J z = cosh(x) * cosh(x);
+    J w = sinh(x) * sinh(x);
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(z - w, J(1.0));
+  }
+
+  { // Check that tanh(x + y) = (tanh(x) + tanh(y)) / (1 + tanh(x) tanh(y))
+    J z = tanh(x + y);
+    J w = (tanh(x) + tanh(y)) / (J(1.0) + tanh(x) * tanh(y));
+    VL << "z = " << z;
+    VL << "w = " << w;
+    ExpectJetsClose(z, w);
+  }
+
+  { // Check that pow(x, 1) == x.
+    VL << "x = " << x;
+
+    J u = pow(x, 1.);
+    VL << "u = " << u;
+
+    ExpectJetsClose(x, u);
+  }
+
+  { // Check that pow(x, 1) == x.
+    J y = MakeJet(1, 0.0, 0.0);
+    VL << "x = " << x;
+    VL << "y = " << y;
+
+    J u = pow(x, y);
+    VL << "u = " << u;
+
+    ExpectJetsClose(x, u);
+  }
+
+  { // Check that pow(e, log(x)) == x.
+    J logx = log(x);
+
+    VL << "x = " << x;
+    VL << "y = " << y;
+
+    J u = pow(kE, logx);
+    VL << "u = " << u;
+
+    ExpectJetsClose(x, u);
+  }
+
+  { // Check that pow(e, log(x)) == x.
+    J logx = log(x);
+    J e = MakeJet(kE, 0., 0.);
+    VL << "x = " << x;
+    VL << "log(x) = " << logx;
+
+    J u = pow(e, logx);
+    VL << "u = " << u;
+
+    ExpectJetsClose(x, u);
+  }
+
+  { // Check that pow(e, log(x)) == x.
+    J logx = log(x);
+    J e = MakeJet(kE, 0., 0.);
+    VL << "x = " << x;
+    VL << "logx = " << logx;
+
+    J u = pow(e, logx);
+    VL << "u = " << u;
+
+    ExpectJetsClose(x, u);
+  }
+
+  { // Check that pow(x,y) = exp(y*log(x)).
+    J logx = log(x);
+    J e = MakeJet(kE, 0., 0.);
+    VL << "x = " << x;
+    VL << "logx = " << logx;
+
+    J u = pow(e, y*logx);
+    J v = pow(x, y);
+    VL << "u = " << u;
+    VL << "v = " << v;
+
+    ExpectJetsClose(v, u);
+  }
+
+  { // Check that pow(0, y) == 0 for y > 1, with both arguments Jets.
+    // This tests special case handling inside pow().
+    J a = MakeJet(0, 1, 2);
+    J b = MakeJet(2, 3, 4);
+    VL << "a = " << a;
+    VL << "b = " << b;
+
+    J c = pow(a, b);
+    VL << "a^b = " << c;
+    ExpectJetsClose(c, MakeJet(0, 0, 0));
+  }
+
+  { // Check that pow(0, y) == 0 for y == 1, with both arguments Jets.
+    // This tests special case handling inside pow().
+    J a = MakeJet(0, 1, 2);
+    J b = MakeJet(1, 3, 4);
+    VL << "a = " << a;
+    VL << "b = " << b;
+
+    J c = pow(a, b);
+    VL << "a^b = " << c;
+    ExpectJetsClose(c, MakeJet(0, 1, 2));
+  }
+
+  { // Check that pow(0, <1) is not finite, with both arguments Jets.
+    for (int i = 1; i < 10; i++) {
+      J a = MakeJet(0, 1, 2);
+      J b = MakeJet(i*0.1, 3, 4);       // b = 0.1 ... 0.9
+      VL << "a = " << a;
+      VL << "b = " << b;
+
+      J c = pow(a, b);
+      VL << "a^b = " << c;
+      EXPECT_EQ(c.a, 0.0);
+      EXPECT_FALSE(IsFinite(c.v[0]));
+      EXPECT_FALSE(IsFinite(c.v[1]));
+    }
+    for (int i = -10; i < 0; i++) {
+      J a = MakeJet(0, 1, 2);
+      J b = MakeJet(i*0.1, 3, 4);       // b = -1,-0.9 ... -0.1
+      VL << "a = " << a;
+      VL << "b = " << b;
+
+      J c = pow(a, b);
+      VL << "a^b = " << c;
+      EXPECT_FALSE(IsFinite(c.a));
+      EXPECT_FALSE(IsFinite(c.v[0]));
+      EXPECT_FALSE(IsFinite(c.v[1]));
+    }
+
+    {
+      // The special case of 0^0 = 1 defined by the C standard.
+      J a = MakeJet(0, 1, 2);
+      J b = MakeJet(0, 3, 4);
+      VL << "a = " << a;
+      VL << "b = " << b;
+
+      J c = pow(a, b);
+      VL << "a^b = " << c;
+      EXPECT_EQ(c.a, 1.0);
+      EXPECT_FALSE(IsFinite(c.v[0]));
+      EXPECT_FALSE(IsFinite(c.v[1]));
+    }
+  }
+
+  { // Check that pow(<0, b) is correct for integer b.
+    // This tests special case handling inside pow().
+    J a = MakeJet(-1.5, 3, 4);
+
+    // b integer:
+    for (int i = -10; i <= 10; i++) {
+      J b = MakeJet(i, 0, 5);
+      VL << "a = " << a;
+      VL << "b = " << b;
+
+      J c = pow(a, b);
+      VL << "a^b = " << c;
+      ExpectClose(c.a, pow(-1.5, i), kTolerance);
+      EXPECT_TRUE(IsFinite(c.v[0]));
+      EXPECT_FALSE(IsFinite(c.v[1]));
+      ExpectClose(c.v[0], i * pow(-1.5, i - 1) * 3.0, kTolerance);
+    }
+  }
+
+  { // Check that pow(<0, b) is correct for noninteger b.
+    // This tests special case handling inside pow().
+    J a = MakeJet(-1.5, 3, 4);
+    J b = MakeJet(-2.5, 0, 5);
+    VL << "a = " << a;
+    VL << "b = " << b;
+
+    J c = pow(a, b);
+    VL << "a^b = " << c;
+    EXPECT_FALSE(IsFinite(c.a));
+    EXPECT_FALSE(IsFinite(c.v[0]));
+    EXPECT_FALSE(IsFinite(c.v[1]));
+  }
+
+  {
+    // Check that pow(0,y) == 0 for y == 2, with the second argument a
+    // Jet.  This tests special case handling inside pow().
+    double a = 0;
+    J b = MakeJet(2, 3, 4);
+    VL << "a = " << a;
+    VL << "b = " << b;
+
+    J c = pow(a, b);
+    VL << "a^b = " << c;
+    ExpectJetsClose(c, MakeJet(0, 0, 0));
+  }
+
+  {
+    // Check that pow(<0,y) is correct for integer y. This tests special case
+    // handling inside pow().
+    double a = -1.5;
+    for (int i = -10; i <= 10; i++) {
+      J b = MakeJet(i, 3, 0);
+      VL << "a = " << a;
+      VL << "b = " << b;
+
+      J c = pow(a, b);
+      VL << "a^b = " << c;
+      ExpectClose(c.a, pow(-1.5, i), kTolerance);
+      EXPECT_FALSE(IsFinite(c.v[0]));
+      EXPECT_TRUE(IsFinite(c.v[1]));
+      ExpectClose(c.v[1], 0, kTolerance);
+    }
+  }
+
+  {
+    // Check that pow(<0,y) is correct for noninteger y. This tests special
+    // case handling inside pow().
+    double a = -1.5;
+    J b = MakeJet(-3.14, 3, 0);
+    VL << "a = " << a;
+    VL << "b = " << b;
+
+    J c = pow(a, b);
+    VL << "a^b = " << c;
+    EXPECT_FALSE(IsFinite(c.a));
+    EXPECT_FALSE(IsFinite(c.v[0]));
+    EXPECT_FALSE(IsFinite(c.v[1]));
+  }
+
+  { // Check that 1 + x == x + 1.
+    J a = x + 1.0;
+    J b = 1.0 + x;
+    J c = x;
+    c += 1.0;
+
+    ExpectJetsClose(a, b);
+    ExpectJetsClose(a, c);
+  }
+
+  { // Check that 1 - x == -(x - 1).
+    J a = 1.0 - x;
+    J b = -(x - 1.0);
+    J c = x;
+    c -= 1.0;
+
+    ExpectJetsClose(a, b);
+    ExpectJetsClose(a, -c);
+  }
+
+  { // Check that (x/s)*s == (x*s)/s.
+    J a = x / 5.0;
+    J b = x * 5.0;
+    J c = x;
+    c /= 5.0;
+    J d = x;
+    d *= 5.0;
+
+    ExpectJetsClose(5.0 * a, b / 5.0);
+    ExpectJetsClose(a, c);
+    ExpectJetsClose(b, d);
+  }
+
+  { // Check that x / y == 1 / (y / x).
+    J a = x / y;
+    J b = 1.0 / (y / x);
+    VL << "a = " << a;
+    VL << "b = " << b;
+
+    ExpectJetsClose(a, b);
+  }
+
+  { // Check that abs(-x * x) == sqrt(x * x).
+    ExpectJetsClose(abs(-x), sqrt(x * x));
+  }
+
+  { // Check that cos(acos(x)) == x.
+    J a = MakeJet(0.1, -2.7, 1e-3);
+    ExpectJetsClose(cos(acos(a)), a);
+    ExpectJetsClose(acos(cos(a)), a);
+
+    J b = MakeJet(0.6,  0.5, 1e+2);
+    ExpectJetsClose(cos(acos(b)), b);
+    ExpectJetsClose(acos(cos(b)), b);
+  }
+
+  { // Check that sin(asin(x)) == x.
+    J a = MakeJet(0.1, -2.7, 1e-3);
+    ExpectJetsClose(sin(asin(a)), a);
+    ExpectJetsClose(asin(sin(a)), a);
+
+    J b = MakeJet(0.4,  0.5, 1e+2);
+    ExpectJetsClose(sin(asin(b)), b);
+    ExpectJetsClose(asin(sin(b)), b);
+  }
+
+  {
+    J zero = J(0.0);
+
+    // Check that J0(0) == 1.
+    ExpectJetsClose(BesselJ0(zero), J(1.0));
+
+    // Check that J1(0) == 0.
+    ExpectJetsClose(BesselJ1(zero), zero);
+
+    // Check that J2(0) == 0.
+    ExpectJetsClose(BesselJn(2, zero), zero);
+
+    // Check that J3(0) == 0.
+    ExpectJetsClose(BesselJn(3, zero), zero);
+
+    J z = MakeJet(0.1, -2.7, 1e-3);
+
+    // Check that J0(z) == Jn(0,z).
+    ExpectJetsClose(BesselJ0(z), BesselJn(0, z));
+
+    // Check that J1(z) == Jn(1,z).
+    ExpectJetsClose(BesselJ1(z), BesselJn(1, z));
+
+    // Check that J0(z)+J2(z) == (2/z)*J1(z).
+    // See formula http://dlmf.nist.gov/10.6.E1
+    ExpectJetsClose(BesselJ0(z) + BesselJn(2, z), (2.0 / z) * BesselJ1(z));
+  }
+
+  { // Check that floor of a positive number works.
+    J a = MakeJet(0.1, -2.7, 1e-3);
+    J b = floor(a);
+    J expected = MakeJet(floor(a.a), 0.0, 0.0);
+    EXPECT_EQ(expected, b);
+  }
+
+  { // Check that floor of a negative number works.
+    J a = MakeJet(-1.1, -2.7, 1e-3);
+    J b = floor(a);
+    J expected = MakeJet(floor(a.a), 0.0, 0.0);
+    EXPECT_EQ(expected, b);
+  }
+
+  { // Check that floor of a positive number works.
+    J a = MakeJet(10.123, -2.7, 1e-3);
+    J b = floor(a);
+    J expected = MakeJet(floor(a.a), 0.0, 0.0);
+    EXPECT_EQ(expected, b);
+  }
+
+  { // Check that ceil of a positive number works.
+    J a = MakeJet(0.1, -2.7, 1e-3);
+    J b = ceil(a);
+    J expected = MakeJet(ceil(a.a), 0.0, 0.0);
+    EXPECT_EQ(expected, b);
+  }
+
+  { // Check that ceil of a negative number works.
+    J a = MakeJet(-1.1, -2.7, 1e-3);
+    J b = ceil(a);
+    J expected = MakeJet(ceil(a.a), 0.0, 0.0);
+    EXPECT_EQ(expected, b);
+  }
+
+  { // Check that ceil of a positive number works.
+    J a = MakeJet(10.123, -2.7, 1e-3);
+    J b = ceil(a);
+    J expected = MakeJet(ceil(a.a), 0.0, 0.0);
+    EXPECT_EQ(expected, b);
+  }
+}
+
+TEST(Jet, JetsInEigenMatrices) {
+  J x = MakeJet(2.3, -2.7, 1e-3);
+  J y = MakeJet(1.7,  0.5, 1e+2);
+  J z = MakeJet(5.3, -4.7, 1e-3);
+  J w = MakeJet(9.7,  1.5, 10.1);
+
+  Eigen::Matrix<J, 2, 2> M;
+  Eigen::Matrix<J, 2, 1> v, r1, r2;
+
+  M << x, y, z, w;
+  v << x, z;
+
+  // Check that M * v == (v^T * M^T)^T
+  r1 = M * v;
+  r2 = (v.transpose() * M.transpose()).transpose();
+
+  ExpectJetsClose(r1(0), r2(0));
+  ExpectJetsClose(r1(1), r2(1));
+}
+
+TEST(JetTraitsTest, ClassificationMixed) {
+  Jet<double, 3> a(5.5, 0);
+  a.v[0] = std::numeric_limits<double>::quiet_NaN();
+  a.v[1] = std::numeric_limits<double>::infinity();
+  a.v[2] = -std::numeric_limits<double>::infinity();
+  EXPECT_FALSE(IsFinite(a));
+  EXPECT_FALSE(IsNormal(a));
+  EXPECT_TRUE(IsInfinite(a));
+  EXPECT_TRUE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationNaN) {
+  Jet<double, 3> a(5.5, 0);
+  a.v[0] = std::numeric_limits<double>::quiet_NaN();
+  a.v[1] = 0.0;
+  a.v[2] = 0.0;
+  EXPECT_FALSE(IsFinite(a));
+  EXPECT_FALSE(IsNormal(a));
+  EXPECT_FALSE(IsInfinite(a));
+  EXPECT_TRUE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationInf) {
+  Jet<double, 3> a(5.5, 0);
+  a.v[0] = std::numeric_limits<double>::infinity();
+  a.v[1] = 0.0;
+  a.v[2] = 0.0;
+  EXPECT_FALSE(IsFinite(a));
+  EXPECT_FALSE(IsNormal(a));
+  EXPECT_TRUE(IsInfinite(a));
+  EXPECT_FALSE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationFinite) {
+  Jet<double, 3> a(5.5, 0);
+  a.v[0] = 100.0;
+  a.v[1] = 1.0;
+  a.v[2] = 3.14159;
+  EXPECT_TRUE(IsFinite(a));
+  EXPECT_TRUE(IsNormal(a));
+  EXPECT_FALSE(IsInfinite(a));
+  EXPECT_FALSE(IsNaN(a));
+}
+
+// ScalarBinaryOpTraits is only supported on Eigen versions >= 3.3
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
+TEST(JetTraitsTest, MatrixScalarUnaryOps) {
+  const J x = MakeJet(2.3, -2.7, 1e-3);
+  const J y = MakeJet(1.7,  0.5, 1e+2);
+  Eigen::Matrix<J, 2, 1> a;
+  a << x, y;
+
+  const J sum = a.sum();
+  const J sum2 = a(0) + a(1);
+  ExpectJetsClose(sum, sum2);
+}
+
+TEST(JetTraitsTest, MatrixScalarBinaryOps) {
+  const J x = MakeJet(2.3, -2.7, 1e-3);
+  const J y = MakeJet(1.7,  0.5, 1e+2);
+  const J z = MakeJet(5.3, -4.7, 1e-3);
+  const J w = MakeJet(9.7,  1.5, 10.1);
+
+  Eigen::Matrix<J, 2, 2> M;
+  Eigen::Vector2d v;
+
+  M << x, y, z, w;
+  v << 0.6, -2.1;
+
+  // Check that M * v == M * v.cast<J>().
+  const Eigen::Matrix<J, 2, 1> r1 = M * v;
+  const Eigen::Matrix<J, 2, 1> r2 = M * v.cast<J>();
+
+  ExpectJetsClose(r1(0), r2(0));
+  ExpectJetsClose(r1(1), r2(1));
+
+  // Check that M * a == M * T(a).
+  const double a = 3.1;
+  const Eigen::Matrix<J, 2, 2> r3 = M * a;
+  const Eigen::Matrix<J, 2, 2> r4 = M * J(a);
+
+  ExpectJetsClose(r3(0, 0), r4(0, 0));
+  ExpectJetsClose(r3(1, 0), r4(1, 0));
+  ExpectJetsClose(r3(0, 1), r4(0, 1));
+  ExpectJetsClose(r3(1, 1), r4(1, 1));
+}
+
+TEST(JetTraitsTest, ArrayScalarUnaryOps) {
+  const J x = MakeJet(2.3, -2.7, 1e-3);
+  const J y = MakeJet(1.7,  0.5, 1e+2);
+  Eigen::Array<J, 2, 1> a;
+  a << x, y;
+
+  const J sum = a.sum();
+  const J sum2 = a(0) + a(1);
+  ExpectJetsClose(sum, sum2);
+}
+
+TEST(JetTraitsTest, ArrayScalarBinaryOps) {
+  const J x = MakeJet(2.3, -2.7, 1e-3);
+  const J y = MakeJet(1.7,  0.5, 1e+2);
+
+  Eigen::Array<J, 2, 1> a;
+  Eigen::Array2d b;
+
+  a << x, y;
+  b << 0.6, -2.1;
+
+  // Check that a * b == a * b.cast<T>()
+  const Eigen::Array<J, 2, 1> r1 = a * b;
+  const Eigen::Array<J, 2, 1> r2 = a * b.cast<J>();
+
+  ExpectJetsClose(r1(0), r2(0));
+  ExpectJetsClose(r1(1), r2(1));
+
+  // Check that a * c == a * T(c).
+  const double c = 3.1;
+  const Eigen::Array<J, 2, 1> r3 = a * c;
+  const Eigen::Array<J, 2, 1> r4 = a * J(c);
+
+  ExpectJetsClose(r3(0), r3(0));
+  ExpectJetsClose(r4(1), r4(1));
+}
+#endif   // EIGEN_VERSION_AT_LEAST(3, 3, 0)
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/lapack.cc b/internal/ceres/lapack.cc
new file mode 100644
index 0000000..6fc23f4
--- /dev/null
+++ b/internal/ceres/lapack.cc
@@ -0,0 +1,193 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/lapack.h"
+
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+#include "glog/logging.h"
+
+// C interface to the LAPACK Cholesky factorization and triangular solve.
+extern "C" void dpotrf_(char* uplo,
+                       int* n,
+                       double* a,
+                       int* lda,
+                       int* info);
+
+extern "C" void dpotrs_(char* uplo,
+                        int* n,
+                        int* nrhs,
+                        double* a,
+                        int* lda,
+                        double* b,
+                        int* ldb,
+                        int* info);
+
+extern "C" void dgels_(char* uplo,
+                       int* m,
+                       int* n,
+                       int* nrhs,
+                       double* a,
+                       int* lda,
+                       double* b,
+                       int* ldb,
+                       double* work,
+                       int* lwork,
+                       int* info);
+
+
+namespace ceres {
+namespace internal {
+
+LinearSolverTerminationType LAPACK::SolveInPlaceUsingCholesky(
+    int num_rows,
+    const double* in_lhs,
+    double* rhs_and_solution,
+    std::string* message) {
+#ifdef CERES_NO_LAPACK
+  LOG(FATAL) << "Ceres was built without a BLAS library.";
+  return LINEAR_SOLVER_FATAL_ERROR;
+#else
+  char uplo = 'L';
+  int n = num_rows;
+  int info = 0;
+  int nrhs = 1;
+  double* lhs = const_cast<double*>(in_lhs);
+
+  dpotrf_(&uplo, &n, lhs, &n, &info);
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dpotrf fatal error."
+               << "Argument: " << -info << " is invalid.";
+    return LINEAR_SOLVER_FATAL_ERROR;
+  }
+
+  if (info > 0) {
+    *message =
+        StringPrintf(
+            "LAPACK::dpotrf numerical failure. "
+             "The leading minor of order %d is not positive definite.", info);
+    return LINEAR_SOLVER_FAILURE;
+  }
+
+  dpotrs_(&uplo, &n, &nrhs, lhs, &n, rhs_and_solution, &n, &info);
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dpotrs fatal error."
+               << "Argument: " << -info << " is invalid.";
+    return LINEAR_SOLVER_FATAL_ERROR;
+  }
+
+  *message = "Success";
+  return LINEAR_SOLVER_SUCCESS;
+#endif
+}
+
+int LAPACK::EstimateWorkSizeForQR(int num_rows, int num_cols) {
+#ifdef CERES_NO_LAPACK
+  LOG(FATAL) << "Ceres was built without a LAPACK library.";
+  return -1;
+#else
+  char trans = 'N';
+  int nrhs = 1;
+  int lwork = -1;
+  double work;
+  int info = 0;
+  dgels_(&trans,
+         &num_rows,
+         &num_cols,
+         &nrhs,
+         NULL,
+         &num_rows,
+         NULL,
+         &num_rows,
+         &work,
+         &lwork,
+         &info);
+
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dgels fatal error."
+               << "Argument: " << -info << " is invalid.";
+  }
+  return static_cast<int>(work);
+#endif
+}
+
+LinearSolverTerminationType LAPACK::SolveInPlaceUsingQR(
+    int num_rows,
+    int num_cols,
+    const double* in_lhs,
+    int work_size,
+    double* work,
+    double* rhs_and_solution,
+    std::string* message) {
+#ifdef CERES_NO_LAPACK
+  LOG(FATAL) << "Ceres was built without a LAPACK library.";
+  return LINEAR_SOLVER_FATAL_ERROR;
+#else
+  char trans = 'N';
+  int m = num_rows;
+  int n = num_cols;
+  int nrhs = 1;
+  int lda = num_rows;
+  int ldb = num_rows;
+  int info = 0;
+  double* lhs = const_cast<double*>(in_lhs);
+
+  dgels_(&trans,
+         &m,
+         &n,
+         &nrhs,
+         lhs,
+         &lda,
+         rhs_and_solution,
+         &ldb,
+         work,
+         &work_size,
+         &info);
+
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dgels fatal error."
+               << "Argument: " << -info << " is invalid.";
+  }
+
+  *message = "Success.";
+  return LINEAR_SOLVER_SUCCESS;
+#endif
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/lapack.h b/internal/ceres/lapack.h
new file mode 100644
index 0000000..5bb1a22
--- /dev/null
+++ b/internal/ceres/lapack.h
@@ -0,0 +1,100 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LAPACK_H_
+#define CERES_INTERNAL_LAPACK_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class LAPACK {
+ public:
+  // Solve
+  //
+  //  lhs * solution = rhs
+  //
+  // using a Cholesky factorization. Here
+  // lhs is a symmetric positive definite matrix. It is assumed to be
+  // column major and only the lower triangular part of the matrix is
+  // referenced.
+  //
+  // This function uses the LAPACK dpotrf and dpotrs routines.
+  //
+  // The return value and the message string together describe whether
+  // the solver terminated successfully or not and if so, what was the
+  // reason for failure.
+  static LinearSolverTerminationType SolveInPlaceUsingCholesky(
+      int num_rows,
+      const double* lhs,
+      double* rhs_and_solution,
+      std::string* message);
+
+  // The SolveUsingQR function requires a buffer for its temporary
+  // computation. This function given the size of the lhs matrix will
+  // return the size of the buffer needed.
+  static int EstimateWorkSizeForQR(int num_rows, int num_cols);
+
+  // Solve
+  //
+  //  lhs * solution = rhs
+  //
+  // using a dense QR factorization. lhs is an arbitrary (possibly
+  // rectangular) matrix with full column rank.
+  //
+  // work is an array of size work_size that this routine uses for its
+  // temporary storage. The optimal size of this array can be obtained
+  // by calling EstimateWorkSizeForQR.
+  //
+  // When calling, rhs_and_solution contains the rhs, and upon return
+  // the first num_col entries are the solution.
+  //
+  // This function uses the LAPACK dgels routine.
+  //
+  // The return value and the message string together describe whether
+  // the solver terminated successfully or not and if so, what was the
+  // reason for failure.
+  static LinearSolverTerminationType SolveInPlaceUsingQR(
+      int num_rows,
+      int num_cols,
+      const double* lhs,
+      int work_size,
+      double* work,
+      double* rhs_and_solution,
+      std::string* message);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LAPACK_H_
diff --git a/internal/ceres/levenberg_marquardt_strategy.cc b/internal/ceres/levenberg_marquardt_strategy.cc
new file mode 100644
index 0000000..e983380
--- /dev/null
+++ b/internal/ceres/levenberg_marquardt_strategy.cc
@@ -0,0 +1,167 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/levenberg_marquardt_strategy.h"
+
+#include <cmath>
+#include "Eigen/Core"
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+LevenbergMarquardtStrategy::LevenbergMarquardtStrategy(
+    const TrustRegionStrategy::Options& options)
+    : linear_solver_(options.linear_solver),
+      radius_(options.initial_radius),
+      max_radius_(options.max_radius),
+      min_diagonal_(options.min_lm_diagonal),
+      max_diagonal_(options.max_lm_diagonal),
+      decrease_factor_(2.0),
+      reuse_diagonal_(false) {
+  CHECK_NOTNULL(linear_solver_);
+  CHECK_GT(min_diagonal_, 0.0);
+  CHECK_LE(min_diagonal_, max_diagonal_);
+  CHECK_GT(max_radius_, 0.0);
+}
+
+LevenbergMarquardtStrategy::~LevenbergMarquardtStrategy() {
+}
+
+TrustRegionStrategy::Summary LevenbergMarquardtStrategy::ComputeStep(
+    const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+    SparseMatrix* jacobian,
+    const double* residuals,
+    double* step) {
+  CHECK_NOTNULL(jacobian);
+  CHECK_NOTNULL(residuals);
+  CHECK_NOTNULL(step);
+
+  const int num_parameters = jacobian->num_cols();
+  if (!reuse_diagonal_) {
+    if (diagonal_.rows() != num_parameters) {
+      diagonal_.resize(num_parameters, 1);
+    }
+
+    jacobian->SquaredColumnNorm(diagonal_.data());
+    for (int i = 0; i < num_parameters; ++i) {
+      diagonal_[i] = std::min(std::max(diagonal_[i], min_diagonal_),
+                              max_diagonal_);
+    }
+  }
+
+  lm_diagonal_ = (diagonal_ / radius_).array().sqrt();
+
+  LinearSolver::PerSolveOptions solve_options;
+  solve_options.D = lm_diagonal_.data();
+  solve_options.q_tolerance = per_solve_options.eta;
+  // Disable r_tolerance checking. Since we only care about
+  // termination via the q_tolerance. As Nash and Sofer show,
+  // r_tolerance based termination is essentially useless in
+  // Truncated Newton methods.
+  solve_options.r_tolerance = -1.0;
+
+  // Invalidate the output array lm_step, so that we can detect if
+  // the linear solver generated numerical garbage.  This is known
+  // to happen for the DENSE_QR and then DENSE_SCHUR solver when
+  // the Jacobin is severly rank deficient and mu is too small.
+  InvalidateArray(num_parameters, step);
+
+  // Instead of solving Jx = -r, solve Jy = r.
+  // Then x can be found as x = -y, but the inputs jacobian and residuals
+  // do not need to be modified.
+  LinearSolver::Summary linear_solver_summary =
+      linear_solver_->Solve(jacobian, residuals, solve_options, step);
+
+  if (linear_solver_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+    LOG(WARNING) << "Linear solver fatal error: "
+                 << linear_solver_summary.message;
+  } else if (linear_solver_summary.termination_type == LINEAR_SOLVER_FAILURE)  {
+    LOG(WARNING) << "Linear solver failure. Failed to compute a step: "
+                 << linear_solver_summary.message;
+  } else if (!IsArrayValid(num_parameters, step)) {
+    LOG(WARNING) << "Linear solver failure. Failed to compute a finite step.";
+    linear_solver_summary.termination_type = LINEAR_SOLVER_FAILURE;
+  } else {
+    VectorRef(step, num_parameters) *= -1.0;
+  }
+  reuse_diagonal_ = true;
+
+  if (per_solve_options.dump_format_type == CONSOLE ||
+      (per_solve_options.dump_format_type != CONSOLE &&
+       !per_solve_options.dump_filename_base.empty())) {
+    if (!DumpLinearLeastSquaresProblem(per_solve_options.dump_filename_base,
+                                       per_solve_options.dump_format_type,
+                                       jacobian,
+                                       solve_options.D,
+                                       residuals,
+                                       step,
+                                       0)) {
+      LOG(ERROR) << "Unable to dump trust region problem."
+                 << " Filename base: " << per_solve_options.dump_filename_base;
+    }
+  }
+
+
+  TrustRegionStrategy::Summary summary;
+  summary.residual_norm = linear_solver_summary.residual_norm;
+  summary.num_iterations = linear_solver_summary.num_iterations;
+  summary.termination_type = linear_solver_summary.termination_type;
+  return summary;
+}
+
+void LevenbergMarquardtStrategy::StepAccepted(double step_quality) {
+  CHECK_GT(step_quality, 0.0);
+  radius_ = radius_ / std::max(1.0 / 3.0,
+                               1.0 - pow(2.0 * step_quality - 1.0, 3));
+  radius_ = std::min(max_radius_, radius_);
+  decrease_factor_ = 2.0;
+  reuse_diagonal_ = false;
+}
+
+void LevenbergMarquardtStrategy::StepRejected(double step_quality) {
+  radius_ = radius_ / decrease_factor_;
+  decrease_factor_ *= 2.0;
+  reuse_diagonal_ = true;
+}
+
+double LevenbergMarquardtStrategy::Radius() const {
+  return radius_;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/levenberg_marquardt_strategy.h b/internal/ceres/levenberg_marquardt_strategy.h
new file mode 100644
index 0000000..c87a016
--- /dev/null
+++ b/internal/ceres/levenberg_marquardt_strategy.h
@@ -0,0 +1,87 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
+#define CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
+
+#include "ceres/internal/eigen.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+// Levenberg-Marquardt step computation and trust region sizing
+// strategy based on on "Methods for Nonlinear Least Squares" by
+// K. Madsen, H.B. Nielsen and O. Tingleff. Available to download from
+//
+// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf
+class LevenbergMarquardtStrategy : public TrustRegionStrategy {
+ public:
+  explicit LevenbergMarquardtStrategy(
+      const TrustRegionStrategy::Options& options);
+  virtual ~LevenbergMarquardtStrategy();
+
+  // TrustRegionStrategy interface
+  virtual TrustRegionStrategy::Summary ComputeStep(
+      const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+      SparseMatrix* jacobian,
+      const double* residuals,
+      double* step);
+  virtual void StepAccepted(double step_quality);
+  virtual void StepRejected(double step_quality);
+  virtual void StepIsInvalid() {
+    // Treat the current step as a rejected step with no increase in
+    // solution quality. Since rejected steps lead to decrease in the
+    // size of the trust region, the next time ComputeStep is called,
+    // this will lead to a better conditioned system.
+    StepRejected(0.0);
+  }
+
+  virtual double Radius() const;
+
+ private:
+  LinearSolver* linear_solver_;
+  double radius_;
+  double max_radius_;
+  const double min_diagonal_;
+  const double max_diagonal_;
+  double decrease_factor_;
+  bool reuse_diagonal_;
+  Vector diagonal_;   // diagonal_ =  diag(J'J)
+  // Scaled copy of diagonal_. Stored here as optimization to prevent
+  // allocations in every iteration and reuse when a step fails and
+  // ComputeStep is called again.
+  Vector lm_diagonal_;  // lm_diagonal_ = diagonal_ / radius_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
diff --git a/internal/ceres/levenberg_marquardt_strategy_test.cc b/internal/ceres/levenberg_marquardt_strategy_test.cc
new file mode 100644
index 0000000..45e4da4
--- /dev/null
+++ b/internal/ceres/levenberg_marquardt_strategy_test.cc
@@ -0,0 +1,169 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gmock/mock-log.h"
+#include "gtest/gtest.h"
+
+using testing::AllOf;
+using testing::AnyNumber;
+using testing::HasSubstr;
+using testing::ScopedMockLog;
+using testing::_;
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 1e-16;
+
+// Linear solver that takes as input a vector and checks that the
+// caller passes the same vector as LinearSolver::PerSolveOptions.D.
+class RegularizationCheckingLinearSolver : public DenseSparseMatrixSolver {
+ public:
+  RegularizationCheckingLinearSolver(const int num_cols, const double* diagonal)
+      : num_cols_(num_cols),
+        diagonal_(diagonal) {
+  }
+
+  virtual ~RegularizationCheckingLinearSolver() {}
+
+ private:
+  virtual LinearSolver::Summary SolveImpl(
+      DenseSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x) {
+    CHECK_NOTNULL(per_solve_options.D);
+    for (int i = 0; i < num_cols_; ++i) {
+      EXPECT_NEAR(per_solve_options.D[i], diagonal_[i], kTolerance)
+          << i << " " << per_solve_options.D[i] << " " << diagonal_[i];
+    }
+    return LinearSolver::Summary();
+  }
+
+  const int num_cols_;
+  const double* diagonal_;
+};
+
+TEST(LevenbergMarquardtStrategy, AcceptRejectStepRadiusScaling) {
+  TrustRegionStrategy::Options options;
+  options.initial_radius = 2.0;
+  options.max_radius = 20.0;
+  options.min_lm_diagonal = 1e-8;
+  options.max_lm_diagonal = 1e8;
+
+  // We need a non-null pointer here, so anything should do.
+  scoped_ptr<LinearSolver> linear_solver(
+      new RegularizationCheckingLinearSolver(0, NULL));
+  options.linear_solver = linear_solver.get();
+
+  LevenbergMarquardtStrategy lms(options);
+  EXPECT_EQ(lms.Radius(), options.initial_radius);
+  lms.StepRejected(0.0);
+  EXPECT_EQ(lms.Radius(), 1.0);
+  lms.StepRejected(-1.0);
+  EXPECT_EQ(lms.Radius(), 0.25);
+  lms.StepAccepted(1.0);
+  EXPECT_EQ(lms.Radius(), 0.25 * 3.0);
+  lms.StepAccepted(1.0);
+  EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0);
+  lms.StepAccepted(0.25);
+  EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125);
+  lms.StepAccepted(1.0);
+  EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125 * 3.0);
+  lms.StepAccepted(1.0);
+  EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125 * 3.0 * 3.0);
+  lms.StepAccepted(1.0);
+  EXPECT_EQ(lms.Radius(), options.max_radius);
+}
+
+TEST(LevenbergMarquardtStrategy, CorrectDiagonalToLinearSolver) {
+  Matrix jacobian(2, 3);
+  jacobian.setZero();
+  jacobian(0, 0) = 0.0;
+  jacobian(0, 1) = 1.0;
+  jacobian(1, 1) = 1.0;
+  jacobian(0, 2) = 100.0;
+
+  double residual = 1.0;
+  double x[3];
+  DenseSparseMatrix dsm(jacobian);
+
+  TrustRegionStrategy::Options options;
+  options.initial_radius = 2.0;
+  options.max_radius = 20.0;
+  options.min_lm_diagonal = 1e-2;
+  options.max_lm_diagonal = 1e2;
+
+  double diagonal[3];
+  diagonal[0] = options.min_lm_diagonal;
+  diagonal[1] = 2.0;
+  diagonal[2] = options.max_lm_diagonal;
+  for (int i = 0; i < 3; ++i) {
+    diagonal[i] = sqrt(diagonal[i] / options.initial_radius);
+  }
+
+  RegularizationCheckingLinearSolver linear_solver(3, diagonal);
+  options.linear_solver = &linear_solver;
+
+  LevenbergMarquardtStrategy lms(options);
+  TrustRegionStrategy::PerSolveOptions pso;
+
+  {
+    ScopedMockLog log;
+    EXPECT_CALL(log, Log(_, _, _)).Times(AnyNumber());
+    // This using directive is needed get around the fact that there
+    // are versions of glog which are not in the google namespace.
+    using namespace google;
+
+#if defined(_MSC_VER)
+    // Use GLOG_WARNING to support MSVC if GLOG_NO_ABBREVIATED_SEVERITIES
+    // is defined.
+    EXPECT_CALL(log, Log(GLOG_WARNING, _,
+                         HasSubstr("Failed to compute a step")));
+#else
+    EXPECT_CALL(log, Log(google::WARNING, _,
+                         HasSubstr("Failed to compute a step")));
+#endif
+
+    TrustRegionStrategy::Summary summary =
+        lms.ComputeStep(pso, &dsm, &residual, x);
+    EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_FAILURE);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/line_search.cc b/internal/ceres/line_search.cc
new file mode 100644
index 0000000..bf7c3d4
--- /dev/null
+++ b/internal/ceres/line_search.cc
@@ -0,0 +1,852 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/line_search.h"
+
+#include <iomanip>
+#include <iostream>  // NOLINT
+
+#include "ceres/evaluator.h"
+#include "ceres/fpclassify.h"
+#include "ceres/function_sample.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/map_util.h"
+#include "ceres/polynomial.h"
+#include "ceres/stringprintf.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::ostream;
+using std::string;
+using std::vector;
+
+namespace {
+// Precision used for floating point values in error message output.
+const int kErrorMessageNumericPrecision = 8;
+}  // namespace
+
+ostream& operator<<(ostream &os, const FunctionSample& sample);
+
+// Convenience stream operator for pushing FunctionSamples into log messages.
+ostream& operator<<(ostream &os, const FunctionSample& sample) {
+  os << sample.ToDebugString();
+  return os;
+}
+
+LineSearch::LineSearch(const LineSearch::Options& options)
+    : options_(options) {}
+
+LineSearch* LineSearch::Create(const LineSearchType line_search_type,
+                               const LineSearch::Options& options,
+                               string* error) {
+  LineSearch* line_search = NULL;
+  switch (line_search_type) {
+  case ceres::ARMIJO:
+    line_search = new ArmijoLineSearch(options);
+    break;
+  case ceres::WOLFE:
+    line_search = new WolfeLineSearch(options);
+    break;
+  default:
+    *error = string("Invalid line search algorithm type: ") +
+        LineSearchTypeToString(line_search_type) +
+        string(", unable to create line search.");
+    return NULL;
+  }
+  return line_search;
+}
+
+LineSearchFunction::LineSearchFunction(Evaluator* evaluator)
+    : evaluator_(evaluator),
+      position_(evaluator->NumParameters()),
+      direction_(evaluator->NumEffectiveParameters()),
+      scaled_direction_(evaluator->NumEffectiveParameters()),
+      initial_evaluator_residual_time_in_seconds(0.0),
+      initial_evaluator_jacobian_time_in_seconds(0.0) {}
+
+void LineSearchFunction::Init(const Vector& position,
+                              const Vector& direction) {
+  position_ = position;
+  direction_ = direction;
+}
+
+void LineSearchFunction::Evaluate(const double x,
+                                  const bool evaluate_gradient,
+                                  FunctionSample* output) {
+  output->x = x;
+  output->vector_x_is_valid = false;
+  output->value_is_valid = false;
+  output->gradient_is_valid = false;
+  output->vector_gradient_is_valid = false;
+
+  scaled_direction_ = output->x * direction_;
+  output->vector_x.resize(position_.rows(), 1);
+  if (!evaluator_->Plus(position_.data(),
+                        scaled_direction_.data(),
+                        output->vector_x.data())) {
+    return;
+  }
+  output->vector_x_is_valid = true;
+
+  double* gradient = NULL;
+  if (evaluate_gradient) {
+    output->vector_gradient.resize(direction_.rows(), 1);
+    gradient = output->vector_gradient.data();
+  }
+  const bool eval_status = evaluator_->Evaluate(
+      output->vector_x.data(), &(output->value), NULL, gradient, NULL);
+
+  if (!eval_status || !IsFinite(output->value)) {
+    return;
+  }
+
+  output->value_is_valid = true;
+  if (!evaluate_gradient) {
+    return;
+  }
+
+  output->gradient = direction_.dot(output->vector_gradient);
+  if (!IsFinite(output->gradient)) {
+    return;
+  }
+
+  output->gradient_is_valid = true;
+  output->vector_gradient_is_valid = true;
+}
+
+double LineSearchFunction::DirectionInfinityNorm() const {
+  return direction_.lpNorm<Eigen::Infinity>();
+}
+
+void LineSearchFunction::ResetTimeStatistics() {
+  const map<string, double> evaluator_time_statistics =
+      evaluator_->TimeStatistics();
+  initial_evaluator_residual_time_in_seconds =
+      FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
+  initial_evaluator_jacobian_time_in_seconds =
+      FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
+}
+
+void LineSearchFunction::TimeStatistics(
+    double* cost_evaluation_time_in_seconds,
+    double* gradient_evaluation_time_in_seconds) const {
+  const map<string, double> evaluator_time_statistics =
+      evaluator_->TimeStatistics();
+  *cost_evaluation_time_in_seconds =
+      FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0) -
+      initial_evaluator_residual_time_in_seconds;
+  // Strictly speaking this will slightly underestimate the time spent
+  // evaluating the gradient of the line search univariate cost function as it
+  // does not count the time spent performing the dot product with the direction
+  // vector.  However, this will typically be small by comparison, and also
+  // allows direct subtraction of the timing information from the totals for
+  // the evaluator returned in the solver summary.
+  *gradient_evaluation_time_in_seconds =
+      FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0) -
+      initial_evaluator_jacobian_time_in_seconds;
+}
+
+void LineSearch::Search(double step_size_estimate,
+                        double initial_cost,
+                        double initial_gradient,
+                        Summary* summary) const {
+  const double start_time = WallTimeInSeconds();
+  *CHECK_NOTNULL(summary) = LineSearch::Summary();
+
+  summary->cost_evaluation_time_in_seconds = 0.0;
+  summary->gradient_evaluation_time_in_seconds = 0.0;
+  summary->polynomial_minimization_time_in_seconds = 0.0;
+  options().function->ResetTimeStatistics();
+  this->DoSearch(step_size_estimate, initial_cost, initial_gradient, summary);
+  options().function->
+      TimeStatistics(&summary->cost_evaluation_time_in_seconds,
+                     &summary->gradient_evaluation_time_in_seconds);
+
+  summary->total_time_in_seconds = WallTimeInSeconds() - start_time;
+}
+
+// Returns step_size \in [min_step_size, max_step_size] which minimizes the
+// polynomial of degree defined by interpolation_type which interpolates all
+// of the provided samples with valid values.
+double LineSearch::InterpolatingPolynomialMinimizingStepSize(
+    const LineSearchInterpolationType& interpolation_type,
+    const FunctionSample& lowerbound,
+    const FunctionSample& previous,
+    const FunctionSample& current,
+    const double min_step_size,
+    const double max_step_size) const {
+  if (!current.value_is_valid ||
+      (interpolation_type == BISECTION &&
+       max_step_size <= current.x)) {
+    // Either: sample is invalid; or we are using BISECTION and contracting
+    // the step size.
+    return std::min(std::max(current.x * 0.5, min_step_size), max_step_size);
+  } else if (interpolation_type == BISECTION) {
+    CHECK_GT(max_step_size, current.x);
+    // We are expanding the search (during a Wolfe bracketing phase) using
+    // BISECTION interpolation.  Using BISECTION when trying to expand is
+    // strictly speaking an oxymoron, but we define this to mean always taking
+    // the maximum step size so that the Armijo & Wolfe implementations are
+    // agnostic to the interpolation type.
+    return max_step_size;
+  }
+  // Only check if lower-bound is valid here, where it is required
+  // to avoid replicating current.value_is_valid == false
+  // behaviour in WolfeLineSearch.
+  CHECK(lowerbound.value_is_valid)
+      << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+      << "Ceres bug: lower-bound sample for interpolation is invalid, "
+      << "please contact the developers!, interpolation_type: "
+      << LineSearchInterpolationTypeToString(interpolation_type)
+      << ", lowerbound: " << lowerbound << ", previous: " << previous
+      << ", current: " << current;
+
+  // Select step size by interpolating the function and gradient values
+  // and minimizing the corresponding polynomial.
+  vector<FunctionSample> samples;
+  samples.push_back(lowerbound);
+
+  if (interpolation_type == QUADRATIC) {
+    // Two point interpolation using function values and the
+    // gradient at the lower bound.
+    samples.push_back(FunctionSample(current.x, current.value));
+
+    if (previous.value_is_valid) {
+      // Three point interpolation, using function values and the
+      // gradient at the lower bound.
+      samples.push_back(FunctionSample(previous.x, previous.value));
+    }
+  } else if (interpolation_type == CUBIC) {
+    // Two point interpolation using the function values and the gradients.
+    samples.push_back(current);
+
+    if (previous.value_is_valid) {
+      // Three point interpolation using the function values and
+      // the gradients.
+      samples.push_back(previous);
+    }
+  } else {
+    LOG(FATAL) << "Ceres bug: No handler for interpolation_type: "
+               << LineSearchInterpolationTypeToString(interpolation_type)
+               << ", please contact the developers!";
+  }
+
+  double step_size = 0.0, unused_min_value = 0.0;
+  MinimizeInterpolatingPolynomial(samples, min_step_size, max_step_size,
+                                  &step_size, &unused_min_value);
+  return step_size;
+}
+
+ArmijoLineSearch::ArmijoLineSearch(const LineSearch::Options& options)
+    : LineSearch(options) {}
+
+void ArmijoLineSearch::DoSearch(const double step_size_estimate,
+                                const double initial_cost,
+                                const double initial_gradient,
+                                Summary* summary) const {
+  CHECK_GE(step_size_estimate, 0.0);
+  CHECK_GT(options().sufficient_decrease, 0.0);
+  CHECK_LT(options().sufficient_decrease, 1.0);
+  CHECK_GT(options().max_num_iterations, 0);
+  LineSearchFunction* function = options().function;
+
+  // Note initial_cost & initial_gradient are evaluated at step_size = 0,
+  // not step_size_estimate, which is our starting guess.
+  FunctionSample initial_position(0.0, initial_cost, initial_gradient);
+  initial_position.vector_x = function->position();
+  initial_position.vector_x_is_valid = true;
+
+  const double descent_direction_max_norm = function->DirectionInfinityNorm();
+  FunctionSample previous;
+  FunctionSample current;
+
+  // As the Armijo line search algorithm always uses the initial point, for
+  // which both the function value and derivative are known, when fitting a
+  // minimizing polynomial, we can fit up to a quadratic without requiring the
+  // gradient at the current query point.
+  const bool kEvaluateGradient = options().interpolation_type == CUBIC;
+
+  ++summary->num_function_evaluations;
+  if (kEvaluateGradient) {
+    ++summary->num_gradient_evaluations;
+  }
+
+  function->Evaluate(step_size_estimate, kEvaluateGradient, &current);
+  while (!current.value_is_valid ||
+         current.value > (initial_cost
+                          + options().sufficient_decrease
+                          * initial_gradient
+                          * current.x)) {
+    // If current.value_is_valid is false, we treat it as if the cost at that
+    // point is not large enough to satisfy the sufficient decrease condition.
+    ++summary->num_iterations;
+    if (summary->num_iterations >= options().max_num_iterations) {
+      summary->error =
+          StringPrintf("Line search failed: Armijo failed to find a point "
+                       "satisfying the sufficient decrease condition within "
+                       "specified max_num_iterations: %d.",
+                       options().max_num_iterations);
+      LOG_IF(WARNING, !options().is_silent) << summary->error;
+      return;
+    }
+
+    const double polynomial_minimization_start_time = WallTimeInSeconds();
+    const double step_size =
+        this->InterpolatingPolynomialMinimizingStepSize(
+            options().interpolation_type,
+            initial_position,
+            previous,
+            current,
+            (options().max_step_contraction * current.x),
+            (options().min_step_contraction * current.x));
+    summary->polynomial_minimization_time_in_seconds +=
+        (WallTimeInSeconds() - polynomial_minimization_start_time);
+
+    if (step_size * descent_direction_max_norm < options().min_step_size) {
+      summary->error =
+          StringPrintf("Line search failed: step_size too small: %.5e "
+                       "with descent_direction_max_norm: %.5e.", step_size,
+                       descent_direction_max_norm);
+      LOG_IF(WARNING, !options().is_silent) << summary->error;
+      return;
+    }
+
+    previous = current;
+
+    ++summary->num_function_evaluations;
+    if (kEvaluateGradient) {
+      ++summary->num_gradient_evaluations;
+    }
+
+    function->Evaluate(step_size, kEvaluateGradient, &current);
+  }
+
+  summary->optimal_point = current;
+  summary->success = true;
+}
+
+WolfeLineSearch::WolfeLineSearch(const LineSearch::Options& options)
+    : LineSearch(options) {}
+
+void WolfeLineSearch::DoSearch(const double step_size_estimate,
+                               const double initial_cost,
+                               const double initial_gradient,
+                               Summary* summary) const {
+  // All parameters should have been validated by the Solver, but as
+  // invalid values would produce crazy nonsense, hard check them here.
+  CHECK_GE(step_size_estimate, 0.0);
+  CHECK_GT(options().sufficient_decrease, 0.0);
+  CHECK_GT(options().sufficient_curvature_decrease,
+           options().sufficient_decrease);
+  CHECK_LT(options().sufficient_curvature_decrease, 1.0);
+  CHECK_GT(options().max_step_expansion, 1.0);
+
+  // Note initial_cost & initial_gradient are evaluated at step_size = 0,
+  // not step_size_estimate, which is our starting guess.
+  FunctionSample initial_position(0.0, initial_cost, initial_gradient);
+  initial_position.vector_x = options().function->position();
+  initial_position.vector_x_is_valid = true;
+  bool do_zoom_search = false;
+  // Important: The high/low in bracket_high & bracket_low refer to their
+  // _function_ values, not their step sizes i.e. it is _not_ required that
+  // bracket_low.x < bracket_high.x.
+  FunctionSample solution, bracket_low, bracket_high;
+
+  // Wolfe bracketing phase: Increases step_size until either it finds a point
+  // that satisfies the (strong) Wolfe conditions, or an interval that brackets
+  // step sizes which satisfy the conditions.  From Nocedal & Wright [1] p61 the
+  // interval: (step_size_{k-1}, step_size_{k}) contains step lengths satisfying
+  // the strong Wolfe conditions if one of the following conditions are met:
+  //
+  //   1. step_size_{k} violates the sufficient decrease (Armijo) condition.
+  //   2. f(step_size_{k}) >= f(step_size_{k-1}).
+  //   3. f'(step_size_{k}) >= 0.
+  //
+  // Caveat: If f(step_size_{k}) is invalid, then step_size is reduced, ignoring
+  // this special case, step_size monotonically increases during bracketing.
+  if (!this->BracketingPhase(initial_position,
+                             step_size_estimate,
+                             &bracket_low,
+                             &bracket_high,
+                             &do_zoom_search,
+                             summary)) {
+    // Failed to find either a valid point, a valid bracket satisfying the Wolfe
+    // conditions, or even a step size > minimum tolerance satisfying the Armijo
+    // condition.
+    return;
+  }
+
+  if (!do_zoom_search) {
+    // Either: Bracketing phase already found a point satisfying the strong
+    // Wolfe conditions, thus no Zoom required.
+    //
+    // Or: Bracketing failed to find a valid bracket or a point satisfying the
+    // strong Wolfe conditions within max_num_iterations, or whilst searching
+    // shrank the bracket width until it was below our minimum tolerance.
+    // As these are 'artificial' constraints, and we would otherwise fail to
+    // produce a valid point when ArmijoLineSearch would succeed, we return the
+    // point with the lowest cost found thus far which satsifies the Armijo
+    // condition (but not the Wolfe conditions).
+    summary->optimal_point = bracket_low;
+    summary->success = true;
+    return;
+  }
+
+  VLOG(3) << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+          << "Starting line search zoom phase with bracket_low: "
+          << bracket_low << ", bracket_high: " << bracket_high
+          << ", bracket width: " << fabs(bracket_low.x - bracket_high.x)
+          << ", bracket abs delta cost: "
+          << fabs(bracket_low.value - bracket_high.value);
+
+  // Wolfe Zoom phase: Called when the Bracketing phase finds an interval of
+  // non-zero, finite width that should bracket step sizes which satisfy the
+  // (strong) Wolfe conditions (before finding a step size that satisfies the
+  // conditions).  Zoom successively decreases the size of the interval until a
+  // step size which satisfies the Wolfe conditions is found.  The interval is
+  // defined by bracket_low & bracket_high, which satisfy:
+  //
+  //   1. The interval bounded by step sizes: bracket_low.x & bracket_high.x
+  //      contains step sizes that satsify the strong Wolfe conditions.
+  //   2. bracket_low.x is of all the step sizes evaluated *which satisifed the
+  //      Armijo sufficient decrease condition*, the one which generated the
+  //      smallest function value, i.e. bracket_low.value <
+  //      f(all other steps satisfying Armijo).
+  //        - Note that this does _not_ (necessarily) mean that initially
+  //          bracket_low.value < bracket_high.value (although this is typical)
+  //          e.g. when bracket_low = initial_position, and bracket_high is the
+  //          first sample, and which does not satisfy the Armijo condition,
+  //          but still has bracket_high.value < initial_position.value.
+  //   3. bracket_high is chosen after bracket_low, s.t.
+  //      bracket_low.gradient * (bracket_high.x - bracket_low.x) < 0.
+  if (!this->ZoomPhase(initial_position,
+                       bracket_low,
+                       bracket_high,
+                       &solution,
+                       summary) && !solution.value_is_valid) {
+    // Failed to find a valid point (given the specified decrease parameters)
+    // within the specified bracket.
+    return;
+  }
+  // Ensure that if we ran out of iterations whilst zooming the bracket, or
+  // shrank the bracket width to < tolerance and failed to find a point which
+  // satisfies the strong Wolfe curvature condition, that we return the point
+  // amongst those found thus far, which minimizes f() and satisfies the Armijo
+  // condition.
+
+  if (!solution.value_is_valid || solution.value > bracket_low.value) {
+    summary->optimal_point = bracket_low;
+  } else {
+    summary->optimal_point = solution;
+  }
+
+  summary->success = true;
+}
+
+// Returns true if either:
+//
+// A termination condition satisfying the (strong) Wolfe bracketing conditions
+// is found:
+//
+// - A valid point, defined as a bracket of zero width [zoom not required].
+// - A valid bracket (of width > tolerance), [zoom required].
+//
+// Or, searching was stopped due to an 'artificial' constraint, i.e. not
+// a condition imposed / required by the underlying algorithm, but instead an
+// engineering / implementation consideration. But a step which exceeds the
+// minimum step size, and satsifies the Armijo condition was still found,
+// and should thus be used [zoom not required].
+//
+// Returns false if no step size > minimum step size was found which
+// satisfies at least the Armijo condition.
+bool WolfeLineSearch::BracketingPhase(
+    const FunctionSample& initial_position,
+    const double step_size_estimate,
+    FunctionSample* bracket_low,
+    FunctionSample* bracket_high,
+    bool* do_zoom_search,
+    Summary* summary) const {
+  LineSearchFunction* function = options().function;
+
+  FunctionSample previous = initial_position;
+  FunctionSample current;
+
+  const double descent_direction_max_norm =
+      function->DirectionInfinityNorm();
+
+  *do_zoom_search = false;
+  *bracket_low = initial_position;
+
+  // As we require the gradient to evaluate the Wolfe condition, we always
+  // calculate it together with the value, irrespective of the interpolation
+  // type.  As opposed to only calculating the gradient after the Armijo
+  // condition is satisifed, as the computational saving from this approach
+  // would be slight (perhaps even negative due to the extra call).  Also,
+  // always calculating the value & gradient together protects against us
+  // reporting invalid solutions if the cost function returns slightly different
+  // function values when evaluated with / without gradients (due to numerical
+  // issues).
+  ++summary->num_function_evaluations;
+  ++summary->num_gradient_evaluations;
+  const bool kEvaluateGradient = true;
+  function->Evaluate(step_size_estimate, kEvaluateGradient, &current);
+  while (true) {
+    ++summary->num_iterations;
+
+    if (current.value_is_valid &&
+        (current.value > (initial_position.value
+                          + options().sufficient_decrease
+                          * initial_position.gradient
+                          * current.x) ||
+         (previous.value_is_valid && current.value > previous.value))) {
+      // Bracket found: current step size violates Armijo sufficient decrease
+      // condition, or has stepped past an inflection point of f() relative to
+      // previous step size.
+      *do_zoom_search = true;
+      *bracket_low = previous;
+      *bracket_high = current;
+      VLOG(3) << std::scientific
+              << std::setprecision(kErrorMessageNumericPrecision)
+              << "Bracket found: current step (" << current.x
+              << ") violates Armijo sufficient condition, or has passed an "
+              << "inflection point of f() based on value.";
+      break;
+    }
+
+    if (current.value_is_valid &&
+        fabs(current.gradient) <=
+        -options().sufficient_curvature_decrease * initial_position.gradient) {
+      // Current step size satisfies the strong Wolfe conditions, and is thus a
+      // valid termination point, therefore a Zoom not required.
+      *bracket_low = current;
+      *bracket_high = current;
+      VLOG(3) << std::scientific
+              << std::setprecision(kErrorMessageNumericPrecision)
+              << "Bracketing phase found step size: " << current.x
+              << ", satisfying strong Wolfe conditions, initial_position: "
+              << initial_position << ", current: " << current;
+      break;
+
+    } else if (current.value_is_valid && current.gradient >= 0) {
+      // Bracket found: current step size has stepped past an inflection point
+      // of f(), but Armijo sufficient decrease is still satisfied and
+      // f(current) is our best minimum thus far.  Remember step size
+      // monotonically increases, thus previous_step_size < current_step_size
+      // even though f(previous) > f(current).
+      *do_zoom_search = true;
+      // Note inverse ordering from first bracket case.
+      *bracket_low = current;
+      *bracket_high = previous;
+      VLOG(3) << "Bracket found: current step (" << current.x
+              << ") satisfies Armijo, but has gradient >= 0, thus have passed "
+              << "an inflection point of f().";
+      break;
+
+    } else if (current.value_is_valid &&
+               fabs(current.x - previous.x) * descent_direction_max_norm
+               < options().min_step_size) {
+      // We have shrunk the search bracket to a width less than our tolerance,
+      // and still not found either a point satisfying the strong Wolfe
+      // conditions, or a valid bracket containing such a point. Stop searching
+      // and set bracket_low to the size size amongst all those tested which
+      // minimizes f() and satisfies the Armijo condition.
+      LOG_IF(WARNING, !options().is_silent)
+          << "Line search failed: Wolfe bracketing phase shrank "
+          << "bracket width: " << fabs(current.x - previous.x)
+          <<  ", to < tolerance: " << options().min_step_size
+          << ", with descent_direction_max_norm: "
+          << descent_direction_max_norm << ", and failed to find "
+          << "a point satisfying the strong Wolfe conditions or a "
+          << "bracketing containing such a point. Accepting "
+          << "point found satisfying Armijo condition only, to "
+          << "allow continuation.";
+      *bracket_low = current;
+      break;
+
+    } else if (summary->num_iterations >= options().max_num_iterations) {
+      // Check num iterations bound here so that we always evaluate the
+      // max_num_iterations-th iteration against all conditions, and
+      // then perform no additional (unused) evaluations.
+      summary->error =
+          StringPrintf("Line search failed: Wolfe bracketing phase failed to "
+                       "find a point satisfying strong Wolfe conditions, or a "
+                       "bracket containing such a point within specified "
+                       "max_num_iterations: %d", options().max_num_iterations);
+      LOG_IF(WARNING, !options().is_silent) << summary->error;
+      // Ensure that bracket_low is always set to the step size amongst all
+      // those tested which minimizes f() and satisfies the Armijo condition
+      // when we terminate due to the 'artificial' max_num_iterations condition.
+      *bracket_low =
+          current.value_is_valid && current.value < bracket_low->value
+          ? current : *bracket_low;
+      break;
+    }
+    // Either: f(current) is invalid; or, f(current) is valid, but does not
+    // satisfy the strong Wolfe conditions itself, or the conditions for
+    // being a boundary of a bracket.
+
+    // If f(current) is valid, (but meets no criteria) expand the search by
+    // increasing the step size.
+    const double max_step_size =
+        current.value_is_valid
+        ? (current.x * options().max_step_expansion) : current.x;
+
+    // We are performing 2-point interpolation only here, but the API of
+    // InterpolatingPolynomialMinimizingStepSize() allows for up to
+    // 3-point interpolation, so pad call with a sample with an invalid
+    // value that will therefore be ignored.
+    const FunctionSample unused_previous;
+    DCHECK(!unused_previous.value_is_valid);
+    // Contracts step size if f(current) is not valid.
+    const double polynomial_minimization_start_time = WallTimeInSeconds();
+    const double step_size =
+        this->InterpolatingPolynomialMinimizingStepSize(
+            options().interpolation_type,
+            previous,
+            unused_previous,
+            current,
+            previous.x,
+            max_step_size);
+    summary->polynomial_minimization_time_in_seconds +=
+        (WallTimeInSeconds() - polynomial_minimization_start_time);
+    if (step_size * descent_direction_max_norm < options().min_step_size) {
+      summary->error =
+          StringPrintf("Line search failed: step_size too small: %.5e "
+                       "with descent_direction_max_norm: %.5e", step_size,
+                       descent_direction_max_norm);
+      LOG_IF(WARNING, !options().is_silent) << summary->error;
+      return false;
+    }
+
+    previous = current.value_is_valid ? current : previous;
+    ++summary->num_function_evaluations;
+    ++summary->num_gradient_evaluations;
+    function->Evaluate(step_size, kEvaluateGradient, &current);
+  }
+
+  // Ensure that even if a valid bracket was found, we will only mark a zoom
+  // as required if the bracket's width is greater than our minimum tolerance.
+  if (*do_zoom_search &&
+      fabs(bracket_high->x - bracket_low->x) * descent_direction_max_norm
+      < options().min_step_size) {
+    *do_zoom_search = false;
+  }
+
+  return true;
+}
+
+// Returns true iff solution satisfies the strong Wolfe conditions. Otherwise,
+// on return false, if we stopped searching due to the 'artificial' condition of
+// reaching max_num_iterations, solution is the step size amongst all those
+// tested, which satisfied the Armijo decrease condition and minimized f().
+bool WolfeLineSearch::ZoomPhase(const FunctionSample& initial_position,
+                                FunctionSample bracket_low,
+                                FunctionSample bracket_high,
+                                FunctionSample* solution,
+                                Summary* summary) const {
+  LineSearchFunction* function = options().function;
+
+  CHECK(bracket_low.value_is_valid && bracket_low.gradient_is_valid)
+      << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+      << "Ceres bug: f_low input to Wolfe Zoom invalid, please contact "
+      << "the developers!, initial_position: " << initial_position
+      << ", bracket_low: " << bracket_low
+      << ", bracket_high: "<< bracket_high;
+  // We do not require bracket_high.gradient_is_valid as the gradient condition
+  // for a valid bracket is only dependent upon bracket_low.gradient, and
+  // in order to minimize jacobian evaluations, bracket_high.gradient may
+  // not have been calculated (if bracket_high.value does not satisfy the
+  // Armijo sufficient decrease condition and interpolation method does not
+  // require it).
+  //
+  // We also do not require that: bracket_low.value < bracket_high.value,
+  // although this is typical. This is to deal with the case when
+  // bracket_low = initial_position, bracket_high is the first sample,
+  // and bracket_high does not satisfy the Armijo condition, but still has
+  // bracket_high.value < initial_position.value.
+  CHECK(bracket_high.value_is_valid)
+      << std::scientific << std::setprecision(kErrorMessageNumericPrecision)
+      << "Ceres bug: f_high input to Wolfe Zoom invalid, please "
+      << "contact the developers!, initial_position: " << initial_position
+      << ", bracket_low: " << bracket_low
+      << ", bracket_high: "<< bracket_high;
+
+  if (bracket_low.gradient * (bracket_high.x - bracket_low.x) >= 0) {
+    // The third condition for a valid initial bracket:
+    //
+    //   3. bracket_high is chosen after bracket_low, s.t.
+    //      bracket_low.gradient * (bracket_high.x - bracket_low.x) < 0.
+    //
+    // is not satisfied.  As this can happen when the users' cost function
+    // returns inconsistent gradient values relative to the function values,
+    // we do not CHECK_LT(), but we do stop processing and return an invalid
+    // value.
+    summary->error =
+        StringPrintf("Line search failed: Wolfe zoom phase passed a bracket "
+                     "which does not satisfy: bracket_low.gradient * "
+                     "(bracket_high.x - bracket_low.x) < 0 [%.8e !< 0] "
+                     "with initial_position: %s, bracket_low: %s, bracket_high:"
+                     " %s, the most likely cause of which is the cost function "
+                     "returning inconsistent gradient & function values.",
+                     bracket_low.gradient * (bracket_high.x - bracket_low.x),
+                     initial_position.ToDebugString().c_str(),
+                     bracket_low.ToDebugString().c_str(),
+                     bracket_high.ToDebugString().c_str());
+    LOG_IF(WARNING, !options().is_silent) << summary->error;
+    solution->value_is_valid = false;
+    return false;
+  }
+
+  const int num_bracketing_iterations = summary->num_iterations;
+  const double descent_direction_max_norm = function->DirectionInfinityNorm();
+
+  while (true) {
+    // Set solution to bracket_low, as it is our best step size (smallest f())
+    // found thus far and satisfies the Armijo condition, even though it does
+    // not satisfy the Wolfe condition.
+    *solution = bracket_low;
+    if (summary->num_iterations >= options().max_num_iterations) {
+      summary->error =
+          StringPrintf("Line search failed: Wolfe zoom phase failed to "
+                       "find a point satisfying strong Wolfe conditions "
+                       "within specified max_num_iterations: %d, "
+                       "(num iterations taken for bracketing: %d).",
+                       options().max_num_iterations, num_bracketing_iterations);
+      LOG_IF(WARNING, !options().is_silent) << summary->error;
+      return false;
+    }
+    if (fabs(bracket_high.x - bracket_low.x) * descent_direction_max_norm
+        < options().min_step_size) {
+      // Bracket width has been reduced below tolerance, and no point satisfying
+      // the strong Wolfe conditions has been found.
+      summary->error =
+          StringPrintf("Line search failed: Wolfe zoom bracket width: %.5e "
+                       "too small with descent_direction_max_norm: %.5e.",
+                       fabs(bracket_high.x - bracket_low.x),
+                       descent_direction_max_norm);
+      LOG_IF(WARNING, !options().is_silent) << summary->error;
+      return false;
+    }
+
+    ++summary->num_iterations;
+    // Polynomial interpolation requires inputs ordered according to step size,
+    // not f(step size).
+    const FunctionSample& lower_bound_step =
+        bracket_low.x < bracket_high.x ? bracket_low : bracket_high;
+    const FunctionSample& upper_bound_step =
+        bracket_low.x < bracket_high.x ? bracket_high : bracket_low;
+    // We are performing 2-point interpolation only here, but the API of
+    // InterpolatingPolynomialMinimizingStepSize() allows for up to
+    // 3-point interpolation, so pad call with a sample with an invalid
+    // value that will therefore be ignored.
+    const FunctionSample unused_previous;
+    DCHECK(!unused_previous.value_is_valid);
+    const double polynomial_minimization_start_time = WallTimeInSeconds();
+    const double step_size =
+        this->InterpolatingPolynomialMinimizingStepSize(
+            options().interpolation_type,
+            lower_bound_step,
+            unused_previous,
+            upper_bound_step,
+            lower_bound_step.x,
+            upper_bound_step.x);
+    summary->polynomial_minimization_time_in_seconds +=
+        (WallTimeInSeconds() - polynomial_minimization_start_time);
+    // No check on magnitude of step size being too small here as it is
+    // lower-bounded by the initial bracket start point, which was valid.
+    //
+    // As we require the gradient to evaluate the Wolfe condition, we always
+    // calculate it together with the value, irrespective of the interpolation
+    // type.  As opposed to only calculating the gradient after the Armijo
+    // condition is satisifed, as the computational saving from this approach
+    // would be slight (perhaps even negative due to the extra call).  Also,
+    // always calculating the value & gradient together protects against us
+    // reporting invalid solutions if the cost function returns slightly
+    // different function values when evaluated with / without gradients (due
+    // to numerical issues).
+    ++summary->num_function_evaluations;
+    ++summary->num_gradient_evaluations;
+    const bool kEvaluateGradient = true;
+    function->Evaluate(step_size, kEvaluateGradient, solution);
+    if (!solution->value_is_valid || !solution->gradient_is_valid) {
+      summary->error =
+          StringPrintf("Line search failed: Wolfe Zoom phase found "
+                       "step_size: %.5e, for which function is invalid, "
+                       "between low_step: %.5e and high_step: %.5e "
+                       "at which function is valid.",
+                       solution->x, bracket_low.x, bracket_high.x);
+      LOG_IF(WARNING, !options().is_silent) << summary->error;
+      return false;
+    }
+
+    VLOG(3) << "Zoom iteration: "
+            << summary->num_iterations - num_bracketing_iterations
+            << ", bracket_low: " << bracket_low
+            << ", bracket_high: " << bracket_high
+            << ", minimizing solution: " << *solution;
+
+    if ((solution->value > (initial_position.value
+                            + options().sufficient_decrease
+                            * initial_position.gradient
+                            * solution->x)) ||
+        (solution->value >= bracket_low.value)) {
+      // Armijo sufficient decrease not satisfied, or not better
+      // than current lowest sample, use as new upper bound.
+      bracket_high = *solution;
+      continue;
+    }
+
+    // Armijo sufficient decrease satisfied, check strong Wolfe condition.
+    if (fabs(solution->gradient) <=
+        -options().sufficient_curvature_decrease * initial_position.gradient) {
+      // Found a valid termination point satisfying strong Wolfe conditions.
+      VLOG(3) << std::scientific
+              << std::setprecision(kErrorMessageNumericPrecision)
+              << "Zoom phase found step size: " << solution->x
+              << ", satisfying strong Wolfe conditions.";
+      break;
+
+    } else if (solution->gradient * (bracket_high.x - bracket_low.x) >= 0) {
+      bracket_high = bracket_low;
+    }
+
+    bracket_low = *solution;
+  }
+  // Solution contains a valid point which satisfies the strong Wolfe
+  // conditions.
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/line_search.h b/internal/ceres/line_search.h
new file mode 100644
index 0000000..6e39a65
--- /dev/null
+++ b/internal/ceres/line_search.h
@@ -0,0 +1,329 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Interface for and implementation of various Line search algorithms.
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_H_
+#define CERES_INTERNAL_LINE_SEARCH_H_
+
+#include <string>
+#include <vector>
+#include "ceres/function_sample.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class Evaluator;
+class LineSearchFunction;
+
+// Line search is another name for a one dimensional optimization
+// algorithm. The name "line search" comes from the fact one
+// dimensional optimization problems that arise as subproblems of
+// general multidimensional optimization problems.
+//
+// While finding the exact minimum of a one dimensionl function is
+// hard, instances of LineSearch find a point that satisfies a
+// sufficient decrease condition. Depending on the particular
+// condition used, we get a variety of different line search
+// algorithms, e.g., Armijo, Wolfe etc.
+class LineSearch {
+ public:
+  struct Summary;
+
+  struct Options {
+    Options()
+        : interpolation_type(CUBIC),
+          sufficient_decrease(1e-4),
+          max_step_contraction(1e-3),
+          min_step_contraction(0.9),
+          min_step_size(1e-9),
+          max_num_iterations(20),
+          sufficient_curvature_decrease(0.9),
+          max_step_expansion(10.0),
+          is_silent(false),
+          function(NULL) {}
+
+    // Degree of the polynomial used to approximate the objective
+    // function.
+    LineSearchInterpolationType interpolation_type;
+
+    // Armijo and Wolfe line search parameters.
+
+    // Solving the line search problem exactly is computationally
+    // prohibitive. Fortunately, line search based optimization
+    // algorithms can still guarantee convergence if instead of an
+    // exact solution, the line search algorithm returns a solution
+    // which decreases the value of the objective function
+    // sufficiently. More precisely, we are looking for a step_size
+    // s.t.
+    //
+    //  f(step_size) <= f(0) + sufficient_decrease * f'(0) * step_size
+    double sufficient_decrease;
+
+    // In each iteration of the Armijo / Wolfe line search,
+    //
+    // new_step_size >= max_step_contraction * step_size
+    //
+    // Note that by definition, for contraction:
+    //
+    //  0 < max_step_contraction < min_step_contraction < 1
+    //
+    double max_step_contraction;
+
+    // In each iteration of the Armijo / Wolfe line search,
+    //
+    // new_step_size <= min_step_contraction * step_size
+    // Note that by definition, for contraction:
+    //
+    //  0 < max_step_contraction < min_step_contraction < 1
+    //
+    double min_step_contraction;
+
+    // If during the line search, the step_size falls below this
+    // value, it is truncated to zero.
+    double min_step_size;
+
+    // Maximum number of trial step size iterations during each line search,
+    // if a step size satisfying the search conditions cannot be found within
+    // this number of trials, the line search will terminate.
+    int max_num_iterations;
+
+    // Wolfe-specific line search parameters.
+
+    // The strong Wolfe conditions consist of the Armijo sufficient
+    // decrease condition, and an additional requirement that the
+    // step-size be chosen s.t. the _magnitude_ ('strong' Wolfe
+    // conditions) of the gradient along the search direction
+    // decreases sufficiently. Precisely, this second condition
+    // is that we seek a step_size s.t.
+    //
+    //   |f'(step_size)| <= sufficient_curvature_decrease * |f'(0)|
+    //
+    // Where f() is the line search objective and f'() is the derivative
+    // of f w.r.t step_size (d f / d step_size).
+    double sufficient_curvature_decrease;
+
+    // During the bracketing phase of the Wolfe search, the step size is
+    // increased until either a point satisfying the Wolfe conditions is
+    // found, or an upper bound for a bracket containing a point satisfying
+    // the conditions is found.  Precisely, at each iteration of the
+    // expansion:
+    //
+    //   new_step_size <= max_step_expansion * step_size.
+    //
+    // By definition for expansion, max_step_expansion > 1.0.
+    double max_step_expansion;
+
+    bool is_silent;
+
+    // The one dimensional function that the line search algorithm
+    // minimizes.
+    LineSearchFunction* function;
+  };
+
+  // Result of the line search.
+  struct Summary {
+    Summary()
+        : success(false),
+          num_function_evaluations(0),
+          num_gradient_evaluations(0),
+          num_iterations(0),
+          cost_evaluation_time_in_seconds(-1.0),
+          gradient_evaluation_time_in_seconds(-1.0),
+          polynomial_minimization_time_in_seconds(-1.0),
+          total_time_in_seconds(-1.0) {}
+
+    bool success;
+    FunctionSample optimal_point;
+    int num_function_evaluations;
+    int num_gradient_evaluations;
+    int num_iterations;
+    // Cumulative time spent evaluating the value of the cost function across
+    // all iterations.
+    double cost_evaluation_time_in_seconds;
+    // Cumulative time spent evaluating the gradient of the cost function across
+    // all iterations.
+    double gradient_evaluation_time_in_seconds;
+    // Cumulative time spent minimizing the interpolating polynomial to compute
+    // the next candidate step size across all iterations.
+    double polynomial_minimization_time_in_seconds;
+    double total_time_in_seconds;
+    std::string error;
+  };
+
+  explicit LineSearch(const LineSearch::Options& options);
+  virtual ~LineSearch() {}
+
+  static LineSearch* Create(const LineSearchType line_search_type,
+                            const LineSearch::Options& options,
+                            std::string* error);
+
+  // Perform the line search.
+  //
+  // step_size_estimate must be a positive number.
+  //
+  // initial_cost and initial_gradient are the values and gradient of
+  // the function at zero.
+  // summary must not be null and will contain the result of the line
+  // search.
+  //
+  // Summary::success is true if a non-zero step size is found.
+  void Search(double step_size_estimate,
+              double initial_cost,
+              double initial_gradient,
+              Summary* summary) const;
+  double InterpolatingPolynomialMinimizingStepSize(
+      const LineSearchInterpolationType& interpolation_type,
+      const FunctionSample& lowerbound_sample,
+      const FunctionSample& previous_sample,
+      const FunctionSample& current_sample,
+      const double min_step_size,
+      const double max_step_size) const;
+
+ protected:
+  const LineSearch::Options& options() const { return options_; }
+
+ private:
+  virtual void DoSearch(double step_size_estimate,
+                        double initial_cost,
+                        double initial_gradient,
+                        Summary* summary) const = 0;
+
+ private:
+  LineSearch::Options options_;
+};
+
+// An object used by the line search to access the function values
+// and gradient of the one dimensional function being optimized.
+//
+// In practice, this object provides access to the objective
+// function value and the directional derivative of the underlying
+// optimization problem along a specific search direction.
+class LineSearchFunction {
+ public:
+  explicit LineSearchFunction(Evaluator* evaluator);
+  void Init(const Vector& position, const Vector& direction);
+
+  // Evaluate the line search objective
+  //
+  //   f(x) = p(position + x * direction)
+  //
+  // Where, p is the objective function of the general optimization
+  // problem.
+  //
+  // evaluate_gradient controls whether the gradient will be evaluated
+  // or not.
+  //
+  // On return output->*_is_valid indicate indicate whether the
+  // corresponding fields have numerically valid values or not.
+  void Evaluate(double x, bool evaluate_gradient, FunctionSample* output);
+
+  double DirectionInfinityNorm() const;
+
+  // Resets to now, the start point for the results from TimeStatistics().
+  void ResetTimeStatistics();
+  void TimeStatistics(double* cost_evaluation_time_in_seconds,
+                      double* gradient_evaluation_time_in_seconds) const;
+  const Vector& position() const { return position_; }
+  const Vector& direction() const { return direction_; }
+
+ private:
+  Evaluator* evaluator_;
+  Vector position_;
+  Vector direction_;
+
+  // scaled_direction = x * direction_;
+  Vector scaled_direction_;
+
+  // We may not exclusively own the evaluator (e.g. in the Trust Region
+  // minimizer), hence we need to save the initial evaluation durations for the
+  // value & gradient to accurately determine the duration of the evaluations
+  // we invoked.  These are reset by a call to ResetTimeStatistics().
+  double initial_evaluator_residual_time_in_seconds;
+  double initial_evaluator_jacobian_time_in_seconds;
+};
+
+// Backtracking and interpolation based Armijo line search. This
+// implementation is based on the Armijo line search that ships in the
+// minFunc package by Mark Schmidt.
+//
+// For more details: http://www.di.ens.fr/~mschmidt/Software/minFunc.html
+class ArmijoLineSearch : public LineSearch {
+ public:
+  explicit ArmijoLineSearch(const LineSearch::Options& options);
+  virtual ~ArmijoLineSearch() {}
+
+ private:
+  virtual void DoSearch(double step_size_estimate,
+                        double initial_cost,
+                        double initial_gradient,
+                        Summary* summary) const;
+};
+
+// Bracketing / Zoom Strong Wolfe condition line search.  This implementation
+// is based on the pseudo-code algorithm presented in Nocedal & Wright [1]
+// (p60-61) with inspiration from the WolfeLineSearch which ships with the
+// minFunc package by Mark Schmidt [2].
+//
+// [1] Nocedal J., Wright S., Numerical Optimization, 2nd Ed., Springer, 1999.
+// [2] http://www.di.ens.fr/~mschmidt/Software/minFunc.html.
+class WolfeLineSearch : public LineSearch {
+ public:
+  explicit WolfeLineSearch(const LineSearch::Options& options);
+  virtual ~WolfeLineSearch() {}
+
+  // Returns true iff either a valid point, or valid bracket are found.
+  bool BracketingPhase(const FunctionSample& initial_position,
+                       const double step_size_estimate,
+                       FunctionSample* bracket_low,
+                       FunctionSample* bracket_high,
+                       bool* perform_zoom_search,
+                       Summary* summary) const;
+  // Returns true iff final_line_sample satisfies strong Wolfe conditions.
+  bool ZoomPhase(const FunctionSample& initial_position,
+                 FunctionSample bracket_low,
+                 FunctionSample bracket_high,
+                 FunctionSample* solution,
+                 Summary* summary) const;
+
+ private:
+  virtual void DoSearch(double step_size_estimate,
+                        double initial_cost,
+                        double initial_gradient,
+                        Summary* summary) const;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LINE_SEARCH_H_
diff --git a/internal/ceres/line_search_direction.cc b/internal/ceres/line_search_direction.cc
new file mode 100644
index 0000000..1f9d205
--- /dev/null
+++ b/internal/ceres/line_search_direction.cc
@@ -0,0 +1,372 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/line_search_direction.h"
+#include "ceres/line_search_minimizer.h"
+#include "ceres/low_rank_inverse_hessian.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+class SteepestDescent : public LineSearchDirection {
+ public:
+  virtual ~SteepestDescent() {}
+  bool NextDirection(const LineSearchMinimizer::State& previous,
+                     const LineSearchMinimizer::State& current,
+                     Vector* search_direction) {
+    *search_direction = -current.gradient;
+    return true;
+  }
+};
+
+class NonlinearConjugateGradient : public LineSearchDirection {
+ public:
+  NonlinearConjugateGradient(const NonlinearConjugateGradientType type,
+                             const double function_tolerance)
+      : type_(type),
+        function_tolerance_(function_tolerance) {
+  }
+
+  bool NextDirection(const LineSearchMinimizer::State& previous,
+                     const LineSearchMinimizer::State& current,
+                     Vector* search_direction) {
+    double beta = 0.0;
+    Vector gradient_change;
+    switch (type_) {
+      case FLETCHER_REEVES:
+        beta = current.gradient_squared_norm / previous.gradient_squared_norm;
+        break;
+      case POLAK_RIBIERE:
+        gradient_change = current.gradient - previous.gradient;
+        beta = (current.gradient.dot(gradient_change) /
+                previous.gradient_squared_norm);
+        break;
+      case HESTENES_STIEFEL:
+        gradient_change = current.gradient - previous.gradient;
+        beta =  (current.gradient.dot(gradient_change) /
+                 previous.search_direction.dot(gradient_change));
+        break;
+      default:
+        LOG(FATAL) << "Unknown nonlinear conjugate gradient type: " << type_;
+    }
+
+    *search_direction =  -current.gradient + beta * previous.search_direction;
+    const double directional_derivative =
+        current.gradient.dot(*search_direction);
+    if (directional_derivative > -function_tolerance_) {
+      LOG(WARNING) << "Restarting non-linear conjugate gradients: "
+                   << directional_derivative;
+      *search_direction = -current.gradient;
+    }
+
+    return true;
+  }
+
+ private:
+  const NonlinearConjugateGradientType type_;
+  const double function_tolerance_;
+};
+
+class LBFGS : public LineSearchDirection {
+ public:
+  LBFGS(const int num_parameters,
+        const int max_lbfgs_rank,
+        const bool use_approximate_eigenvalue_bfgs_scaling)
+      : low_rank_inverse_hessian_(num_parameters,
+                                  max_lbfgs_rank,
+                                  use_approximate_eigenvalue_bfgs_scaling),
+        is_positive_definite_(true) {}
+
+  virtual ~LBFGS() {}
+
+  bool NextDirection(const LineSearchMinimizer::State& previous,
+                     const LineSearchMinimizer::State& current,
+                     Vector* search_direction) {
+    CHECK(is_positive_definite_)
+        << "Ceres bug: NextDirection() called on L-BFGS after inverse Hessian "
+        << "approximation has become indefinite, please contact the "
+        << "developers!";
+
+    low_rank_inverse_hessian_.Update(
+        previous.search_direction * previous.step_size,
+        current.gradient - previous.gradient);
+
+    search_direction->setZero();
+    low_rank_inverse_hessian_.RightMultiply(current.gradient.data(),
+                                            search_direction->data());
+    *search_direction *= -1.0;
+
+    if (search_direction->dot(current.gradient) >= 0.0) {
+      LOG(WARNING) << "Numerical failure in L-BFGS update: inverse Hessian "
+                   << "approximation is not positive definite, and thus "
+                   << "initial gradient for search direction is positive: "
+                   << search_direction->dot(current.gradient);
+      is_positive_definite_ = false;
+      return false;
+    }
+
+    return true;
+  }
+
+ private:
+  LowRankInverseHessian low_rank_inverse_hessian_;
+  bool is_positive_definite_;
+};
+
+class BFGS : public LineSearchDirection {
+ public:
+  BFGS(const int num_parameters,
+       const bool use_approximate_eigenvalue_scaling)
+      : num_parameters_(num_parameters),
+        use_approximate_eigenvalue_scaling_(use_approximate_eigenvalue_scaling),
+        initialized_(false),
+        is_positive_definite_(true) {
+    LOG_IF(WARNING, num_parameters_ >= 1e3)
+        << "BFGS line search being created with: " << num_parameters_
+        << " parameters, this will allocate a dense approximate inverse Hessian"
+        << " of size: " << num_parameters_ << " x " << num_parameters_
+        << ", consider using the L-BFGS memory-efficient line search direction "
+        << "instead.";
+    // Construct inverse_hessian_ after logging warning about size s.t. if the
+    // allocation crashes us, the log will highlight what the issue likely was.
+    inverse_hessian_ = Matrix::Identity(num_parameters, num_parameters);
+  }
+
+  virtual ~BFGS() {}
+
+  bool NextDirection(const LineSearchMinimizer::State& previous,
+                     const LineSearchMinimizer::State& current,
+                     Vector* search_direction) {
+    CHECK(is_positive_definite_)
+        << "Ceres bug: NextDirection() called on BFGS after inverse Hessian "
+        << "approximation has become indefinite, please contact the "
+        << "developers!";
+
+    const Vector delta_x = previous.search_direction * previous.step_size;
+    const Vector delta_gradient = current.gradient - previous.gradient;
+    const double delta_x_dot_delta_gradient = delta_x.dot(delta_gradient);
+
+    // The (L)BFGS algorithm explicitly requires that the secant equation:
+    //
+    //   B_{k+1} * s_k = y_k
+    //
+    // Is satisfied at each iteration, where B_{k+1} is the approximated
+    // Hessian at the k+1-th iteration, s_k = (x_{k+1} - x_{k}) and
+    // y_k = (grad_{k+1} - grad_{k}). As the approximated Hessian must be
+    // positive definite, this is equivalent to the condition:
+    //
+    //   s_k^T * y_k > 0     [s_k^T * B_{k+1} * s_k = s_k^T * y_k > 0]
+    //
+    // This condition would always be satisfied if the function was strictly
+    // convex, alternatively, it is always satisfied provided that a Wolfe line
+    // search is used (even if the function is not strictly convex).  See [1]
+    // (p138) for a proof.
+    //
+    // Although Ceres will always use a Wolfe line search when using (L)BFGS,
+    // practical implementation considerations mean that the line search
+    // may return a point that satisfies only the Armijo condition, and thus
+    // could violate the Secant equation.  As such, we will only use a step
+    // to update the Hessian approximation if:
+    //
+    //   s_k^T * y_k > tolerance
+    //
+    // It is important that tolerance is very small (and >=0), as otherwise we
+    // might skip the update too often and fail to capture important curvature
+    // information in the Hessian.  For example going from 1e-10 -> 1e-14
+    // improves the NIST benchmark score from 43/54 to 53/54.
+    //
+    // [1] Nocedal J, Wright S, Numerical Optimization, 2nd Ed. Springer, 1999.
+    //
+    // TODO(alexs.mac): Consider using Damped BFGS update instead of
+    // skipping update.
+    const double kBFGSSecantConditionHessianUpdateTolerance = 1e-14;
+    if (delta_x_dot_delta_gradient <=
+        kBFGSSecantConditionHessianUpdateTolerance) {
+      VLOG(2) << "Skipping BFGS Update, delta_x_dot_delta_gradient too "
+              << "small: " << delta_x_dot_delta_gradient << ", tolerance: "
+              << kBFGSSecantConditionHessianUpdateTolerance
+              << " (Secant condition).";
+    } else {
+      // Update dense inverse Hessian approximation.
+
+      if (!initialized_ && use_approximate_eigenvalue_scaling_) {
+        // Rescale the initial inverse Hessian approximation (H_0) to be
+        // iteratively updated so that it is of similar 'size' to the true
+        // inverse Hessian at the start point.  As shown in [1]:
+        //
+        //   \gamma = (delta_gradient_{0}' * delta_x_{0}) /
+        //            (delta_gradient_{0}' * delta_gradient_{0})
+        //
+        // Satisfies:
+        //
+        //   (1 / \lambda_m) <= \gamma <= (1 / \lambda_1)
+        //
+        // Where \lambda_1 & \lambda_m are the smallest and largest eigenvalues
+        // of the true initial Hessian (not the inverse) respectively. Thus,
+        // \gamma is an approximate eigenvalue of the true inverse Hessian, and
+        // choosing: H_0 = I * \gamma will yield a starting point that has a
+        // similar scale to the true inverse Hessian.  This technique is widely
+        // reported to often improve convergence, however this is not
+        // universally true, particularly if there are errors in the initial
+        // gradients, or if there are significant differences in the sensitivity
+        // of the problem to the parameters (i.e. the range of the magnitudes of
+        // the components of the gradient is large).
+        //
+        // The original origin of this rescaling trick is somewhat unclear, the
+        // earliest reference appears to be Oren [1], however it is widely
+        // discussed without specific attributation in various texts including
+        // [2] (p143).
+        //
+        // [1] Oren S.S., Self-scaling variable metric (SSVM) algorithms
+        //     Part II: Implementation and experiments, Management Science,
+        //     20(5), 863-874, 1974.
+        // [2] Nocedal J., Wright S., Numerical Optimization, Springer, 1999.
+        const double approximate_eigenvalue_scale =
+            delta_x_dot_delta_gradient / delta_gradient.dot(delta_gradient);
+        inverse_hessian_ *= approximate_eigenvalue_scale;
+
+        VLOG(4) << "Applying approximate_eigenvalue_scale: "
+                << approximate_eigenvalue_scale << " to initial inverse "
+                << "Hessian approximation.";
+      }
+      initialized_ = true;
+
+      // Efficient O(num_parameters^2) BFGS update [2].
+      //
+      // Starting from dense BFGS update detailed in Nocedal [2] p140/177 and
+      // using: y_k = delta_gradient, s_k = delta_x:
+      //
+      //   \rho_k = 1.0 / (s_k' * y_k)
+      //   V_k = I - \rho_k * y_k * s_k'
+      //   H_k = (V_k' * H_{k-1} * V_k) + (\rho_k * s_k * s_k')
+      //
+      // This update involves matrix, matrix products which naively O(N^3),
+      // however we can exploit our knowledge that H_k is positive definite
+      // and thus by defn. symmetric to reduce the cost of the update:
+      //
+      // Expanding the update above yields:
+      //
+      //   H_k = H_{k-1} +
+      //         \rho_k * ( (1.0 + \rho_k * y_k' * H_k * y_k) * s_k * s_k' -
+      //                    (s_k * y_k' * H_k + H_k * y_k * s_k') )
+      //
+      // Using: A = (s_k * y_k' * H_k), and the knowledge that H_k = H_k', the
+      // last term simplifies to (A + A'). Note that although A is not symmetric
+      // (A + A') is symmetric. For ease of construction we also define
+      // B = (1 + \rho_k * y_k' * H_k * y_k) * s_k * s_k', which is by defn
+      // symmetric due to construction from: s_k * s_k'.
+      //
+      // Now we can write the BFGS update as:
+      //
+      //   H_k = H_{k-1} + \rho_k * (B - (A + A'))
+
+      // For efficiency, as H_k is by defn. symmetric, we will only maintain the
+      // *lower* triangle of H_k (and all intermediary terms).
+
+      const double rho_k = 1.0 / delta_x_dot_delta_gradient;
+
+      // Calculate: A = s_k * y_k' * H_k
+      Matrix A = delta_x * (delta_gradient.transpose() *
+                            inverse_hessian_.selfadjointView<Eigen::Lower>());
+
+      // Calculate scalar: (1 + \rho_k * y_k' * H_k * y_k)
+      const double delta_x_times_delta_x_transpose_scale_factor =
+          (1.0 + (rho_k * delta_gradient.transpose() *
+                  inverse_hessian_.selfadjointView<Eigen::Lower>() *
+                  delta_gradient));
+      // Calculate: B = (1 + \rho_k * y_k' * H_k * y_k) * s_k * s_k'
+      Matrix B = Matrix::Zero(num_parameters_, num_parameters_);
+      B.selfadjointView<Eigen::Lower>().
+          rankUpdate(delta_x, delta_x_times_delta_x_transpose_scale_factor);
+
+      // Finally, update inverse Hessian approximation according to:
+      // H_k = H_{k-1} + \rho_k * (B - (A + A')).  Note that (A + A') is
+      // symmetric, even though A is not.
+      inverse_hessian_.triangularView<Eigen::Lower>() +=
+          rho_k * (B - A - A.transpose());
+    }
+
+    *search_direction =
+        inverse_hessian_.selfadjointView<Eigen::Lower>() *
+        (-1.0 * current.gradient);
+
+    if (search_direction->dot(current.gradient) >= 0.0) {
+      LOG(WARNING) << "Numerical failure in BFGS update: inverse Hessian "
+                   << "approximation is not positive definite, and thus "
+                   << "initial gradient for search direction is positive: "
+                   << search_direction->dot(current.gradient);
+      is_positive_definite_ = false;
+      return false;
+    }
+
+    return true;
+  }
+
+ private:
+  const int num_parameters_;
+  const bool use_approximate_eigenvalue_scaling_;
+  Matrix inverse_hessian_;
+  bool initialized_;
+  bool is_positive_definite_;
+};
+
+LineSearchDirection*
+LineSearchDirection::Create(const LineSearchDirection::Options& options) {
+  if (options.type == STEEPEST_DESCENT) {
+    return new SteepestDescent;
+  }
+
+  if (options.type == NONLINEAR_CONJUGATE_GRADIENT) {
+    return new NonlinearConjugateGradient(
+        options.nonlinear_conjugate_gradient_type,
+        options.function_tolerance);
+  }
+
+  if (options.type == ceres::LBFGS) {
+    return new ceres::internal::LBFGS(
+        options.num_parameters,
+        options.max_lbfgs_rank,
+        options.use_approximate_eigenvalue_bfgs_scaling);
+  }
+
+  if (options.type == ceres::BFGS) {
+    return new ceres::internal::BFGS(
+        options.num_parameters,
+        options.use_approximate_eigenvalue_bfgs_scaling);
+  }
+
+  LOG(ERROR) << "Unknown line search direction type: " << options.type;
+  return NULL;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/line_search_direction.h b/internal/ceres/line_search_direction.h
new file mode 100644
index 0000000..467578d
--- /dev/null
+++ b/internal/ceres/line_search_direction.h
@@ -0,0 +1,72 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
+#define CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
+
+#include "ceres/internal/eigen.h"
+#include "ceres/line_search_minimizer.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class LineSearchDirection {
+ public:
+  struct Options {
+    Options()
+        : num_parameters(0),
+          type(LBFGS),
+          nonlinear_conjugate_gradient_type(FLETCHER_REEVES),
+          function_tolerance(1e-12),
+          max_lbfgs_rank(20),
+          use_approximate_eigenvalue_bfgs_scaling(true) {
+    }
+
+    int num_parameters;
+    LineSearchDirectionType type;
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+    double function_tolerance;
+    int max_lbfgs_rank;
+    bool use_approximate_eigenvalue_bfgs_scaling;
+  };
+
+  static LineSearchDirection* Create(const Options& options);
+
+  virtual ~LineSearchDirection() {}
+  virtual bool NextDirection(const LineSearchMinimizer::State& previous,
+                             const LineSearchMinimizer::State& current,
+                             Vector* search_direction) = 0;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
diff --git a/internal/ceres/line_search_minimizer.cc b/internal/ceres/line_search_minimizer.cc
new file mode 100644
index 0000000..cc2e3c3
--- /dev/null
+++ b/internal/ceres/line_search_minimizer.cc
@@ -0,0 +1,444 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Generic loop for line search based optimization algorithms.
+//
+// This is primarily inpsired by the minFunc packaged written by Mark
+// Schmidt.
+//
+// http://www.di.ens.fr/~mschmidt/Software/minFunc.html
+//
+// For details on the theory and implementation see "Numerical
+// Optimization" by Nocedal & Wright.
+
+#include "ceres/line_search_minimizer.h"
+
+#include <algorithm>
+#include <cstdlib>
+#include <cmath>
+#include <string>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "ceres/array_utils.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/line_search.h"
+#include "ceres/line_search_direction.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool EvaluateGradientNorms(Evaluator* evaluator,
+                           const Vector& x,
+                           LineSearchMinimizer::State* state,
+                           std::string* message) {
+  Vector negative_gradient = -state->gradient;
+  Vector projected_gradient_step(x.size());
+  if (!evaluator->Plus(
+          x.data(), negative_gradient.data(), projected_gradient_step.data())) {
+    *message = "projected_gradient_step = Plus(x, -gradient) failed.";
+    return false;
+  }
+
+  state->gradient_squared_norm = (x - projected_gradient_step).squaredNorm();
+  state->gradient_max_norm =
+      (x - projected_gradient_step).lpNorm<Eigen::Infinity>();
+  return true;
+}
+
+}  // namespace
+
+void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
+                                   double* parameters,
+                                   Solver::Summary* summary) {
+  const bool is_not_silent = !options.is_silent;
+  double start_time = WallTimeInSeconds();
+  double iteration_start_time =  start_time;
+
+  Evaluator* evaluator = CHECK_NOTNULL(options.evaluator.get());
+  const int num_parameters = evaluator->NumParameters();
+  const int num_effective_parameters = evaluator->NumEffectiveParameters();
+
+  summary->termination_type = NO_CONVERGENCE;
+  summary->num_successful_steps = 0;
+  summary->num_unsuccessful_steps = 0;
+
+  VectorRef x(parameters, num_parameters);
+
+  State current_state(num_parameters, num_effective_parameters);
+  State previous_state(num_parameters, num_effective_parameters);
+
+  IterationSummary iteration_summary;
+  iteration_summary.iteration = 0;
+  iteration_summary.step_is_valid = false;
+  iteration_summary.step_is_successful = false;
+  iteration_summary.cost_change = 0.0;
+  iteration_summary.gradient_max_norm = 0.0;
+  iteration_summary.gradient_norm = 0.0;
+  iteration_summary.step_norm = 0.0;
+  iteration_summary.linear_solver_iterations = 0;
+  iteration_summary.step_solver_time_in_seconds = 0;
+
+  // Do initial cost and gradient evaluation.
+  if (!evaluator->Evaluate(x.data(),
+                           &(current_state.cost),
+                           NULL,
+                           current_state.gradient.data(),
+                           NULL)) {
+    summary->termination_type = FAILURE;
+    summary->message = "Initial cost and jacobian evaluation failed.";
+    LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+    return;
+  }
+
+  if (!EvaluateGradientNorms(evaluator, x, &current_state, &summary->message)) {
+    summary->termination_type = FAILURE;
+    summary->message = "Initial cost and jacobian evaluation failed. "
+        "More details: " + summary->message;
+    LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+    return;
+  }
+
+  summary->initial_cost = current_state.cost + summary->fixed_cost;
+  iteration_summary.cost = current_state.cost + summary->fixed_cost;
+
+  iteration_summary.gradient_norm = sqrt(current_state.gradient_squared_norm);
+  iteration_summary.gradient_max_norm = current_state.gradient_max_norm;
+  if (iteration_summary.gradient_max_norm <= options.gradient_tolerance) {
+    summary->message = StringPrintf("Gradient tolerance reached. "
+                                    "Gradient max norm: %e <= %e",
+                                    iteration_summary.gradient_max_norm,
+                                    options.gradient_tolerance);
+    summary->termination_type = CONVERGENCE;
+    VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+    return;
+  }
+
+  iteration_summary.iteration_time_in_seconds =
+      WallTimeInSeconds() - iteration_start_time;
+  iteration_summary.cumulative_time_in_seconds =
+      WallTimeInSeconds() - start_time
+      + summary->preprocessor_time_in_seconds;
+  summary->iterations.push_back(iteration_summary);
+
+  LineSearchDirection::Options line_search_direction_options;
+  line_search_direction_options.num_parameters = num_effective_parameters;
+  line_search_direction_options.type = options.line_search_direction_type;
+  line_search_direction_options.nonlinear_conjugate_gradient_type =
+      options.nonlinear_conjugate_gradient_type;
+  line_search_direction_options.max_lbfgs_rank = options.max_lbfgs_rank;
+  line_search_direction_options.use_approximate_eigenvalue_bfgs_scaling =
+      options.use_approximate_eigenvalue_bfgs_scaling;
+  scoped_ptr<LineSearchDirection> line_search_direction(
+      LineSearchDirection::Create(line_search_direction_options));
+
+  LineSearchFunction line_search_function(evaluator);
+
+  LineSearch::Options line_search_options;
+  line_search_options.interpolation_type =
+      options.line_search_interpolation_type;
+  line_search_options.min_step_size = options.min_line_search_step_size;
+  line_search_options.sufficient_decrease =
+      options.line_search_sufficient_function_decrease;
+  line_search_options.max_step_contraction =
+      options.max_line_search_step_contraction;
+  line_search_options.min_step_contraction =
+      options.min_line_search_step_contraction;
+  line_search_options.max_num_iterations =
+      options.max_num_line_search_step_size_iterations;
+  line_search_options.sufficient_curvature_decrease =
+      options.line_search_sufficient_curvature_decrease;
+  line_search_options.max_step_expansion =
+      options.max_line_search_step_expansion;
+  line_search_options.is_silent = options.is_silent;
+  line_search_options.function = &line_search_function;
+
+  scoped_ptr<LineSearch>
+      line_search(LineSearch::Create(options.line_search_type,
+                                     line_search_options,
+                                     &summary->message));
+  if (line_search.get() == NULL) {
+    summary->termination_type = FAILURE;
+    LOG_IF(ERROR, is_not_silent) << "Terminating: " << summary->message;
+    return;
+  }
+
+  LineSearch::Summary line_search_summary;
+  int num_line_search_direction_restarts = 0;
+
+  while (true) {
+    if (!RunCallbacks(options, iteration_summary, summary)) {
+      break;
+    }
+
+    iteration_start_time = WallTimeInSeconds();
+    if (iteration_summary.iteration >= options.max_num_iterations) {
+      summary->message = "Maximum number of iterations reached.";
+      summary->termination_type = NO_CONVERGENCE;
+      VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+      break;
+    }
+
+    const double total_solver_time = iteration_start_time - start_time +
+        summary->preprocessor_time_in_seconds;
+    if (total_solver_time >= options.max_solver_time_in_seconds) {
+      summary->message = "Maximum solver time reached.";
+      summary->termination_type = NO_CONVERGENCE;
+      VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+      break;
+    }
+
+    iteration_summary = IterationSummary();
+    iteration_summary.iteration = summary->iterations.back().iteration + 1;
+    iteration_summary.step_is_valid = false;
+    iteration_summary.step_is_successful = false;
+
+    bool line_search_status = true;
+    if (iteration_summary.iteration == 1) {
+      current_state.search_direction = -current_state.gradient;
+    } else {
+      line_search_status = line_search_direction->NextDirection(
+          previous_state,
+          current_state,
+          &current_state.search_direction);
+    }
+
+    if (!line_search_status &&
+        num_line_search_direction_restarts >=
+        options.max_num_line_search_direction_restarts) {
+      // Line search direction failed to generate a new direction, and we
+      // have already reached our specified maximum number of restarts,
+      // terminate optimization.
+      summary->message =
+          StringPrintf("Line search direction failure: specified "
+                       "max_num_line_search_direction_restarts: %d reached.",
+                       options.max_num_line_search_direction_restarts);
+      summary->termination_type = FAILURE;
+      LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+      break;
+    } else if (!line_search_status) {
+      // Restart line search direction with gradient descent on first iteration
+      // as we have not yet reached our maximum number of restarts.
+      CHECK_LT(num_line_search_direction_restarts,
+               options.max_num_line_search_direction_restarts);
+
+      ++num_line_search_direction_restarts;
+      LOG_IF(WARNING, is_not_silent)
+          << "Line search direction algorithm: "
+          << LineSearchDirectionTypeToString(
+              options.line_search_direction_type)
+          << ", failed to produce a valid new direction at "
+          << "iteration: " << iteration_summary.iteration
+          << ". Restarting, number of restarts: "
+          << num_line_search_direction_restarts << " / "
+          << options.max_num_line_search_direction_restarts
+          << " [max].";
+      line_search_direction.reset(
+          LineSearchDirection::Create(line_search_direction_options));
+      current_state.search_direction = -current_state.gradient;
+    }
+
+    line_search_function.Init(x, current_state.search_direction);
+    current_state.directional_derivative =
+        current_state.gradient.dot(current_state.search_direction);
+
+    // TODO(sameeragarwal): Refactor this into its own object and add
+    // explanations for the various choices.
+    //
+    // Note that we use !line_search_status to ensure that we treat cases when
+    // we restarted the line search direction equivalently to the first
+    // iteration.
+    const double initial_step_size =
+        (iteration_summary.iteration == 1 || !line_search_status)
+        ? std::min(1.0, 1.0 / current_state.gradient_max_norm)
+        : std::min(1.0, 2.0 * (current_state.cost - previous_state.cost) /
+                   current_state.directional_derivative);
+    // By definition, we should only ever go forwards along the specified search
+    // direction in a line search, most likely cause for this being violated
+    // would be a numerical failure in the line search direction calculation.
+    if (initial_step_size < 0.0) {
+      summary->message =
+          StringPrintf("Numerical failure in line search, initial_step_size is "
+                       "negative: %.5e, directional_derivative: %.5e, "
+                       "(current_cost - previous_cost): %.5e",
+                       initial_step_size, current_state.directional_derivative,
+                       (current_state.cost - previous_state.cost));
+      summary->termination_type = FAILURE;
+      LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+      break;
+    }
+
+    line_search->Search(initial_step_size,
+                        current_state.cost,
+                        current_state.directional_derivative,
+                        &line_search_summary);
+    if (!line_search_summary.success) {
+      summary->message =
+          StringPrintf("Numerical failure in line search, failed to find "
+                       "a valid step size, (did not run out of iterations) "
+                       "using initial_step_size: %.5e, initial_cost: %.5e, "
+                       "initial_gradient: %.5e.",
+                       initial_step_size, current_state.cost,
+                       current_state.directional_derivative);
+      LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+      summary->termination_type = FAILURE;
+      break;
+    }
+
+    const FunctionSample& optimal_point = line_search_summary.optimal_point;
+    CHECK(optimal_point.vector_x_is_valid)
+        << "Congratulations, you found a bug in Ceres. Please report it.";
+    current_state.step_size = optimal_point.x;
+    previous_state = current_state;
+    iteration_summary.step_solver_time_in_seconds =
+        WallTimeInSeconds() - iteration_start_time;
+
+    if (optimal_point.vector_gradient_is_valid) {
+      current_state.cost = optimal_point.value;
+      current_state.gradient = optimal_point.vector_gradient;
+    } else {
+      if (!evaluator->Evaluate(optimal_point.vector_x.data(),
+                               &(current_state.cost),
+                               NULL,
+                               current_state.gradient.data(),
+                               NULL)) {
+        summary->termination_type = FAILURE;
+        summary->message = "Cost and jacobian evaluation failed.";
+        LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+        return;
+      }
+    }
+
+    if (!EvaluateGradientNorms(evaluator,
+                               optimal_point.vector_x,
+                               &current_state,
+                               &summary->message)) {
+      summary->termination_type = FAILURE;
+      summary->message =
+          "Step failed to evaluate. This should not happen as the step was "
+          "valid when it was selected by the line search. More details: " +
+          summary->message;
+      LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+      break;
+    }
+
+    // Compute the norm of the step in the ambient space.
+    iteration_summary.step_norm = (optimal_point.vector_x - x).norm();
+    const double x_norm = x.norm();
+    x = optimal_point.vector_x;
+
+    iteration_summary.gradient_max_norm = current_state.gradient_max_norm;
+    iteration_summary.gradient_norm = sqrt(current_state.gradient_squared_norm);
+    iteration_summary.cost_change = previous_state.cost - current_state.cost;
+    iteration_summary.cost = current_state.cost + summary->fixed_cost;
+
+    iteration_summary.step_is_valid = true;
+    iteration_summary.step_is_successful = true;
+    iteration_summary.step_size =  current_state.step_size;
+    iteration_summary.line_search_function_evaluations =
+        line_search_summary.num_function_evaluations;
+    iteration_summary.line_search_gradient_evaluations =
+        line_search_summary.num_gradient_evaluations;
+    iteration_summary.line_search_iterations =
+        line_search_summary.num_iterations;
+    iteration_summary.iteration_time_in_seconds =
+        WallTimeInSeconds() - iteration_start_time;
+    iteration_summary.cumulative_time_in_seconds =
+        WallTimeInSeconds() - start_time
+        + summary->preprocessor_time_in_seconds;
+    summary->iterations.push_back(iteration_summary);
+
+    // Iterations inside the line search algorithm are considered
+    // 'steps' in the broader context, to distinguish these inner
+    // iterations from from the outer iterations of the line search
+    // minimizer. The number of line search steps is the total number
+    // of inner line search iterations (or steps) across the entire
+    // minimization.
+    summary->num_line_search_steps +=  line_search_summary.num_iterations;
+    summary->line_search_cost_evaluation_time_in_seconds +=
+        line_search_summary.cost_evaluation_time_in_seconds;
+    summary->line_search_gradient_evaluation_time_in_seconds +=
+        line_search_summary.gradient_evaluation_time_in_seconds;
+    summary->line_search_polynomial_minimization_time_in_seconds +=
+        line_search_summary.polynomial_minimization_time_in_seconds;
+    summary->line_search_total_time_in_seconds +=
+        line_search_summary.total_time_in_seconds;
+    ++summary->num_successful_steps;
+
+    const double step_size_tolerance = options.parameter_tolerance *
+                                       (x_norm + options.parameter_tolerance);
+    if (iteration_summary.step_norm <= step_size_tolerance) {
+      summary->message =
+          StringPrintf("Parameter tolerance reached. "
+                       "Relative step_norm: %e <= %e.",
+                       (iteration_summary.step_norm /
+                        (x_norm + options.parameter_tolerance)),
+                       options.parameter_tolerance);
+      summary->termination_type = CONVERGENCE;
+      VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+      return;
+    }
+
+    if (iteration_summary.gradient_max_norm <= options.gradient_tolerance) {
+      summary->message = StringPrintf("Gradient tolerance reached. "
+                                      "Gradient max norm: %e <= %e",
+                                      iteration_summary.gradient_max_norm,
+                                      options.gradient_tolerance);
+      summary->termination_type = CONVERGENCE;
+      VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+      break;
+    }
+
+    const double absolute_function_tolerance =
+        options.function_tolerance * previous_state.cost;
+    if (fabs(iteration_summary.cost_change) <= absolute_function_tolerance) {
+      summary->message =
+          StringPrintf("Function tolerance reached. "
+                       "|cost_change|/cost: %e <= %e",
+                       fabs(iteration_summary.cost_change) /
+                       previous_state.cost,
+                       options.function_tolerance);
+      summary->termination_type = CONVERGENCE;
+      VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+      break;
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/line_search_minimizer.h b/internal/ceres/line_search_minimizer.h
new file mode 100644
index 0000000..54b7202
--- /dev/null
+++ b/internal/ceres/line_search_minimizer.h
@@ -0,0 +1,77 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
+#define CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
+
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+#include "ceres/types.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Generic line search minimization algorithm.
+//
+// For example usage, see SolverImpl::Minimize.
+class LineSearchMinimizer : public Minimizer {
+ public:
+  struct State {
+    State(int num_parameters,
+          int num_effective_parameters)
+        : cost(0.0),
+          gradient(num_effective_parameters),
+          gradient_squared_norm(0.0),
+          search_direction(num_effective_parameters),
+          directional_derivative(0.0),
+          step_size(0.0) {
+    }
+
+    double cost;
+    Vector gradient;
+    double gradient_squared_norm;
+    double gradient_max_norm;
+    Vector search_direction;
+    double directional_derivative;
+    double step_size;
+  };
+
+  ~LineSearchMinimizer() {}
+  virtual void Minimize(const Minimizer::Options& options,
+                        double* parameters,
+                        Solver::Summary* summary);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
diff --git a/internal/ceres/line_search_minimizer_test.cc b/internal/ceres/line_search_minimizer_test.cc
new file mode 100644
index 0000000..aa83769
--- /dev/null
+++ b/internal/ceres/line_search_minimizer_test.cc
@@ -0,0 +1,67 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include <cstdlib>
+
+#include "ceres/ceres.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class QuadraticFirstOrderFunction : public ceres::FirstOrderFunction {
+ public:
+  virtual bool Evaluate(const double* parameters,
+                        double* cost,
+                        double* gradient) const {
+
+    cost[0] = parameters[0] * parameters[0];
+    if (gradient != NULL) {
+      gradient[0] = 2.0 * parameters[0];
+    }
+    return true;
+  }
+
+  virtual int NumParameters() const { return 1; }
+};
+
+TEST(LineSearchMinimizerTest, FinalCostIsZero) {
+  double parameters[1] = {2.0};
+  ceres::GradientProblem problem(new QuadraticFirstOrderFunction);
+  ceres::GradientProblemSolver::Options options;
+  ceres::GradientProblemSolver::Summary summary;
+  ceres::Solve(options, problem, parameters, &summary);
+  EXPECT_NEAR(summary.final_cost, 0.0, std::numeric_limits<double>::epsilon());
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/line_search_preprocessor.cc b/internal/ceres/line_search_preprocessor.cc
new file mode 100644
index 0000000..831f5e8
--- /dev/null
+++ b/internal/ceres/line_search_preprocessor.cc
@@ -0,0 +1,106 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/line_search_preprocessor.h"
+
+#include <numeric>
+#include <string>
+#include "ceres/evaluator.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool IsProgramValid(const Program& program, std::string* error) {
+  if (program.IsBoundsConstrained()) {
+    *error = "LINE_SEARCH Minimizer does not support bounds.";
+    return false;
+  }
+  return program.ParameterBlocksAreFinite(error);
+}
+
+bool SetupEvaluator(PreprocessedProblem* pp) {
+  pp->evaluator_options = Evaluator::Options();
+  // This ensures that we get a Block Jacobian Evaluator without any
+  // requirement on orderings.
+  pp->evaluator_options.linear_solver_type = CGNR;
+  pp->evaluator_options.num_eliminate_blocks = 0;
+  pp->evaluator_options.num_threads = pp->options.num_threads;
+  pp->evaluator.reset(Evaluator::Create(pp->evaluator_options,
+                                        pp->reduced_program.get(),
+                                        &pp->error));
+  return (pp->evaluator.get() != NULL);
+}
+
+}  // namespace
+
+LineSearchPreprocessor::~LineSearchPreprocessor() {
+}
+
+bool LineSearchPreprocessor::Preprocess(const Solver::Options& options,
+                                        ProblemImpl* problem,
+                                        PreprocessedProblem* pp) {
+  CHECK_NOTNULL(pp);
+  pp->options = options;
+  ChangeNumThreadsIfNeeded(&pp->options);
+
+  pp->problem = problem;
+  Program* program = problem->mutable_program();
+  if (!IsProgramValid(*program, &pp->error)) {
+    return false;
+  }
+
+  pp->reduced_program.reset(
+      program->CreateReducedProgram(&pp->removed_parameter_blocks,
+                                    &pp->fixed_cost,
+                                    &pp->error));
+
+  if (pp->reduced_program.get() == NULL) {
+    return false;
+  }
+
+  if (pp->reduced_program->NumParameterBlocks() == 0) {
+    return true;
+  }
+
+  if (!SetupEvaluator(pp)) {
+    return false;
+  }
+
+  SetupCommonMinimizerOptions(pp);
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/line_search_preprocessor.h b/internal/ceres/line_search_preprocessor.h
new file mode 100644
index 0000000..132d83a
--- /dev/null
+++ b/internal/ceres/line_search_preprocessor.h
@@ -0,0 +1,50 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LINE_SEARCH_PREPROCESSOR_H_
+#define CERES_INTERNAL_LINE_SEARCH_PREPROCESSOR_H_
+
+#include "ceres/preprocessor.h"
+
+namespace ceres {
+namespace internal {
+
+class LineSearchPreprocessor : public Preprocessor {
+ public:
+  virtual ~LineSearchPreprocessor();
+  virtual bool Preprocess(const Solver::Options& options,
+                          ProblemImpl* problem,
+                          PreprocessedProblem* preprocessed_problem);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LINE_SEARCH_PREPROCESSOR_H_
diff --git a/internal/ceres/line_search_preprocessor_test.cc b/internal/ceres/line_search_preprocessor_test.cc
new file mode 100644
index 0000000..0d69021
--- /dev/null
+++ b/internal/ceres/line_search_preprocessor_test.cc
@@ -0,0 +1,136 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <map>
+
+#include "ceres/problem_impl.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+#include "ceres/line_search_preprocessor.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(LineSearchPreprocessor, ZeroProblem) {
+  ProblemImpl problem;
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  LineSearchPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(LineSearchPreprocessor, ProblemWithInvalidParameterBlock) {
+  ProblemImpl problem;
+  double x = std::numeric_limits<double>::quiet_NaN();
+  problem.AddParameterBlock(&x, 1);
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  LineSearchPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(LineSearchPreprocessor, ParameterBlockHasBounds) {
+  ProblemImpl problem;
+  double x = 1.0;
+  problem.AddParameterBlock(&x, 1);
+  problem.SetParameterUpperBound(&x, 0, 1.0);
+  problem.SetParameterLowerBound(&x, 0, 2.0);
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  LineSearchPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+class FailingCostFunction : public SizedCostFunction<1, 1> {
+ public:
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    return false;
+  }
+};
+
+TEST(LineSearchPreprocessor, RemoveParameterBlocksFailed) {
+  ProblemImpl problem;
+  double x = 3.0;
+  problem.AddResidualBlock(new FailingCostFunction, NULL, &x);
+  problem.SetParameterBlockConstant(&x);
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  LineSearchPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(LineSearchPreprocessor, RemoveParameterBlocksSucceeds) {
+  ProblemImpl problem;
+  double x = 3.0;
+  problem.AddParameterBlock(&x, 1);
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  LineSearchPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
+ public:
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    return true;
+  }
+};
+
+TEST(LineSearchPreprocessor, NormalOperation) {
+  ProblemImpl problem;
+  double x = 1.0;
+  double y = 1.0;
+  double z = 1.0;
+  problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &x, &y);
+  problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &y, &z);
+
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+
+  LineSearchPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+  EXPECT_EQ(pp.evaluator_options.linear_solver_type, CGNR);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/linear_least_squares_problems.cc b/internal/ceres/linear_least_squares_problems.cc
new file mode 100644
index 0000000..0a69375
--- /dev/null
+++ b/internal/ceres/linear_least_squares_problems.cc
@@ -0,0 +1,732 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/linear_least_squares_problems.h"
+
+#include <cstdio>
+#include <string>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/file.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/stringprintf.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id) {
+  switch (id) {
+    case 0:
+      return LinearLeastSquaresProblem0();
+    case 1:
+      return LinearLeastSquaresProblem1();
+    case 2:
+      return LinearLeastSquaresProblem2();
+    case 3:
+      return LinearLeastSquaresProblem3();
+    case 4:
+      return LinearLeastSquaresProblem4();
+    default:
+      LOG(FATAL) << "Unknown problem id requested " << id;
+  }
+  return NULL;
+}
+
+/*
+A = [1   2]
+    [3   4]
+    [6 -10]
+
+b = [  8
+      18
+     -18]
+
+x = [2
+     3]
+
+D = [1
+     2]
+
+x_D = [1.78448275;
+       2.82327586;]
+ */
+LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
+  LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+  TripletSparseMatrix* A = new TripletSparseMatrix(3, 2, 6);
+  problem->b.reset(new double[3]);
+  problem->D.reset(new double[2]);
+
+  problem->x.reset(new double[2]);
+  problem->x_D.reset(new double[2]);
+
+  int* Ai = A->mutable_rows();
+  int* Aj = A->mutable_cols();
+  double* Ax = A->mutable_values();
+
+  int counter = 0;
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j< 2; ++j) {
+      Ai[counter] = i;
+      Aj[counter] = j;
+      ++counter;
+    }
+  }
+
+  Ax[0] = 1.;
+  Ax[1] = 2.;
+  Ax[2] = 3.;
+  Ax[3] = 4.;
+  Ax[4] = 6;
+  Ax[5] = -10;
+  A->set_num_nonzeros(6);
+  problem->A.reset(A);
+
+  problem->b[0] = 8;
+  problem->b[1] = 18;
+  problem->b[2] = -18;
+
+  problem->x[0] = 2.0;
+  problem->x[1] = 3.0;
+
+  problem->D[0] = 1;
+  problem->D[1] = 2;
+
+  problem->x_D[0] = 1.78448275;
+  problem->x_D[1] = 2.82327586;
+  return problem;
+}
+
+
+/*
+      A = [1 0  | 2 0 0
+           3 0  | 0 4 0
+           0 5  | 0 0 6
+           0 7  | 8 0 0
+           0 9  | 1 0 0
+           0 0  | 1 1 1]
+
+      b = [0
+           1
+           2
+           3
+           4
+           5]
+
+      c = A'* b = [ 3
+                   67
+                   33
+                    9
+                   17]
+
+      A'A = [10    0    2   12   0
+              0  155   65    0  30
+              2   65   70    1   1
+             12    0    1   17   1
+              0   30    1    1  37]
+
+      S = [ 42.3419  -1.4000  -11.5806
+            -1.4000   2.6000    1.0000
+            11.5806   1.0000   31.1935]
+
+      r = [ 4.3032
+            5.4000
+            5.0323]
+
+      S\r = [ 0.2102
+              2.1367
+              0.1388]
+
+      A\b = [-2.3061
+              0.3172
+              0.2102
+              2.1367
+              0.1388]
+*/
+// The following two functions create a TripletSparseMatrix and a
+// BlockSparseMatrix version of this problem.
+
+// TripletSparseMatrix version.
+LinearLeastSquaresProblem* LinearLeastSquaresProblem1() {
+  int num_rows = 6;
+  int num_cols = 5;
+
+  LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+  TripletSparseMatrix* A = new TripletSparseMatrix(num_rows,
+                                                   num_cols,
+                                                   num_rows * num_cols);
+  problem->b.reset(new double[num_rows]);
+  problem->D.reset(new double[num_cols]);
+  problem->num_eliminate_blocks = 2;
+
+  int* rows = A->mutable_rows();
+  int* cols = A->mutable_cols();
+  double* values = A->mutable_values();
+
+  int nnz = 0;
+
+  // Row 1
+  {
+    rows[nnz] = 0;
+    cols[nnz] = 0;
+    values[nnz++] = 1;
+
+    rows[nnz] = 0;
+    cols[nnz] = 2;
+    values[nnz++] = 2;
+  }
+
+  // Row 2
+  {
+    rows[nnz] = 1;
+    cols[nnz] = 0;
+    values[nnz++] = 3;
+
+    rows[nnz] = 1;
+    cols[nnz] = 3;
+    values[nnz++] = 4;
+  }
+
+  // Row 3
+  {
+    rows[nnz] = 2;
+    cols[nnz] = 1;
+    values[nnz++] = 5;
+
+    rows[nnz] = 2;
+    cols[nnz] = 4;
+    values[nnz++] = 6;
+  }
+
+  // Row 4
+  {
+    rows[nnz] = 3;
+    cols[nnz] = 1;
+    values[nnz++] = 7;
+
+    rows[nnz] = 3;
+    cols[nnz] = 2;
+    values[nnz++] = 8;
+  }
+
+  // Row 5
+  {
+    rows[nnz] = 4;
+    cols[nnz] = 1;
+    values[nnz++] = 9;
+
+    rows[nnz] = 4;
+    cols[nnz] = 2;
+    values[nnz++] = 1;
+  }
+
+  // Row 6
+  {
+    rows[nnz] = 5;
+    cols[nnz] = 2;
+    values[nnz++] = 1;
+
+    rows[nnz] = 5;
+    cols[nnz] = 3;
+    values[nnz++] = 1;
+
+    rows[nnz] = 5;
+    cols[nnz] = 4;
+    values[nnz++] = 1;
+  }
+
+  A->set_num_nonzeros(nnz);
+  CHECK(A->IsValid());
+
+  problem->A.reset(A);
+
+  for (int i = 0; i < num_cols; ++i) {
+    problem->D.get()[i] = 1;
+  }
+
+  for (int i = 0; i < num_rows; ++i) {
+    problem->b.get()[i] = i;
+  }
+
+  return problem;
+}
+
+// BlockSparseMatrix version
+LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
+  int num_rows = 6;
+  int num_cols = 5;
+
+  LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+  problem->b.reset(new double[num_rows]);
+  problem->D.reset(new double[num_cols]);
+  problem->num_eliminate_blocks = 2;
+
+  CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+  scoped_array<double> values(new double[num_rows * num_cols]);
+
+  for (int c = 0; c < num_cols; ++c) {
+    bs->cols.push_back(Block());
+    bs->cols.back().size = 1;
+    bs->cols.back().position = c;
+  }
+
+  int nnz = 0;
+
+  // Row 1
+  {
+    values[nnz++] = 1;
+    values[nnz++] = 2;
+
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(2, 1));
+  }
+
+  // Row 2
+  {
+    values[nnz++] = 3;
+    values[nnz++] = 4;
+
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 1;
+    row.cells.push_back(Cell(0, 2));
+    row.cells.push_back(Cell(3, 3));
+  }
+
+  // Row 3
+  {
+    values[nnz++] = 5;
+    values[nnz++] = 6;
+
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 2;
+    row.cells.push_back(Cell(1, 4));
+    row.cells.push_back(Cell(4, 5));
+  }
+
+  // Row 4
+  {
+    values[nnz++] = 7;
+    values[nnz++] = 8;
+
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 3;
+    row.cells.push_back(Cell(1, 6));
+    row.cells.push_back(Cell(2, 7));
+  }
+
+  // Row 5
+  {
+    values[nnz++] = 9;
+    values[nnz++] = 1;
+
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 4;
+    row.cells.push_back(Cell(1, 8));
+    row.cells.push_back(Cell(2, 9));
+  }
+
+  // Row 6
+  {
+    values[nnz++] = 1;
+    values[nnz++] = 1;
+    values[nnz++] = 1;
+
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 5;
+    row.cells.push_back(Cell(2, 10));
+    row.cells.push_back(Cell(3, 11));
+    row.cells.push_back(Cell(4, 12));
+  }
+
+  BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+  memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+  for (int i = 0; i < num_cols; ++i) {
+    problem->D.get()[i] = 1;
+  }
+
+  for (int i = 0; i < num_rows; ++i) {
+    problem->b.get()[i] = i;
+  }
+
+  problem->A.reset(A);
+
+  return problem;
+}
+
+
+/*
+      A = [1 0
+           3 0
+           0 5
+           0 7
+           0 9
+           0 0]
+
+      b = [0
+           1
+           2
+           3
+           4
+           5]
+*/
+// BlockSparseMatrix version
+LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
+  int num_rows = 5;
+  int num_cols = 2;
+
+  LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+  problem->b.reset(new double[num_rows]);
+  problem->D.reset(new double[num_cols]);
+  problem->num_eliminate_blocks = 2;
+
+  CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+  scoped_array<double> values(new double[num_rows * num_cols]);
+
+  for (int c = 0; c < num_cols; ++c) {
+    bs->cols.push_back(Block());
+    bs->cols.back().size = 1;
+    bs->cols.back().position = c;
+  }
+
+  int nnz = 0;
+
+  // Row 1
+  {
+    values[nnz++] = 1;
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+  }
+
+  // Row 2
+  {
+    values[nnz++] = 3;
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 1;
+    row.cells.push_back(Cell(0, 1));
+  }
+
+  // Row 3
+  {
+    values[nnz++] = 5;
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 2;
+    row.cells.push_back(Cell(1, 2));
+  }
+
+  // Row 4
+  {
+    values[nnz++] = 7;
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 3;
+    row.cells.push_back(Cell(1, 3));
+  }
+
+  // Row 5
+  {
+    values[nnz++] = 9;
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 4;
+    row.cells.push_back(Cell(1, 4));
+  }
+
+  BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+  memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+  for (int i = 0; i < num_cols; ++i) {
+    problem->D.get()[i] = 1;
+  }
+
+  for (int i = 0; i < num_rows; ++i) {
+    problem->b.get()[i] = i;
+  }
+
+  problem->A.reset(A);
+
+  return problem;
+}
+
+/*
+      A = [1 2 0 0 0 1 1
+           1 4 0 0 0 5 6
+           0 0 9 0 0 3 1]
+
+      b = [0
+           1
+           2]
+*/
+// BlockSparseMatrix version
+//
+// This problem has the unique property that it has two different
+// sized f-blocks, but only one of them occurs in the rows involving
+// the one e-block. So performing Schur elimination on this problem
+// tests the Schur Eliminator's ability to handle non-e-block rows
+// correctly when their structure does not conform to the static
+// structure determined by DetectStructure.
+//
+// NOTE: This problem is too small and rank deficient to be solved without
+// the diagonal regularization.
+LinearLeastSquaresProblem* LinearLeastSquaresProblem4() {
+  int num_rows = 3;
+  int num_cols = 7;
+
+  LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+  problem->b.reset(new double[num_rows]);
+  problem->D.reset(new double[num_cols]);
+  problem->num_eliminate_blocks = 1;
+
+  CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+  scoped_array<double> values(new double[num_rows * num_cols]);
+
+  // Column block structure
+  bs->cols.push_back(Block());
+  bs->cols.back().size = 2;
+  bs->cols.back().position = 0;
+
+  bs->cols.push_back(Block());
+  bs->cols.back().size = 3;
+  bs->cols.back().position = 2;
+
+  bs->cols.push_back(Block());
+  bs->cols.back().size = 2;
+  bs->cols.back().position = 5;
+
+  int nnz = 0;
+
+  // Row 1 & 2
+  {
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+
+    row.cells.push_back(Cell(0, nnz));
+    values[nnz++] = 1;
+    values[nnz++] = 2;
+    values[nnz++] = 1;
+    values[nnz++] = 4;
+
+    row.cells.push_back(Cell(2, nnz));
+    values[nnz++] = 1;
+    values[nnz++] = 1;
+    values[nnz++] = 5;
+    values[nnz++] = 6;
+  }
+
+  // Row 3
+  {
+    bs->rows.push_back(CompressedRow());
+    CompressedRow& row = bs->rows.back();
+    row.block.size = 1;
+    row.block.position = 2;
+
+    row.cells.push_back(Cell(1, nnz));
+    values[nnz++] = 9;
+    values[nnz++] = 0;
+    values[nnz++] = 0;
+
+    row.cells.push_back(Cell(2, nnz));
+    values[nnz++] = 3;
+    values[nnz++] = 1;
+  }
+
+  BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+  memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+  for (int i = 0; i < num_cols; ++i) {
+    problem->D.get()[i] = (i + 1) * 100;
+  }
+
+  for (int i = 0; i < num_rows; ++i) {
+    problem->b.get()[i] = i;
+  }
+
+  problem->A.reset(A);
+  return problem;
+}
+
+namespace {
+bool DumpLinearLeastSquaresProblemToConsole(const SparseMatrix* A,
+                                            const double* D,
+                                            const double* b,
+                                            const double* x,
+                                            int num_eliminate_blocks) {
+  CHECK_NOTNULL(A);
+  Matrix AA;
+  A->ToDenseMatrix(&AA);
+  LOG(INFO) << "A^T: \n" << AA.transpose();
+
+  if (D != NULL) {
+    LOG(INFO) << "A's appended diagonal:\n"
+              << ConstVectorRef(D, A->num_cols());
+  }
+
+  if (b != NULL) {
+    LOG(INFO) << "b: \n" << ConstVectorRef(b, A->num_rows());
+  }
+
+  if (x != NULL) {
+    LOG(INFO) << "x: \n" << ConstVectorRef(x, A->num_cols());
+  }
+  return true;
+}
+
+void WriteArrayToFileOrDie(const string& filename,
+                           const double* x,
+                           const int size) {
+  CHECK_NOTNULL(x);
+  VLOG(2) << "Writing array to: " << filename;
+  FILE* fptr = fopen(filename.c_str(), "w");
+  CHECK_NOTNULL(fptr);
+  for (int i = 0; i < size; ++i) {
+    fprintf(fptr, "%17f\n", x[i]);
+  }
+  fclose(fptr);
+}
+
+bool DumpLinearLeastSquaresProblemToTextFile(const string& filename_base,
+                                             const SparseMatrix* A,
+                                             const double* D,
+                                             const double* b,
+                                             const double* x,
+                                             int num_eliminate_blocks) {
+  CHECK_NOTNULL(A);
+  LOG(INFO) << "writing to: " << filename_base << "*";
+
+  string matlab_script;
+  StringAppendF(&matlab_script,
+                "function lsqp = load_trust_region_problem()\n");
+  StringAppendF(&matlab_script,
+                "lsqp.num_rows = %d;\n", A->num_rows());
+  StringAppendF(&matlab_script,
+                "lsqp.num_cols = %d;\n", A->num_cols());
+
+  {
+    string filename = filename_base + "_A.txt";
+    FILE* fptr = fopen(filename.c_str(), "w");
+    CHECK_NOTNULL(fptr);
+    A->ToTextFile(fptr);
+    fclose(fptr);
+    StringAppendF(&matlab_script,
+                  "tmp = load('%s', '-ascii');\n", filename.c_str());
+    StringAppendF(
+        &matlab_script,
+        "lsqp.A = sparse(tmp(:, 1) + 1, tmp(:, 2) + 1, tmp(:, 3), %d, %d);\n",
+        A->num_rows(),
+        A->num_cols());
+  }
+
+
+  if (D != NULL) {
+    string filename = filename_base + "_D.txt";
+    WriteArrayToFileOrDie(filename, D, A->num_cols());
+    StringAppendF(&matlab_script,
+                  "lsqp.D = load('%s', '-ascii');\n", filename.c_str());
+  }
+
+  if (b != NULL) {
+    string filename = filename_base + "_b.txt";
+    WriteArrayToFileOrDie(filename, b, A->num_rows());
+    StringAppendF(&matlab_script,
+                  "lsqp.b = load('%s', '-ascii');\n", filename.c_str());
+  }
+
+  if (x != NULL) {
+    string filename = filename_base + "_x.txt";
+    WriteArrayToFileOrDie(filename, x, A->num_cols());
+    StringAppendF(&matlab_script,
+                  "lsqp.x = load('%s', '-ascii');\n", filename.c_str());
+  }
+
+  string matlab_filename = filename_base + ".m";
+  WriteStringToFileOrDie(matlab_script, matlab_filename);
+  return true;
+}
+}  // namespace
+
+bool DumpLinearLeastSquaresProblem(const string& filename_base,
+                                   DumpFormatType dump_format_type,
+                                   const SparseMatrix* A,
+                                   const double* D,
+                                   const double* b,
+                                   const double* x,
+                                   int num_eliminate_blocks) {
+  switch (dump_format_type) {
+    case CONSOLE:
+      return DumpLinearLeastSquaresProblemToConsole(A, D, b, x,
+                                                    num_eliminate_blocks);
+    case TEXTFILE:
+      return DumpLinearLeastSquaresProblemToTextFile(filename_base,
+                                                     A, D, b, x,
+                                                     num_eliminate_blocks);
+    default:
+      LOG(FATAL) << "Unknown DumpFormatType " << dump_format_type;
+  }
+
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/linear_least_squares_problems.h b/internal/ceres/linear_least_squares_problems.h
new file mode 100644
index 0000000..384efb5
--- /dev/null
+++ b/internal/ceres/linear_least_squares_problems.h
@@ -0,0 +1,85 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
+#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
+
+#include <string>
+#include <vector>
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// Structure defining a linear least squares problem and if possible
+// ground truth solutions. To be used by various LinearSolver tests.
+struct LinearLeastSquaresProblem {
+  LinearLeastSquaresProblem()
+      : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0),
+        x(NULL), x_D(NULL) {
+  }
+
+  scoped_ptr<SparseMatrix> A;
+  scoped_array<double> b;
+  scoped_array<double> D;
+  // If using the schur eliminator then how many of the variable
+  // blocks are e_type blocks.
+  int num_eliminate_blocks;
+
+  // Solution to min_x |Ax - b|^2
+  scoped_array<double> x;
+  // Solution to min_x |Ax - b|^2 + |Dx|^2
+  scoped_array<double> x_D;
+};
+
+// Factories for linear least squares problem.
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id);
+
+LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem4();
+
+// Write the linear least squares problem to disk. The exact format
+// depends on dump_format_type.
+bool DumpLinearLeastSquaresProblem(const std::string& filename_base,
+                                   DumpFormatType dump_format_type,
+                                   const SparseMatrix* A,
+                                   const double* D,
+                                   const double* b,
+                                   const double* x,
+                                   int num_eliminate_blocks);
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
diff --git a/internal/ceres/linear_operator.cc b/internal/ceres/linear_operator.cc
new file mode 100644
index 0000000..9d291bd
--- /dev/null
+++ b/internal/ceres/linear_operator.cc
@@ -0,0 +1,40 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/linear_operator.h"
+
+namespace ceres {
+namespace internal {
+
+LinearOperator::~LinearOperator() {
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/linear_operator.h b/internal/ceres/linear_operator.h
new file mode 100644
index 0000000..6463fb5
--- /dev/null
+++ b/internal/ceres/linear_operator.h
@@ -0,0 +1,59 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Base classes for access to an linear operator.
+
+#ifndef CERES_INTERNAL_LINEAR_OPERATOR_H_
+#define CERES_INTERNAL_LINEAR_OPERATOR_H_
+
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// This is an abstract base class for linear operators. It supports
+// access to size information and left and right multiply operators.
+class LinearOperator {
+ public:
+  virtual ~LinearOperator();
+
+  // y = y + Ax;
+  virtual void RightMultiply(const double* x, double* y) const = 0;
+  // y = y + A'x;
+  virtual void LeftMultiply(const double* x, double* y) const = 0;
+
+  virtual int num_rows() const = 0;
+  virtual int num_cols() const = 0;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LINEAR_OPERATOR_H_
diff --git a/internal/ceres/linear_solver.cc b/internal/ceres/linear_solver.cc
new file mode 100644
index 0000000..81acc38
--- /dev/null
+++ b/internal/ceres/linear_solver.cc
@@ -0,0 +1,124 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/linear_solver.h"
+
+#include "ceres/cgnr_solver.h"
+#include "ceres/dense_normal_cholesky_solver.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/iterative_schur_complement_solver.h"
+#include "ceres/schur_complement_solver.h"
+#include "ceres/dynamic_sparse_normal_cholesky_solver.h"
+#include "ceres/sparse_normal_cholesky_solver.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+LinearSolver::~LinearSolver() {
+}
+
+LinearSolverType LinearSolver::LinearSolverForZeroEBlocks(
+    LinearSolverType linear_solver_type) {
+  if (!IsSchurType(linear_solver_type)) {
+    return linear_solver_type;
+  }
+
+  if (linear_solver_type == SPARSE_SCHUR) {
+    return SPARSE_NORMAL_CHOLESKY;
+  }
+
+  if (linear_solver_type == DENSE_SCHUR) {
+    // TODO(sameeragarwal): This is probably not a great choice.
+    // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can take
+    // a BlockSparseMatrix as input.
+    return DENSE_QR;
+  }
+
+  if (linear_solver_type == ITERATIVE_SCHUR) {
+    return CGNR;
+  }
+
+  return linear_solver_type;
+}
+
+LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
+  switch (options.type) {
+    case CGNR:
+      return new CgnrSolver(options);
+
+    case SPARSE_NORMAL_CHOLESKY:
+#if defined(CERES_NO_SUITESPARSE) &&              \
+    defined(CERES_NO_CXSPARSE) &&                 \
+   !defined(CERES_USE_EIGEN_SPARSE)
+      return NULL;
+#else
+      if (options.dynamic_sparsity) {
+        return new DynamicSparseNormalCholeskySolver(options);
+      }
+
+      return new SparseNormalCholeskySolver(options);
+#endif
+
+    case SPARSE_SCHUR:
+#if defined(CERES_NO_SUITESPARSE) &&                 \
+    defined(CERES_NO_CXSPARSE) &&                    \
+   !defined(CERES_USE_EIGEN_SPARSE)
+      return NULL;
+#else
+      return new SparseSchurComplementSolver(options);
+#endif
+
+    case DENSE_SCHUR:
+      return new DenseSchurComplementSolver(options);
+
+    case ITERATIVE_SCHUR:
+      if (options.use_explicit_schur_complement) {
+        return new SparseSchurComplementSolver(options);
+      } else {
+        return new IterativeSchurComplementSolver(options);
+      }
+
+    case DENSE_QR:
+      return new DenseQRSolver(options);
+
+    case DENSE_NORMAL_CHOLESKY:
+      return new DenseNormalCholeskySolver(options);
+
+    default:
+      LOG(FATAL) << "Unknown linear solver type :"
+                 << options.type;
+      return NULL;  // MSVC doesn't understand that LOG(FATAL) never returns.
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/linear_solver.h b/internal/ceres/linear_solver.h
new file mode 100644
index 0000000..5f996a1
--- /dev/null
+++ b/internal/ceres/linear_solver.h
@@ -0,0 +1,372 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Abstract interface for objects solving linear systems of various
+// kinds.
+
+#ifndef CERES_INTERNAL_LINEAR_SOLVER_H_
+#define CERES_INTERNAL_LINEAR_SOLVER_H_
+
+#include <cstddef>
+#include <map>
+#include <string>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/execution_summary.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+enum LinearSolverTerminationType {
+  // Termination criterion was met.
+  LINEAR_SOLVER_SUCCESS,
+
+  // Solver ran for max_num_iterations and terminated before the
+  // termination tolerance could be satisfied.
+  LINEAR_SOLVER_NO_CONVERGENCE,
+
+  // Solver was terminated due to numerical problems, generally due to
+  // the linear system being poorly conditioned.
+  LINEAR_SOLVER_FAILURE,
+
+  // Solver failed with a fatal error that cannot be recovered from,
+  // e.g. CHOLMOD ran out of memory when computing the symbolic or
+  // numeric factorization or an underlying library was called with
+  // the wrong arguments.
+  LINEAR_SOLVER_FATAL_ERROR
+};
+
+// This enum controls the fill-reducing ordering a sparse linear
+// algebra library should use before computing a sparse factorization
+// (usually Cholesky).
+enum OrderingType {
+  NATURAL, // Do not re-order the matrix. This is useful when the
+           // matrix has been ordered using a fill-reducing ordering
+           // already.
+  AMD      // Use the Approximate Minimum Degree algorithm to re-order
+           // the matrix.
+};
+
+class LinearOperator;
+
+// Abstract base class for objects that implement algorithms for
+// solving linear systems
+//
+//   Ax = b
+//
+// It is expected that a single instance of a LinearSolver object
+// maybe used multiple times for solving multiple linear systems with
+// the same sparsity structure. This allows them to cache and reuse
+// information across solves. This means that calling Solve on the
+// same LinearSolver instance with two different linear systems will
+// result in undefined behaviour.
+//
+// Subclasses of LinearSolver use two structs to configure themselves.
+// The Options struct configures the LinearSolver object for its
+// lifetime. The PerSolveOptions struct is used to specify options for
+// a particular Solve call.
+class LinearSolver {
+ public:
+  struct Options {
+    Options()
+        : type(SPARSE_NORMAL_CHOLESKY),
+          preconditioner_type(JACOBI),
+          visibility_clustering_type(CANONICAL_VIEWS),
+          dense_linear_algebra_library_type(EIGEN),
+          sparse_linear_algebra_library_type(SUITE_SPARSE),
+          use_postordering(false),
+          dynamic_sparsity(false),
+          use_explicit_schur_complement(false),
+          min_num_iterations(1),
+          max_num_iterations(1),
+          num_threads(1),
+          residual_reset_period(10),
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
+    }
+
+    LinearSolverType type;
+    PreconditionerType preconditioner_type;
+    VisibilityClusteringType visibility_clustering_type;
+    DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+    // See solver.h for information about these flags.
+    bool use_postordering;
+    bool dynamic_sparsity;
+    bool use_explicit_schur_complement;
+
+    // Number of internal iterations that the solver uses. This
+    // parameter only makes sense for iterative solvers like CG.
+    int min_num_iterations;
+    int max_num_iterations;
+
+    // If possible, how many threads can the solver use.
+    int num_threads;
+
+    // Hints about the order in which the parameter blocks should be
+    // eliminated by the linear solver.
+    //
+    // For example if elimination_groups is a vector of size k, then
+    // the linear solver is informed that it should eliminate the
+    // parameter blocks 0 ... elimination_groups[0] - 1 first, and
+    // then elimination_groups[0] ... elimination_groups[1] - 1 and so
+    // on. Within each elimination group, the linear solver is free to
+    // choose how the parameter blocks are ordered. Different linear
+    // solvers have differing requirements on elimination_groups.
+    //
+    // The most common use is for Schur type solvers, where there
+    // should be at least two elimination groups and the first
+    // elimination group must form an independent set in the normal
+    // equations. The first elimination group corresponds to the
+    // num_eliminate_blocks in the Schur type solvers.
+    std::vector<int> elimination_groups;
+
+    // Iterative solvers, e.g. Preconditioned Conjugate Gradients
+    // maintain a cheap estimate of the residual which may become
+    // inaccurate over time. Thus for non-zero values of this
+    // parameter, the solver can be told to recalculate the value of
+    // the residual using a |b - Ax| evaluation.
+    int residual_reset_period;
+
+    // If the block sizes in a BlockSparseMatrix are fixed, then in
+    // some cases the Schur complement based solvers can detect and
+    // specialize on them.
+    //
+    // It is expected that these parameters are set programmatically
+    // rather than manually.
+    //
+    // Please see schur_complement_solver.h and schur_eliminator.h for
+    // more details.
+    int row_block_size;
+    int e_block_size;
+    int f_block_size;
+  };
+
+  // Options for the Solve method.
+  struct PerSolveOptions {
+    PerSolveOptions()
+        : D(NULL),
+          preconditioner(NULL),
+          r_tolerance(0.0),
+          q_tolerance(0.0) {
+    }
+
+    // This option only makes sense for unsymmetric linear solvers
+    // that can solve rectangular linear systems.
+    //
+    // Given a matrix A, an optional diagonal matrix D as a vector,
+    // and a vector b, the linear solver will solve for
+    //
+    //   | A | x = | b |
+    //   | D |     | 0 |
+    //
+    // If D is null, then it is treated as zero, and the solver returns
+    // the solution to
+    //
+    //   A x = b
+    //
+    // In either case, x is the vector that solves the following
+    // optimization problem.
+    //
+    //   arg min_x ||Ax - b||^2 + ||Dx||^2
+    //
+    // Here A is a matrix of size m x n, with full column rank. If A
+    // does not have full column rank, the results returned by the
+    // solver cannot be relied on. D, if it is not null is an array of
+    // size n.  b is an array of size m and x is an array of size n.
+    double * D;
+
+    // This option only makes sense for iterative solvers.
+    //
+    // In general the performance of an iterative linear solver
+    // depends on the condition number of the matrix A. For example
+    // the convergence rate of the conjugate gradients algorithm
+    // is proportional to the square root of the condition number.
+    //
+    // One particularly useful technique for improving the
+    // conditioning of a linear system is to precondition it. In its
+    // simplest form a preconditioner is a matrix M such that instead
+    // of solving Ax = b, we solve the linear system AM^{-1} y = b
+    // instead, where M is such that the condition number k(AM^{-1})
+    // is smaller than the conditioner k(A). Given the solution to
+    // this system, x = M^{-1} y. The iterative solver takes care of
+    // the mechanics of solving the preconditioned system and
+    // returning the corrected solution x. The user only needs to
+    // supply a linear operator.
+    //
+    // A null preconditioner is equivalent to an identity matrix being
+    // used a preconditioner.
+    LinearOperator* preconditioner;
+
+
+    // The following tolerance related options only makes sense for
+    // iterative solvers. Direct solvers ignore them.
+
+    // Solver terminates when
+    //
+    //   |Ax - b| <= r_tolerance * |b|.
+    //
+    // This is the most commonly used termination criterion for
+    // iterative solvers.
+    double r_tolerance;
+
+    // For PSD matrices A, let
+    //
+    //   Q(x) = x'Ax - 2b'x
+    //
+    // be the cost of the quadratic function defined by A and b. Then,
+    // the solver terminates at iteration i if
+    //
+    //   i * (Q(x_i) - Q(x_i-1)) / Q(x_i) < q_tolerance.
+    //
+    // This termination criterion is more useful when using CG to
+    // solve the Newton step. This particular convergence test comes
+    // from Stephen Nash's work on truncated Newton
+    // methods. References:
+    //
+    //   1. Stephen G. Nash & Ariela Sofer, Assessing A Search
+    //      Direction Within A Truncated Newton Method, Operation
+    //      Research Letters 9(1990) 219-221.
+    //
+    //   2. Stephen G. Nash, A Survey of Truncated Newton Methods,
+    //      Journal of Computational and Applied Mathematics,
+    //      124(1-2), 45-59, 2000.
+    //
+    double q_tolerance;
+  };
+
+  // Summary of a call to the Solve method. We should move away from
+  // the true/false method for determining solver success. We should
+  // let the summary object do the talking.
+  struct Summary {
+    Summary()
+        : residual_norm(0.0),
+          num_iterations(-1),
+          termination_type(LINEAR_SOLVER_FAILURE) {
+    }
+
+    double residual_norm;
+    int num_iterations;
+    LinearSolverTerminationType termination_type;
+    std::string message;
+  };
+
+  // If the optimization problem is such that there are no remaining
+  // e-blocks, a Schur type linear solver cannot be used. If the
+  // linear solver is of Schur type, this function implements a policy
+  // to select an alternate nearest linear solver to the one selected
+  // by the user. The input linear_solver_type is returned otherwise.
+  static LinearSolverType LinearSolverForZeroEBlocks(
+      LinearSolverType linear_solver_type);
+
+  virtual ~LinearSolver();
+
+  // Solve Ax = b.
+  virtual Summary Solve(LinearOperator* A,
+                        const double* b,
+                        const PerSolveOptions& per_solve_options,
+                        double* x) = 0;
+
+  // The following two methods return copies instead of references so
+  // that the base class implementation does not have to worry about
+  // life time issues. Further, these calls are not expected to be
+  // frequent or performance sensitive.
+  virtual std::map<std::string, int> CallStatistics() const {
+    return std::map<std::string, int>();
+  }
+
+  virtual std::map<std::string, double> TimeStatistics() const {
+    return std::map<std::string, double>();
+  }
+
+  // Factory
+  static LinearSolver* Create(const Options& options);
+};
+
+// This templated subclass of LinearSolver serves as a base class for
+// other linear solvers that depend on the particular matrix layout of
+// the underlying linear operator. For example some linear solvers
+// need low level access to the TripletSparseMatrix implementing the
+// LinearOperator interface. This class hides those implementation
+// details behind a private virtual method, and has the Solve method
+// perform the necessary upcasting.
+template <typename MatrixType>
+class TypedLinearSolver : public LinearSolver {
+ public:
+  virtual ~TypedLinearSolver() {}
+  virtual LinearSolver::Summary Solve(
+      LinearOperator* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x) {
+    ScopedExecutionTimer total_time("LinearSolver::Solve", &execution_summary_);
+    CHECK_NOTNULL(A);
+    CHECK_NOTNULL(b);
+    CHECK_NOTNULL(x);
+    return SolveImpl(down_cast<MatrixType*>(A), b, per_solve_options, x);
+  }
+
+  virtual std::map<std::string, int> CallStatistics() const {
+    return execution_summary_.calls();
+  }
+
+  virtual std::map<std::string, double> TimeStatistics() const {
+    return execution_summary_.times();
+  }
+
+ private:
+  virtual LinearSolver::Summary SolveImpl(
+      MatrixType* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x) = 0;
+
+  ExecutionSummary execution_summary_;
+};
+
+// Linear solvers that depend on acccess to the low level structure of
+// a SparseMatrix.
+typedef TypedLinearSolver<BlockSparseMatrix>         BlockSparseMatrixSolver;          // NOLINT
+typedef TypedLinearSolver<CompressedRowSparseMatrix> CompressedRowSparseMatrixSolver;  // NOLINT
+typedef TypedLinearSolver<DenseSparseMatrix>         DenseSparseMatrixSolver;          // NOLINT
+typedef TypedLinearSolver<TripletSparseMatrix>       TripletSparseMatrixSolver;        // NOLINT
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LINEAR_SOLVER_H_
diff --git a/internal/ceres/local_parameterization.cc b/internal/ceres/local_parameterization.cc
new file mode 100644
index 0000000..a6bf1f6
--- /dev/null
+++ b/internal/ceres/local_parameterization.cc
@@ -0,0 +1,377 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/local_parameterization.h"
+
+#include <algorithm>
+#include "Eigen/Geometry"
+#include "ceres/householder_vector.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/rotation.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+using std::vector;
+
+LocalParameterization::~LocalParameterization() {
+}
+
+bool LocalParameterization::MultiplyByJacobian(const double* x,
+                                               const int num_rows,
+                                               const double* global_matrix,
+                                               double* local_matrix) const {
+  Matrix jacobian(GlobalSize(), LocalSize());
+  if (!ComputeJacobian(x, jacobian.data())) {
+    return false;
+  }
+
+  MatrixRef(local_matrix, num_rows, LocalSize()) =
+      ConstMatrixRef(global_matrix, num_rows, GlobalSize()) * jacobian;
+  return true;
+}
+
+IdentityParameterization::IdentityParameterization(const int size)
+    : size_(size) {
+  CHECK_GT(size, 0);
+}
+
+bool IdentityParameterization::Plus(const double* x,
+                                    const double* delta,
+                                    double* x_plus_delta) const {
+  VectorRef(x_plus_delta, size_) =
+      ConstVectorRef(x, size_) + ConstVectorRef(delta, size_);
+  return true;
+}
+
+bool IdentityParameterization::ComputeJacobian(const double* x,
+                                               double* jacobian) const {
+  MatrixRef(jacobian, size_, size_) = Matrix::Identity(size_, size_);
+  return true;
+}
+
+bool IdentityParameterization::MultiplyByJacobian(const double* x,
+                                                  const int num_cols,
+                                                  const double* global_matrix,
+                                                  double* local_matrix) const {
+  std::copy(global_matrix,
+            global_matrix + num_cols * GlobalSize(),
+            local_matrix);
+  return true;
+}
+
+SubsetParameterization::SubsetParameterization(
+    int size, const vector<int>& constant_parameters)
+    : local_size_(size - constant_parameters.size()), constancy_mask_(size, 0) {
+  vector<int> constant = constant_parameters;
+  std::sort(constant.begin(), constant.end());
+  CHECK_GE(constant.front(), 0)
+      << "Indices indicating constant parameter must be greater than zero.";
+  CHECK_LT(constant.back(), size)
+      << "Indices indicating constant parameter must be less than the size "
+      << "of the parameter block.";
+  CHECK(std::adjacent_find(constant.begin(), constant.end()) == constant.end())
+      << "The set of constant parameters cannot contain duplicates";
+  for (int i = 0; i < constant_parameters.size(); ++i) {
+    constancy_mask_[constant_parameters[i]] = 1;
+  }
+}
+
+bool SubsetParameterization::Plus(const double* x,
+                                  const double* delta,
+                                  double* x_plus_delta) const {
+  for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+    if (constancy_mask_[i]) {
+      x_plus_delta[i] = x[i];
+    } else {
+      x_plus_delta[i] = x[i] + delta[j++];
+    }
+  }
+  return true;
+}
+
+bool SubsetParameterization::ComputeJacobian(const double* x,
+                                             double* jacobian) const {
+  if (local_size_ == 0) {
+    return true;
+  }
+
+  MatrixRef m(jacobian, constancy_mask_.size(), local_size_);
+  m.setZero();
+  for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+    if (!constancy_mask_[i]) {
+      m(i, j++) = 1.0;
+    }
+  }
+  return true;
+}
+
+bool SubsetParameterization::MultiplyByJacobian(const double* x,
+                                               const int num_rows,
+                                               const double* global_matrix,
+                                               double* local_matrix) const {
+  if (local_size_ == 0) {
+    return true;
+  }
+
+  for (int row = 0; row < num_rows; ++row) {
+    for (int col = 0, j = 0; col < constancy_mask_.size(); ++col) {
+      if (!constancy_mask_[col]) {
+        local_matrix[row * LocalSize() + j++] =
+            global_matrix[row * GlobalSize() + col];
+      }
+    }
+  }
+  return true;
+}
+
+bool QuaternionParameterization::Plus(const double* x,
+                                      const double* delta,
+                                      double* x_plus_delta) const {
+  const double norm_delta =
+      sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
+  if (norm_delta > 0.0) {
+    const double sin_delta_by_delta = (sin(norm_delta) / norm_delta);
+    double q_delta[4];
+    q_delta[0] = cos(norm_delta);
+    q_delta[1] = sin_delta_by_delta * delta[0];
+    q_delta[2] = sin_delta_by_delta * delta[1];
+    q_delta[3] = sin_delta_by_delta * delta[2];
+    QuaternionProduct(q_delta, x, x_plus_delta);
+  } else {
+    for (int i = 0; i < 4; ++i) {
+      x_plus_delta[i] = x[i];
+    }
+  }
+  return true;
+}
+
+bool QuaternionParameterization::ComputeJacobian(const double* x,
+                                                 double* jacobian) const {
+  jacobian[0] = -x[1]; jacobian[1]  = -x[2]; jacobian[2]  = -x[3];  // NOLINT
+  jacobian[3] =  x[0]; jacobian[4]  =  x[3]; jacobian[5]  = -x[2];  // NOLINT
+  jacobian[6] = -x[3]; jacobian[7]  =  x[0]; jacobian[8]  =  x[1];  // NOLINT
+  jacobian[9] =  x[2]; jacobian[10] = -x[1]; jacobian[11] =  x[0];  // NOLINT
+  return true;
+}
+
+bool EigenQuaternionParameterization::Plus(const double* x_ptr,
+                                           const double* delta,
+                                           double* x_plus_delta_ptr) const {
+  Eigen::Map<Eigen::Quaterniond> x_plus_delta(x_plus_delta_ptr);
+  Eigen::Map<const Eigen::Quaterniond> x(x_ptr);
+
+  const double norm_delta =
+      sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
+  if (norm_delta > 0.0) {
+    const double sin_delta_by_delta = sin(norm_delta) / norm_delta;
+
+    // Note, in the constructor w is first.
+    Eigen::Quaterniond delta_q(cos(norm_delta),
+                               sin_delta_by_delta * delta[0],
+                               sin_delta_by_delta * delta[1],
+                               sin_delta_by_delta * delta[2]);
+    x_plus_delta = delta_q * x;
+  } else {
+    x_plus_delta = x;
+  }
+
+  return true;
+}
+
+bool EigenQuaternionParameterization::ComputeJacobian(const double* x,
+                                                      double* jacobian) const {
+  jacobian[0] =  x[3]; jacobian[1]  =  x[2]; jacobian[2]  = -x[1];  // NOLINT
+  jacobian[3] = -x[2]; jacobian[4]  =  x[3]; jacobian[5]  =  x[0];  // NOLINT
+  jacobian[6] =  x[1]; jacobian[7]  = -x[0]; jacobian[8]  =  x[3];  // NOLINT
+  jacobian[9] = -x[0]; jacobian[10] = -x[1]; jacobian[11] = -x[2];  // NOLINT
+  return true;
+}
+
+HomogeneousVectorParameterization::HomogeneousVectorParameterization(int size)
+    : size_(size) {
+  CHECK_GT(size_, 1) << "The size of the homogeneous vector needs to be "
+                     << "greater than 1.";
+}
+
+bool HomogeneousVectorParameterization::Plus(const double* x_ptr,
+                                             const double* delta_ptr,
+                                             double* x_plus_delta_ptr) const {
+  ConstVectorRef x(x_ptr, size_);
+  ConstVectorRef delta(delta_ptr, size_ - 1);
+  VectorRef x_plus_delta(x_plus_delta_ptr, size_);
+
+  const double norm_delta = delta.norm();
+
+  if (norm_delta == 0.0) {
+    x_plus_delta = x;
+    return true;
+  }
+
+  // Map the delta from the minimum representation to the over parameterized
+  // homogeneous vector. See section A6.9.2 on page 624 of Hartley & Zisserman
+  // (2nd Edition) for a detailed description.  Note there is a typo on Page
+  // 625, line 4 so check the book errata.
+  const double norm_delta_div_2 = 0.5 * norm_delta;
+  const double sin_delta_by_delta = sin(norm_delta_div_2) /
+      norm_delta_div_2;
+
+  Vector y(size_);
+  y.head(size_ - 1) = 0.5 * sin_delta_by_delta * delta;
+  y(size_ - 1) = cos(norm_delta_div_2);
+
+  Vector v(size_);
+  double beta;
+  internal::ComputeHouseholderVector<double>(x, &v, &beta);
+
+  // Apply the delta update to remain on the unit sphere. See section A6.9.3
+  // on page 625 of Hartley & Zisserman (2nd Edition) for a detailed
+  // description.
+  x_plus_delta = x.norm() * (y -  v * (beta * (v.transpose() * y)));
+
+  return true;
+}
+
+bool HomogeneousVectorParameterization::ComputeJacobian(
+    const double* x_ptr, double* jacobian_ptr) const {
+  ConstVectorRef x(x_ptr, size_);
+  MatrixRef jacobian(jacobian_ptr, size_, size_ - 1);
+
+  Vector v(size_);
+  double beta;
+  internal::ComputeHouseholderVector<double>(x, &v, &beta);
+
+  // The Jacobian is equal to J = 0.5 * H.leftCols(size_ - 1) where H is the
+  // Householder matrix (H = I - beta * v * v').
+  for (int i = 0; i < size_ - 1; ++i) {
+    jacobian.col(i) = -0.5 * beta * v(i) * v;
+    jacobian.col(i)(i) += 0.5;
+  }
+  jacobian *= x.norm();
+
+  return true;
+}
+
+ProductParameterization::ProductParameterization(
+    LocalParameterization* local_param1,
+    LocalParameterization* local_param2) {
+  local_params_.push_back(local_param1);
+  local_params_.push_back(local_param2);
+  Init();
+}
+
+ProductParameterization::ProductParameterization(
+    LocalParameterization* local_param1,
+    LocalParameterization* local_param2,
+    LocalParameterization* local_param3) {
+  local_params_.push_back(local_param1);
+  local_params_.push_back(local_param2);
+  local_params_.push_back(local_param3);
+  Init();
+}
+
+ProductParameterization::ProductParameterization(
+    LocalParameterization* local_param1,
+    LocalParameterization* local_param2,
+    LocalParameterization* local_param3,
+    LocalParameterization* local_param4) {
+  local_params_.push_back(local_param1);
+  local_params_.push_back(local_param2);
+  local_params_.push_back(local_param3);
+  local_params_.push_back(local_param4);
+  Init();
+}
+
+ProductParameterization::~ProductParameterization() {
+  for (int i = 0; i < local_params_.size(); ++i) {
+    delete local_params_[i];
+  }
+}
+
+void ProductParameterization::Init() {
+  global_size_ = 0;
+  local_size_ = 0;
+  buffer_size_ = 0;
+  for (int i = 0; i < local_params_.size(); ++i) {
+    const LocalParameterization* param = local_params_[i];
+    buffer_size_ = std::max(buffer_size_,
+                            param->LocalSize() * param->GlobalSize());
+    global_size_ += param->GlobalSize();
+    local_size_ += param->LocalSize();
+  }
+}
+
+bool ProductParameterization::Plus(const double* x,
+                                   const double* delta,
+                                   double* x_plus_delta) const {
+  int x_cursor = 0;
+  int delta_cursor = 0;
+  for (int i = 0; i < local_params_.size(); ++i) {
+    const LocalParameterization* param = local_params_[i];
+    if (!param->Plus(x + x_cursor,
+                     delta + delta_cursor,
+                     x_plus_delta + x_cursor)) {
+      return false;
+    }
+    delta_cursor += param->LocalSize();
+    x_cursor += param->GlobalSize();
+  }
+
+  return true;
+}
+
+bool ProductParameterization::ComputeJacobian(const double* x,
+                                              double* jacobian_ptr) const {
+  MatrixRef jacobian(jacobian_ptr, GlobalSize(), LocalSize());
+  jacobian.setZero();
+  internal::FixedArray<double> buffer(buffer_size_);
+
+  int x_cursor = 0;
+  int delta_cursor = 0;
+  for (int i = 0; i < local_params_.size(); ++i) {
+    const LocalParameterization* param = local_params_[i];
+    const int local_size = param->LocalSize();
+    const int global_size = param->GlobalSize();
+
+    if (!param->ComputeJacobian(x + x_cursor, buffer.get())) {
+      return false;
+    }
+    jacobian.block(x_cursor, delta_cursor, global_size, local_size)
+        = MatrixRef(buffer.get(), global_size, local_size);
+
+    delta_cursor += local_size;
+    x_cursor += global_size;
+  }
+
+  return true;
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
new file mode 100644
index 0000000..15f0bb1
--- /dev/null
+++ b/internal/ceres/local_parameterization_test.cc
@@ -0,0 +1,775 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include <limits>
+#include "Eigen/Geometry"
+#include "ceres/autodiff_local_parameterization.h"
+#include "ceres/fpclassify.h"
+#include "ceres/householder_vector.h"
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/random.h"
+#include "ceres/rotation.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(IdentityParameterization, EverythingTest) {
+  IdentityParameterization parameterization(3);
+  EXPECT_EQ(parameterization.GlobalSize(), 3);
+  EXPECT_EQ(parameterization.LocalSize(), 3);
+
+  double x[3] = {1.0, 2.0, 3.0};
+  double delta[3] = {0.0, 1.0, 2.0};
+  double x_plus_delta[3] = {0.0, 0.0, 0.0};
+  parameterization.Plus(x, delta, x_plus_delta);
+  EXPECT_EQ(x_plus_delta[0], 1.0);
+  EXPECT_EQ(x_plus_delta[1], 3.0);
+  EXPECT_EQ(x_plus_delta[2], 5.0);
+
+  double jacobian[9];
+  parameterization.ComputeJacobian(x, jacobian);
+  int k = 0;
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j, ++k) {
+      EXPECT_EQ(jacobian[k], (i == j) ? 1.0 : 0.0);
+    }
+  }
+
+  Matrix global_matrix = Matrix::Ones(10, 3);
+  Matrix local_matrix = Matrix::Zero(10, 3);
+  parameterization.MultiplyByJacobian(x,
+                                      10,
+                                      global_matrix.data(),
+                                      local_matrix.data());
+  EXPECT_EQ((local_matrix - global_matrix).norm(), 0.0);
+}
+
+
+TEST(SubsetParameterization, NegativeParameterIndexDeathTest) {
+  std::vector<int> constant_parameters;
+  constant_parameters.push_back(-1);
+  EXPECT_DEATH_IF_SUPPORTED(
+      SubsetParameterization parameterization(2, constant_parameters),
+      "greater than zero");
+}
+
+TEST(SubsetParameterization, GreaterThanSizeParameterIndexDeathTest) {
+  std::vector<int> constant_parameters;
+  constant_parameters.push_back(2);
+  EXPECT_DEATH_IF_SUPPORTED(
+      SubsetParameterization parameterization(2, constant_parameters),
+      "less than the size");
+}
+
+TEST(SubsetParameterization, DuplicateParametersDeathTest) {
+  std::vector<int> constant_parameters;
+  constant_parameters.push_back(1);
+  constant_parameters.push_back(1);
+  EXPECT_DEATH_IF_SUPPORTED(
+      SubsetParameterization parameterization(2, constant_parameters),
+      "duplicates");
+}
+
+TEST(SubsetParameterization,
+     ProductParameterizationWithZeroLocalSizeSubsetParameterization1) {
+  std::vector<int> constant_parameters;
+  constant_parameters.push_back(0);
+  LocalParameterization* subset_param =
+      new SubsetParameterization(1, constant_parameters);
+  LocalParameterization* identity_param = new IdentityParameterization(2);
+  ProductParameterization product_param(subset_param, identity_param);
+  EXPECT_EQ(product_param.GlobalSize(), 3);
+  EXPECT_EQ(product_param.LocalSize(), 2);
+  double x[] = {1.0, 1.0, 1.0};
+  double delta[] = {2.0, 3.0};
+  double x_plus_delta[] = {0.0, 0.0, 0.0};
+  EXPECT_TRUE(product_param.Plus(x, delta, x_plus_delta));
+  EXPECT_EQ(x_plus_delta[0], x[0]);
+  EXPECT_EQ(x_plus_delta[1], x[1] + delta[0]);
+  EXPECT_EQ(x_plus_delta[2], x[2] + delta[1]);
+
+  Matrix actual_jacobian(3, 2);
+  EXPECT_TRUE(product_param.ComputeJacobian(x, actual_jacobian.data()));
+}
+
+TEST(SubsetParameterization,
+     ProductParameterizationWithZeroLocalSizeSubsetParameterization2) {
+  std::vector<int> constant_parameters;
+  constant_parameters.push_back(0);
+  LocalParameterization* subset_param =
+      new SubsetParameterization(1, constant_parameters);
+  LocalParameterization* identity_param = new IdentityParameterization(2);
+  ProductParameterization product_param(identity_param, subset_param);
+  EXPECT_EQ(product_param.GlobalSize(), 3);
+  EXPECT_EQ(product_param.LocalSize(), 2);
+  double x[] = {1.0, 1.0, 1.0};
+  double delta[] = {2.0, 3.0};
+  double x_plus_delta[] = {0.0, 0.0, 0.0};
+  EXPECT_TRUE(product_param.Plus(x, delta, x_plus_delta));
+  EXPECT_EQ(x_plus_delta[0], x[0] + delta[0]);
+  EXPECT_EQ(x_plus_delta[1], x[1] + delta[1]);
+  EXPECT_EQ(x_plus_delta[2], x[2]);
+
+  Matrix actual_jacobian(3, 2);
+  EXPECT_TRUE(product_param.ComputeJacobian(x, actual_jacobian.data()));
+}
+
+TEST(SubsetParameterization, NormalFunctionTest) {
+  const int kGlobalSize = 4;
+  const int kLocalSize = 3;
+
+  double x[kGlobalSize] = {1.0, 2.0, 3.0, 4.0};
+  for (int i = 0; i < kGlobalSize; ++i) {
+    std::vector<int> constant_parameters;
+    constant_parameters.push_back(i);
+    SubsetParameterization parameterization(kGlobalSize, constant_parameters);
+    double delta[kLocalSize] = {1.0, 2.0, 3.0};
+    double x_plus_delta[kGlobalSize] = {0.0, 0.0, 0.0};
+
+    parameterization.Plus(x, delta, x_plus_delta);
+    int k = 0;
+    for (int j = 0; j < kGlobalSize; ++j) {
+      if (j == i)  {
+        EXPECT_EQ(x_plus_delta[j], x[j]);
+      } else {
+        EXPECT_EQ(x_plus_delta[j], x[j] + delta[k++]);
+      }
+    }
+
+    double jacobian[kGlobalSize * kLocalSize];
+    parameterization.ComputeJacobian(x, jacobian);
+    int delta_cursor = 0;
+    int jacobian_cursor = 0;
+    for (int j = 0; j < kGlobalSize; ++j) {
+      if (j != i) {
+        for (int k = 0; k < kLocalSize; ++k, jacobian_cursor++) {
+          EXPECT_EQ(jacobian[jacobian_cursor], delta_cursor == k ? 1.0 : 0.0);
+        }
+        ++delta_cursor;
+      } else {
+        for (int k = 0; k < kLocalSize; ++k, jacobian_cursor++) {
+          EXPECT_EQ(jacobian[jacobian_cursor], 0.0);
+        }
+      }
+    }
+
+    Matrix global_matrix = Matrix::Ones(10, kGlobalSize);
+    for (int row = 0; row < kGlobalSize; ++row) {
+      for (int col = 0; col < kGlobalSize; ++col) {
+        global_matrix(row, col) = col;
+      }
+    }
+
+    Matrix local_matrix = Matrix::Zero(10, kLocalSize);
+    parameterization.MultiplyByJacobian(x,
+                                        10,
+                                        global_matrix.data(),
+                                        local_matrix.data());
+    Matrix expected_local_matrix =
+        global_matrix * MatrixRef(jacobian, kGlobalSize, kLocalSize);
+    EXPECT_EQ((local_matrix - expected_local_matrix).norm(), 0.0);
+  }
+}
+
+// Functor needed to implement automatically differentiated Plus for
+// quaternions.
+struct QuaternionPlus {
+  template<typename T>
+  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+    const T squared_norm_delta =
+        delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+    T q_delta[4];
+    if (squared_norm_delta > T(0.0)) {
+      T norm_delta = sqrt(squared_norm_delta);
+      const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+      q_delta[0] = cos(norm_delta);
+      q_delta[1] = sin_delta_by_delta * delta[0];
+      q_delta[2] = sin_delta_by_delta * delta[1];
+      q_delta[3] = sin_delta_by_delta * delta[2];
+    } else {
+      // We do not just use q_delta = [1,0,0,0] here because that is a
+      // constant and when used for automatic differentiation will
+      // lead to a zero derivative. Instead we take a first order
+      // approximation and evaluate it at zero.
+      q_delta[0] = T(1.0);
+      q_delta[1] = delta[0];
+      q_delta[2] = delta[1];
+      q_delta[3] = delta[2];
+    }
+
+    QuaternionProduct(q_delta, x, x_plus_delta);
+    return true;
+  }
+};
+
+template<typename Parameterization, typename Plus>
+void QuaternionParameterizationTestHelper(
+    const double* x, const double* delta,
+    const double* x_plus_delta_ref) {
+  const int kGlobalSize = 4;
+  const int kLocalSize = 3;
+
+  const double kTolerance = 1e-14;
+
+  double x_plus_delta[kGlobalSize] = {0.0, 0.0, 0.0, 0.0};
+  Parameterization parameterization;
+  parameterization.Plus(x, delta, x_plus_delta);
+  for (int i = 0; i < kGlobalSize; ++i) {
+    EXPECT_NEAR(x_plus_delta[i], x_plus_delta[i], kTolerance);
+  }
+
+  const double x_plus_delta_norm =
+      sqrt(x_plus_delta[0] * x_plus_delta[0] +
+           x_plus_delta[1] * x_plus_delta[1] +
+           x_plus_delta[2] * x_plus_delta[2] +
+           x_plus_delta[3] * x_plus_delta[3]);
+
+  EXPECT_NEAR(x_plus_delta_norm, 1.0, kTolerance);
+
+  double jacobian_ref[12];
+  double zero_delta[kLocalSize] = {0.0, 0.0, 0.0};
+  const double* parameters[2] = {x, zero_delta};
+  double* jacobian_array[2] = { NULL, jacobian_ref };
+
+  // Autodiff jacobian at delta_x = 0.
+  internal::AutoDiff<Plus,
+                     double,
+                     kGlobalSize,
+                     kLocalSize>::Differentiate(Plus(),
+                                                parameters,
+                                                kGlobalSize,
+                                                x_plus_delta,
+                                                jacobian_array);
+
+  double jacobian[12];
+  parameterization.ComputeJacobian(x, jacobian);
+  for (int i = 0; i < 12; ++i) {
+    EXPECT_TRUE(IsFinite(jacobian[i]));
+    EXPECT_NEAR(jacobian[i], jacobian_ref[i], kTolerance)
+        << "Jacobian mismatch: i = " << i
+        << "\n Expected \n"
+        << ConstMatrixRef(jacobian_ref, kGlobalSize, kLocalSize)
+        << "\n Actual \n"
+        << ConstMatrixRef(jacobian, kGlobalSize, kLocalSize);
+  }
+
+  Matrix global_matrix = Matrix::Random(10, kGlobalSize);
+  Matrix local_matrix = Matrix::Zero(10, kLocalSize);
+  parameterization.MultiplyByJacobian(x,
+                                      10,
+                                      global_matrix.data(),
+                                      local_matrix.data());
+  Matrix expected_local_matrix =
+      global_matrix * MatrixRef(jacobian, kGlobalSize, kLocalSize);
+  EXPECT_NEAR((local_matrix - expected_local_matrix).norm(),
+              0.0,
+              10.0 * std::numeric_limits<double>::epsilon());
+}
+
+template <int N>
+void Normalize(double* x) {
+  VectorRef(x, N).normalize();
+}
+
+TEST(QuaternionParameterization, ZeroTest) {
+  double x[4] = {0.5, 0.5, 0.5, 0.5};
+  double delta[3] = {0.0, 0.0, 0.0};
+  double q_delta[4] = {1.0, 0.0, 0.0, 0.0};
+  double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+  QuaternionProduct(q_delta, x, x_plus_delta);
+  QuaternionParameterizationTestHelper<QuaternionParameterization,
+                                       QuaternionPlus>(x, delta, x_plus_delta);
+}
+
+TEST(QuaternionParameterization, NearZeroTest) {
+  double x[4] = {0.52, 0.25, 0.15, 0.45};
+  Normalize<4>(x);
+
+  double delta[3] = {0.24, 0.15, 0.10};
+  for (int i = 0; i < 3; ++i) {
+    delta[i] = delta[i] * 1e-14;
+  }
+
+  double q_delta[4];
+  q_delta[0] = 1.0;
+  q_delta[1] = delta[0];
+  q_delta[2] = delta[1];
+  q_delta[3] = delta[2];
+
+  double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+  QuaternionProduct(q_delta, x, x_plus_delta);
+  QuaternionParameterizationTestHelper<QuaternionParameterization,
+                                       QuaternionPlus>(x, delta, x_plus_delta);
+}
+
+TEST(QuaternionParameterization, AwayFromZeroTest) {
+  double x[4] = {0.52, 0.25, 0.15, 0.45};
+  Normalize<4>(x);
+
+  double delta[3] = {0.24, 0.15, 0.10};
+  const double delta_norm = sqrt(delta[0] * delta[0] +
+                                 delta[1] * delta[1] +
+                                 delta[2] * delta[2]);
+  double q_delta[4];
+  q_delta[0] = cos(delta_norm);
+  q_delta[1] = sin(delta_norm) / delta_norm * delta[0];
+  q_delta[2] = sin(delta_norm) / delta_norm * delta[1];
+  q_delta[3] = sin(delta_norm) / delta_norm * delta[2];
+
+  double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+  QuaternionProduct(q_delta, x, x_plus_delta);
+  QuaternionParameterizationTestHelper<QuaternionParameterization,
+                                       QuaternionPlus>(x, delta, x_plus_delta);
+}
+
+// Functor needed to implement automatically differentiated Plus for
+// Eigen's quaternion.
+struct EigenQuaternionPlus {
+  template<typename T>
+  bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+    const T norm_delta =
+        sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
+
+    Eigen::Quaternion<T> q_delta;
+    if (norm_delta > T(0.0)) {
+      const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+      q_delta.coeffs() << sin_delta_by_delta * delta[0],
+          sin_delta_by_delta * delta[1], sin_delta_by_delta * delta[2],
+          cos(norm_delta);
+    } else {
+      // We do not just use q_delta = [0,0,0,1] here because that is a
+      // constant and when used for automatic differentiation will
+      // lead to a zero derivative. Instead we take a first order
+      // approximation and evaluate it at zero.
+      q_delta.coeffs() <<  delta[0], delta[1], delta[2], T(1.0);
+    }
+
+    Eigen::Map<Eigen::Quaternion<T> > x_plus_delta_ref(x_plus_delta);
+    Eigen::Map<const Eigen::Quaternion<T> > x_ref(x);
+    x_plus_delta_ref = q_delta * x_ref;
+    return true;
+  }
+};
+
+TEST(EigenQuaternionParameterization, ZeroTest) {
+  Eigen::Quaterniond x(0.5, 0.5, 0.5, 0.5);
+  double delta[3] = {0.0, 0.0, 0.0};
+  Eigen::Quaterniond q_delta(1.0, 0.0, 0.0, 0.0);
+  Eigen::Quaterniond x_plus_delta = q_delta * x;
+  QuaternionParameterizationTestHelper<EigenQuaternionParameterization,
+                                       EigenQuaternionPlus>(
+      x.coeffs().data(), delta, x_plus_delta.coeffs().data());
+}
+
+TEST(EigenQuaternionParameterization, NearZeroTest) {
+  Eigen::Quaterniond x(0.52, 0.25, 0.15, 0.45);
+  x.normalize();
+
+  double delta[3] = {0.24, 0.15, 0.10};
+  for (int i = 0; i < 3; ++i) {
+    delta[i] = delta[i] * 1e-14;
+  }
+
+  // Note: w is first in the constructor.
+  Eigen::Quaterniond q_delta(1.0, delta[0], delta[1], delta[2]);
+
+  Eigen::Quaterniond x_plus_delta = q_delta * x;
+  QuaternionParameterizationTestHelper<EigenQuaternionParameterization,
+                                       EigenQuaternionPlus>(
+      x.coeffs().data(), delta, x_plus_delta.coeffs().data());
+}
+
+TEST(EigenQuaternionParameterization, AwayFromZeroTest) {
+  Eigen::Quaterniond x(0.52, 0.25, 0.15, 0.45);
+  x.normalize();
+
+  double delta[3] = {0.24, 0.15, 0.10};
+  const double delta_norm = sqrt(delta[0] * delta[0] +
+                                 delta[1] * delta[1] +
+                                 delta[2] * delta[2]);
+
+  // Note: w is first in the constructor.
+  Eigen::Quaterniond q_delta(cos(delta_norm),
+                             sin(delta_norm) / delta_norm * delta[0],
+                             sin(delta_norm) / delta_norm * delta[1],
+                             sin(delta_norm) / delta_norm * delta[2]);
+
+  Eigen::Quaterniond x_plus_delta = q_delta * x;
+  QuaternionParameterizationTestHelper<EigenQuaternionParameterization,
+                                       EigenQuaternionPlus>(
+      x.coeffs().data(), delta, x_plus_delta.coeffs().data());
+}
+
+// Functor needed to implement automatically differentiated Plus for
+// homogeneous vectors. Note this explicitly defined for vectors of size 4.
+struct HomogeneousVectorParameterizationPlus {
+  template<typename Scalar>
+  bool operator()(const Scalar* p_x, const Scalar* p_delta,
+                  Scalar* p_x_plus_delta) const {
+    Eigen::Map<const Eigen::Matrix<Scalar, 4, 1> > x(p_x);
+    Eigen::Map<const Eigen::Matrix<Scalar, 3, 1> > delta(p_delta);
+    Eigen::Map<Eigen::Matrix<Scalar, 4, 1> > x_plus_delta(p_x_plus_delta);
+
+    const Scalar squared_norm_delta =
+        delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+    Eigen::Matrix<Scalar, 4, 1> y;
+    Scalar one_half(0.5);
+    if (squared_norm_delta > Scalar(0.0)) {
+      Scalar norm_delta = sqrt(squared_norm_delta);
+      Scalar norm_delta_div_2 = 0.5 * norm_delta;
+      const Scalar sin_delta_by_delta = sin(norm_delta_div_2) /
+          norm_delta_div_2;
+      y[0] = sin_delta_by_delta * delta[0] * one_half;
+      y[1] = sin_delta_by_delta * delta[1] * one_half;
+      y[2] = sin_delta_by_delta * delta[2] * one_half;
+      y[3] = cos(norm_delta_div_2);
+
+    } else {
+      // We do not just use y = [0,0,0,1] here because that is a
+      // constant and when used for automatic differentiation will
+      // lead to a zero derivative. Instead we take a first order
+      // approximation and evaluate it at zero.
+      y[0] = delta[0] * one_half;
+      y[1] = delta[1] * one_half;
+      y[2] = delta[2] * one_half;
+      y[3] = Scalar(1.0);
+    }
+
+    Eigen::Matrix<Scalar, Eigen::Dynamic, 1> v(4);
+    Scalar beta;
+    internal::ComputeHouseholderVector<Scalar>(x, &v, &beta);
+
+    x_plus_delta = x.norm() * (y - v * (beta * v.dot(y)));
+
+    return true;
+  }
+};
+
+void HomogeneousVectorParameterizationHelper(const double* x,
+                                             const double* delta) {
+  const double kTolerance = 1e-14;
+
+  HomogeneousVectorParameterization homogeneous_vector_parameterization(4);
+
+  // Ensure the update maintains the norm.
+  double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+  homogeneous_vector_parameterization.Plus(x, delta, x_plus_delta);
+
+  const double x_plus_delta_norm =
+      sqrt(x_plus_delta[0] * x_plus_delta[0] +
+           x_plus_delta[1] * x_plus_delta[1] +
+           x_plus_delta[2] * x_plus_delta[2] +
+           x_plus_delta[3] * x_plus_delta[3]);
+
+  const double x_norm = sqrt(x[0] * x[0] + x[1] * x[1] +
+                             x[2] * x[2] + x[3] * x[3]);
+
+  EXPECT_NEAR(x_plus_delta_norm, x_norm, kTolerance);
+
+  // Autodiff jacobian at delta_x = 0.
+  AutoDiffLocalParameterization<HomogeneousVectorParameterizationPlus, 4, 3>
+      autodiff_jacobian;
+
+  double jacobian_autodiff[12];
+  double jacobian_analytic[12];
+
+  homogeneous_vector_parameterization.ComputeJacobian(x, jacobian_analytic);
+  autodiff_jacobian.ComputeJacobian(x, jacobian_autodiff);
+
+  for (int i = 0; i < 12; ++i) {
+    EXPECT_TRUE(ceres::IsFinite(jacobian_analytic[i]));
+    EXPECT_NEAR(jacobian_analytic[i], jacobian_autodiff[i], kTolerance)
+        << "Jacobian mismatch: i = " << i << ", " << jacobian_analytic[i] << " "
+        << jacobian_autodiff[i];
+  }
+}
+
+TEST(HomogeneousVectorParameterization, ZeroTest) {
+  double x[4] = {0.0, 0.0, 0.0, 1.0};
+  Normalize<4>(x);
+  double delta[3] = {0.0, 0.0, 0.0};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, NearZeroTest1) {
+  double x[4] = {1e-5, 1e-5, 1e-5, 1.0};
+  Normalize<4>(x);
+  double delta[3] = {0.0, 1.0, 0.0};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, NearZeroTest2) {
+  double x[4] = {0.001, 0.0, 0.0, 0.0};
+  double delta[3] = {0.0, 1.0, 0.0};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest1) {
+  double x[4] = {0.52, 0.25, 0.15, 0.45};
+  Normalize<4>(x);
+  double delta[3] = {0.0, 1.0, -0.5};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest2) {
+  double x[4] = {0.87, -0.25, -0.34, 0.45};
+  Normalize<4>(x);
+  double delta[3] = {0.0, 0.0, -0.5};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest3) {
+  double x[4] = {0.0, 0.0, 0.0, 2.0};
+  double delta[3] = {0.0, 0.0, 0};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest4) {
+  double x[4] = {0.2, -1.0, 0.0, 2.0};
+  double delta[3] = {1.4, 0.0, -0.5};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, AwayFromZeroTest5) {
+  double x[4] = {2.0, 0.0, 0.0, 0.0};
+  double delta[3] = {1.4, 0.0, -0.5};
+
+  HomogeneousVectorParameterizationHelper(x, delta);
+}
+
+TEST(HomogeneousVectorParameterization, DeathTests) {
+  EXPECT_DEATH_IF_SUPPORTED(HomogeneousVectorParameterization x(1), "size");
+}
+
+
+class ProductParameterizationTest : public ::testing::Test {
+ protected :
+  virtual void SetUp() {
+    const int global_size1 = 5;
+    std::vector<int> constant_parameters1;
+    constant_parameters1.push_back(2);
+    param1_.reset(new SubsetParameterization(global_size1,
+                                             constant_parameters1));
+
+    const int global_size2 = 3;
+    std::vector<int> constant_parameters2;
+    constant_parameters2.push_back(0);
+    constant_parameters2.push_back(1);
+    param2_.reset(new SubsetParameterization(global_size2,
+                                             constant_parameters2));
+
+    const int global_size3 = 4;
+    std::vector<int> constant_parameters3;
+    constant_parameters3.push_back(1);
+    param3_.reset(new SubsetParameterization(global_size3,
+                                             constant_parameters3));
+
+    const int global_size4 = 2;
+    std::vector<int> constant_parameters4;
+    constant_parameters4.push_back(1);
+    param4_.reset(new SubsetParameterization(global_size4,
+                                             constant_parameters4));
+  }
+
+  scoped_ptr<LocalParameterization> param1_;
+  scoped_ptr<LocalParameterization> param2_;
+  scoped_ptr<LocalParameterization> param3_;
+  scoped_ptr<LocalParameterization> param4_;
+};
+
+TEST_F(ProductParameterizationTest, LocalAndGlobalSize2) {
+  LocalParameterization* param1 = param1_.release();
+  LocalParameterization* param2 = param2_.release();
+
+  ProductParameterization product_param(param1, param2);
+  EXPECT_EQ(product_param.LocalSize(),
+            param1->LocalSize() + param2->LocalSize());
+  EXPECT_EQ(product_param.GlobalSize(),
+            param1->GlobalSize() + param2->GlobalSize());
+}
+
+
+TEST_F(ProductParameterizationTest, LocalAndGlobalSize3) {
+  LocalParameterization* param1 = param1_.release();
+  LocalParameterization* param2 = param2_.release();
+  LocalParameterization* param3 = param3_.release();
+
+  ProductParameterization product_param(param1, param2, param3);
+  EXPECT_EQ(product_param.LocalSize(),
+            param1->LocalSize() + param2->LocalSize() + param3->LocalSize());
+  EXPECT_EQ(product_param.GlobalSize(),
+            param1->GlobalSize() + param2->GlobalSize() + param3->GlobalSize());
+}
+
+TEST_F(ProductParameterizationTest, LocalAndGlobalSize4) {
+  LocalParameterization* param1 = param1_.release();
+  LocalParameterization* param2 = param2_.release();
+  LocalParameterization* param3 = param3_.release();
+  LocalParameterization* param4 = param4_.release();
+
+  ProductParameterization product_param(param1, param2, param3, param4);
+  EXPECT_EQ(product_param.LocalSize(),
+            param1->LocalSize() +
+            param2->LocalSize() +
+            param3->LocalSize() +
+            param4->LocalSize());
+  EXPECT_EQ(product_param.GlobalSize(),
+            param1->GlobalSize() +
+            param2->GlobalSize() +
+            param3->GlobalSize() +
+            param4->GlobalSize());
+}
+
+TEST_F(ProductParameterizationTest, Plus) {
+  LocalParameterization* param1 = param1_.release();
+  LocalParameterization* param2 = param2_.release();
+  LocalParameterization* param3 = param3_.release();
+  LocalParameterization* param4 = param4_.release();
+
+  ProductParameterization product_param(param1, param2, param3, param4);
+  std::vector<double> x(product_param.GlobalSize(), 0.0);
+  std::vector<double> delta(product_param.LocalSize(), 0.0);
+  std::vector<double> x_plus_delta_expected(product_param.GlobalSize(), 0.0);
+  std::vector<double> x_plus_delta(product_param.GlobalSize(), 0.0);
+
+  for (int i = 0; i < product_param.GlobalSize(); ++i) {
+    x[i] = RandNormal();
+  }
+
+  for (int i = 0; i < product_param.LocalSize(); ++i) {
+    delta[i] = RandNormal();
+  }
+
+  EXPECT_TRUE(product_param.Plus(&x[0], &delta[0], &x_plus_delta_expected[0]));
+  int x_cursor = 0;
+  int delta_cursor = 0;
+
+  EXPECT_TRUE(param1->Plus(&x[x_cursor],
+                           &delta[delta_cursor],
+                           &x_plus_delta[x_cursor]));
+  x_cursor += param1->GlobalSize();
+  delta_cursor += param1->LocalSize();
+
+  EXPECT_TRUE(param2->Plus(&x[x_cursor],
+                           &delta[delta_cursor],
+                           &x_plus_delta[x_cursor]));
+  x_cursor += param2->GlobalSize();
+  delta_cursor += param2->LocalSize();
+
+  EXPECT_TRUE(param3->Plus(&x[x_cursor],
+                           &delta[delta_cursor],
+                           &x_plus_delta[x_cursor]));
+  x_cursor += param3->GlobalSize();
+  delta_cursor += param3->LocalSize();
+
+  EXPECT_TRUE(param4->Plus(&x[x_cursor],
+                           &delta[delta_cursor],
+                           &x_plus_delta[x_cursor]));
+  x_cursor += param4->GlobalSize();
+  delta_cursor += param4->LocalSize();
+
+  for (int i = 0; i < x.size(); ++i) {
+    EXPECT_EQ(x_plus_delta[i], x_plus_delta_expected[i]);
+  }
+}
+
+TEST_F(ProductParameterizationTest, ComputeJacobian) {
+  LocalParameterization* param1 = param1_.release();
+  LocalParameterization* param2 = param2_.release();
+  LocalParameterization* param3 = param3_.release();
+  LocalParameterization* param4 = param4_.release();
+
+  ProductParameterization product_param(param1, param2, param3, param4);
+  std::vector<double> x(product_param.GlobalSize(), 0.0);
+
+  for (int i = 0; i < product_param.GlobalSize(); ++i) {
+    x[i] = RandNormal();
+  }
+
+  Matrix jacobian = Matrix::Random(product_param.GlobalSize(),
+                                   product_param.LocalSize());
+  EXPECT_TRUE(product_param.ComputeJacobian(&x[0], jacobian.data()));
+  int x_cursor = 0;
+  int delta_cursor = 0;
+
+  Matrix jacobian1(param1->GlobalSize(), param1->LocalSize());
+  EXPECT_TRUE(param1->ComputeJacobian(&x[x_cursor], jacobian1.data()));
+  jacobian.block(x_cursor, delta_cursor,
+                 param1->GlobalSize(),
+                 param1->LocalSize())
+      -= jacobian1;
+  x_cursor += param1->GlobalSize();
+  delta_cursor += param1->LocalSize();
+
+  Matrix jacobian2(param2->GlobalSize(), param2->LocalSize());
+  EXPECT_TRUE(param2->ComputeJacobian(&x[x_cursor], jacobian2.data()));
+  jacobian.block(x_cursor, delta_cursor,
+                 param2->GlobalSize(),
+                 param2->LocalSize())
+      -= jacobian2;
+  x_cursor += param2->GlobalSize();
+  delta_cursor += param2->LocalSize();
+
+  Matrix jacobian3(param3->GlobalSize(), param3->LocalSize());
+  EXPECT_TRUE(param3->ComputeJacobian(&x[x_cursor], jacobian3.data()));
+  jacobian.block(x_cursor, delta_cursor,
+                 param3->GlobalSize(),
+                 param3->LocalSize())
+      -= jacobian3;
+  x_cursor += param3->GlobalSize();
+  delta_cursor += param3->LocalSize();
+
+  Matrix jacobian4(param4->GlobalSize(), param4->LocalSize());
+  EXPECT_TRUE(param4->ComputeJacobian(&x[x_cursor], jacobian4.data()));
+  jacobian.block(x_cursor, delta_cursor,
+                 param4->GlobalSize(),
+                 param4->LocalSize())
+      -= jacobian4;
+  x_cursor += param4->GlobalSize();
+  delta_cursor += param4->LocalSize();
+
+  EXPECT_NEAR(jacobian.norm(), 0.0, std::numeric_limits<double>::epsilon());
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/loss_function.cc b/internal/ceres/loss_function.cc
new file mode 100644
index 0000000..eb50267
--- /dev/null
+++ b/internal/ceres/loss_function.cc
@@ -0,0 +1,174 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Purpose: See .h file.
+
+#include "ceres/loss_function.h"
+
+#include <cmath>
+#include <cstddef>
+#include <limits>
+
+namespace ceres {
+
+void TrivialLoss::Evaluate(double s, double rho[3]) const {
+  rho[0] = s;
+  rho[1] = 1.0;
+  rho[2] = 0.0;
+}
+
+void HuberLoss::Evaluate(double s, double rho[3]) const {
+  if (s > b_) {
+    // Outlier region.
+    // 'r' is always positive.
+    const double r = sqrt(s);
+    rho[0] = 2.0 * a_ * r - b_;
+    rho[1] = std::max(std::numeric_limits<double>::min(), a_ / r);
+    rho[2] = - rho[1] / (2.0 * s);
+  } else {
+    // Inlier region.
+    rho[0] = s;
+    rho[1] = 1.0;
+    rho[2] = 0.0;
+  }
+}
+
+void SoftLOneLoss::Evaluate(double s, double rho[3]) const {
+  const double sum = 1.0 + s * c_;
+  const double tmp = sqrt(sum);
+  // 'sum' and 'tmp' are always positive, assuming that 's' is.
+  rho[0] = 2.0 * b_ * (tmp - 1.0);
+  rho[1] = std::max(std::numeric_limits<double>::min(), 1.0 / tmp);
+  rho[2] = - (c_ * rho[1]) / (2.0 * sum);
+}
+
+void CauchyLoss::Evaluate(double s, double rho[3]) const {
+  const double sum = 1.0 + s * c_;
+  const double inv = 1.0 / sum;
+  // 'sum' and 'inv' are always positive, assuming that 's' is.
+  rho[0] = b_ * log(sum);
+  rho[1] = std::max(std::numeric_limits<double>::min(), inv);
+  rho[2] = - c_ * (inv * inv);
+}
+
+void ArctanLoss::Evaluate(double s, double rho[3]) const {
+  const double sum = 1 + s * s * b_;
+  const double inv = 1 / sum;
+  // 'sum' and 'inv' are always positive.
+  rho[0] = a_ * atan2(s, a_);
+  rho[1] = std::max(std::numeric_limits<double>::min(), inv);
+  rho[2] = -2.0 * s * b_ * (inv * inv);
+}
+
+TolerantLoss::TolerantLoss(double a, double b)
+    : a_(a),
+      b_(b),
+      c_(b * log(1.0 + exp(-a / b))) {
+  CHECK_GE(a, 0.0);
+  CHECK_GT(b, 0.0);
+}
+
+void TolerantLoss::Evaluate(double s, double rho[3]) const {
+  const double x = (s - a_) / b_;
+  // The basic equation is rho[0] = b ln(1 + e^x).  However, if e^x is too
+  // large, it will overflow.  Since numerically 1 + e^x == e^x when the
+  // x is greater than about ln(2^53) for doubles, beyond this threshold
+  // we substitute x for ln(1 + e^x) as a numerically equivalent approximation.
+  static const double kLog2Pow53 = 36.7;  // ln(MathLimits<double>::kEpsilon).
+  if (x > kLog2Pow53) {
+    rho[0] = s - a_ - c_;
+    rho[1] = 1.0;
+    rho[2] = 0.0;
+  } else {
+    const double e_x = exp(x);
+    rho[0] = b_ * log(1.0 + e_x) - c_;
+    rho[1] = std::max(std::numeric_limits<double>::min(), e_x / (1.0 + e_x));
+    rho[2] = 0.5 / (b_ * (1.0 + cosh(x)));
+  }
+}
+
+void TukeyLoss::Evaluate(double s, double* rho) const {
+  if (s <= a_squared_) {
+    // Inlier region.
+    const double value = 1.0 - s / a_squared_;
+    const double value_sq = value * value;
+    rho[0] = a_squared_ / 6.0 * (1.0 - value_sq * value);
+    rho[1] = 0.5 * value_sq;
+    rho[2] = -1.0 / a_squared_ * value;
+  } else {
+    // Outlier region.
+    rho[0] = a_squared_ / 6.0;
+    rho[1] = 0.0;
+    rho[2] = 0.0;
+  }
+}
+
+ComposedLoss::ComposedLoss(const LossFunction* f, Ownership ownership_f,
+                           const LossFunction* g, Ownership ownership_g)
+    : f_(CHECK_NOTNULL(f)),
+      g_(CHECK_NOTNULL(g)),
+      ownership_f_(ownership_f),
+      ownership_g_(ownership_g) {
+}
+
+ComposedLoss::~ComposedLoss() {
+  if (ownership_f_ == DO_NOT_TAKE_OWNERSHIP) {
+    f_.release();
+  }
+  if (ownership_g_ == DO_NOT_TAKE_OWNERSHIP) {
+    g_.release();
+  }
+}
+
+void ComposedLoss::Evaluate(double s, double rho[3]) const {
+  double rho_f[3], rho_g[3];
+  g_->Evaluate(s, rho_g);
+  f_->Evaluate(rho_g[0], rho_f);
+  rho[0] = rho_f[0];
+  // f'(g(s)) * g'(s).
+  rho[1] = rho_f[1] * rho_g[1];
+  // f''(g(s)) * g'(s) * g'(s) + f'(g(s)) * g''(s).
+  rho[2] = rho_f[2] * rho_g[1] * rho_g[1] + rho_f[1] * rho_g[2];
+}
+
+void ScaledLoss::Evaluate(double s, double rho[3]) const {
+  if (rho_.get() == NULL) {
+    rho[0] = a_ * s;
+    rho[1] = a_;
+    rho[2] = 0.0;
+  } else {
+    rho_->Evaluate(s, rho);
+    rho[0] *= a_;
+    rho[1] *= a_;
+    rho[2] *= a_;
+  }
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/loss_function_test.cc b/internal/ceres/loss_function_test.cc
new file mode 100644
index 0000000..406ace7
--- /dev/null
+++ b/internal/ceres/loss_function_test.cc
@@ -0,0 +1,252 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/loss_function.h"
+
+#include <cstddef>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Helper function for testing a LossFunction callback.
+//
+// Compares the values of rho'(s) and rho''(s) computed by the
+// callback with estimates obtained by symmetric finite differencing
+// of rho(s).
+void AssertLossFunctionIsValid(const LossFunction& loss, double s) {
+  CHECK_GT(s, 0);
+
+  // Evaluate rho(s), rho'(s) and rho''(s).
+  double rho[3];
+  loss.Evaluate(s, rho);
+
+  // Use symmetric finite differencing to estimate rho'(s) and
+  // rho''(s).
+  const double kH = 1e-4;
+  // Values at s + kH.
+  double fwd[3];
+  // Values at s - kH.
+  double bwd[3];
+  loss.Evaluate(s + kH, fwd);
+  loss.Evaluate(s - kH, bwd);
+
+  // First derivative.
+  const double fd_1 = (fwd[0] - bwd[0]) / (2 * kH);
+  ASSERT_NEAR(fd_1, rho[1], 1e-6);
+
+  // Second derivative.
+  const double fd_2 = (fwd[0] - 2*rho[0] + bwd[0]) / (kH * kH);
+  ASSERT_NEAR(fd_2, rho[2], 1e-6);
+}
+}  // namespace
+
+// Try two values of the scaling a = 0.7 and 1.3
+// (where scaling makes sense) and of the squared norm
+// s = 0.357 and 1.792
+//
+// Note that for the Huber loss the test exercises both code paths
+//  (i.e. both small and large values of s).
+
+TEST(LossFunction, TrivialLoss) {
+  AssertLossFunctionIsValid(TrivialLoss(), 0.357);
+  AssertLossFunctionIsValid(TrivialLoss(), 1.792);
+}
+
+TEST(LossFunction, HuberLoss) {
+  AssertLossFunctionIsValid(HuberLoss(0.7), 0.357);
+  AssertLossFunctionIsValid(HuberLoss(0.7), 1.792);
+  AssertLossFunctionIsValid(HuberLoss(1.3), 0.357);
+  AssertLossFunctionIsValid(HuberLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, SoftLOneLoss) {
+  AssertLossFunctionIsValid(SoftLOneLoss(0.7), 0.357);
+  AssertLossFunctionIsValid(SoftLOneLoss(0.7), 1.792);
+  AssertLossFunctionIsValid(SoftLOneLoss(1.3), 0.357);
+  AssertLossFunctionIsValid(SoftLOneLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, CauchyLoss) {
+  AssertLossFunctionIsValid(CauchyLoss(0.7), 0.357);
+  AssertLossFunctionIsValid(CauchyLoss(0.7), 1.792);
+  AssertLossFunctionIsValid(CauchyLoss(1.3), 0.357);
+  AssertLossFunctionIsValid(CauchyLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, ArctanLoss) {
+  AssertLossFunctionIsValid(ArctanLoss(0.7), 0.357);
+  AssertLossFunctionIsValid(ArctanLoss(0.7), 1.792);
+  AssertLossFunctionIsValid(ArctanLoss(1.3), 0.357);
+  AssertLossFunctionIsValid(ArctanLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, TolerantLoss) {
+  AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 0.357);
+  AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 1.792);
+  AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 55.5);
+  AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 0.357);
+  AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 1.792);
+  AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 55.5);
+  // Check the value at zero is actually zero.
+  double rho[3];
+  TolerantLoss(0.7, 0.4).Evaluate(0.0, rho);
+  ASSERT_NEAR(rho[0], 0.0, 1e-6);
+  // Check that loss before and after the approximation threshold are good.
+  // A threshold of 36.7 is used by the implementation.
+  AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.6);
+  AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.7);
+  AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.8);
+  AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 1000.0);
+}
+
+TEST(LossFunction, TukeyLoss) {
+  AssertLossFunctionIsValid(TukeyLoss(0.7), 0.357);
+  AssertLossFunctionIsValid(TukeyLoss(0.7), 1.792);
+  AssertLossFunctionIsValid(TukeyLoss(1.3), 0.357);
+  AssertLossFunctionIsValid(TukeyLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, ComposedLoss) {
+  {
+    HuberLoss f(0.7);
+    CauchyLoss g(1.3);
+    ComposedLoss c(&f, DO_NOT_TAKE_OWNERSHIP, &g, DO_NOT_TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(c, 0.357);
+    AssertLossFunctionIsValid(c, 1.792);
+  }
+  {
+    CauchyLoss f(0.7);
+    HuberLoss g(1.3);
+    ComposedLoss c(&f, DO_NOT_TAKE_OWNERSHIP, &g, DO_NOT_TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(c, 0.357);
+    AssertLossFunctionIsValid(c, 1.792);
+  }
+}
+
+TEST(LossFunction, ScaledLoss) {
+  // Wrap a few loss functions, and a few scale factors. This can't combine
+  // construction with the call to AssertLossFunctionIsValid() because Apple's
+  // GCC is unable to eliminate the copy of ScaledLoss, which is not copyable.
+  {
+    ScaledLoss scaled_loss(NULL, 6, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 0.323);
+  }
+  {
+    ScaledLoss scaled_loss(new TrivialLoss(), 10, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 0.357);
+  }
+  {
+    ScaledLoss scaled_loss(new HuberLoss(0.7), 0.1, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 1.792);
+  }
+  {
+    ScaledLoss scaled_loss(new SoftLOneLoss(1.3), 0.1, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 1.792);
+  }
+  {
+    ScaledLoss scaled_loss(new CauchyLoss(1.3), 10, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 1.792);
+  }
+  {
+    ScaledLoss scaled_loss(new ArctanLoss(1.3), 10, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 1.792);
+  }
+  {
+    ScaledLoss scaled_loss(
+        new TolerantLoss(1.3, 0.1), 10, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 1.792);
+  }
+  {
+    ScaledLoss scaled_loss(
+        new ComposedLoss(
+            new HuberLoss(0.8), TAKE_OWNERSHIP,
+            new TolerantLoss(1.3, 0.5), TAKE_OWNERSHIP), 10, TAKE_OWNERSHIP);
+    AssertLossFunctionIsValid(scaled_loss, 1.792);
+  }
+}
+
+TEST(LossFunction, LossFunctionWrapper) {
+  // Initialization
+  HuberLoss loss_function1(1.0);
+  LossFunctionWrapper loss_function_wrapper(new HuberLoss(1.0),
+                                            TAKE_OWNERSHIP);
+
+  double s = 0.862;
+  double rho_gold[3];
+  double rho[3];
+  loss_function1.Evaluate(s, rho_gold);
+  loss_function_wrapper.Evaluate(s, rho);
+  for (int i = 0; i < 3; ++i) {
+    EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+  }
+
+  // Resetting
+  HuberLoss loss_function2(0.5);
+  loss_function_wrapper.Reset(new HuberLoss(0.5), TAKE_OWNERSHIP);
+  loss_function_wrapper.Evaluate(s, rho);
+  loss_function2.Evaluate(s, rho_gold);
+  for (int i = 0; i < 3; ++i) {
+    EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+  }
+
+  // Not taking ownership.
+  HuberLoss loss_function3(0.3);
+  loss_function_wrapper.Reset(&loss_function3, DO_NOT_TAKE_OWNERSHIP);
+  loss_function_wrapper.Evaluate(s, rho);
+  loss_function3.Evaluate(s, rho_gold);
+  for (int i = 0; i < 3; ++i) {
+    EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+  }
+
+  // Set to NULL
+  TrivialLoss loss_function4;
+  loss_function_wrapper.Reset(NULL, TAKE_OWNERSHIP);
+  loss_function_wrapper.Evaluate(s, rho);
+  loss_function4.Evaluate(s, rho_gold);
+  for (int i = 0; i < 3; ++i) {
+    EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+  }
+
+  // Set to NULL, not taking ownership
+  loss_function_wrapper.Reset(NULL, DO_NOT_TAKE_OWNERSHIP);
+  loss_function_wrapper.Evaluate(s, rho);
+  loss_function4.Evaluate(s, rho_gold);
+  for (int i = 0; i < 3; ++i) {
+    EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+  }
+
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/low_rank_inverse_hessian.cc b/internal/ceres/low_rank_inverse_hessian.cc
new file mode 100644
index 0000000..1c6c992
--- /dev/null
+++ b/internal/ceres/low_rank_inverse_hessian.cc
@@ -0,0 +1,188 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <list>
+
+#include "ceres/internal/eigen.h"
+#include "ceres/low_rank_inverse_hessian.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::list;
+
+// The (L)BFGS algorithm explicitly requires that the secant equation:
+//
+//   B_{k+1} * s_k = y_k
+//
+// Is satisfied at each iteration, where B_{k+1} is the approximated
+// Hessian at the k+1-th iteration, s_k = (x_{k+1} - x_{k}) and
+// y_k = (grad_{k+1} - grad_{k}). As the approximated Hessian must be
+// positive definite, this is equivalent to the condition:
+//
+//   s_k^T * y_k > 0     [s_k^T * B_{k+1} * s_k = s_k^T * y_k > 0]
+//
+// This condition would always be satisfied if the function was strictly
+// convex, alternatively, it is always satisfied provided that a Wolfe line
+// search is used (even if the function is not strictly convex).  See [1]
+// (p138) for a proof.
+//
+// Although Ceres will always use a Wolfe line search when using (L)BFGS,
+// practical implementation considerations mean that the line search
+// may return a point that satisfies only the Armijo condition, and thus
+// could violate the Secant equation.  As such, we will only use a step
+// to update the Hessian approximation if:
+//
+//   s_k^T * y_k > tolerance
+//
+// It is important that tolerance is very small (and >=0), as otherwise we
+// might skip the update too often and fail to capture important curvature
+// information in the Hessian.  For example going from 1e-10 -> 1e-14 improves
+// the NIST benchmark score from 43/54 to 53/54.
+//
+// [1] Nocedal J., Wright S., Numerical Optimization, 2nd Ed. Springer, 1999.
+//
+// TODO(alexs.mac): Consider using Damped BFGS update instead of
+// skipping update.
+const double kLBFGSSecantConditionHessianUpdateTolerance = 1e-14;
+
+LowRankInverseHessian::LowRankInverseHessian(
+    int num_parameters,
+    int max_num_corrections,
+    bool use_approximate_eigenvalue_scaling)
+    : num_parameters_(num_parameters),
+      max_num_corrections_(max_num_corrections),
+      use_approximate_eigenvalue_scaling_(use_approximate_eigenvalue_scaling),
+      approximate_eigenvalue_scale_(1.0),
+      delta_x_history_(num_parameters, max_num_corrections),
+      delta_gradient_history_(num_parameters, max_num_corrections),
+      delta_x_dot_delta_gradient_(max_num_corrections) {
+}
+
+bool LowRankInverseHessian::Update(const Vector& delta_x,
+                                   const Vector& delta_gradient) {
+  const double delta_x_dot_delta_gradient = delta_x.dot(delta_gradient);
+  if (delta_x_dot_delta_gradient <=
+      kLBFGSSecantConditionHessianUpdateTolerance) {
+    VLOG(2) << "Skipping L-BFGS Update, delta_x_dot_delta_gradient too "
+            << "small: " << delta_x_dot_delta_gradient << ", tolerance: "
+            << kLBFGSSecantConditionHessianUpdateTolerance
+            << " (Secant condition).";
+    return false;
+  }
+
+
+  int next = indices_.size();
+  // Once the size of the list reaches max_num_corrections_, simulate
+  // a circular buffer by removing the first element of the list and
+  // making it the next position where the LBFGS history is stored.
+  if (next == max_num_corrections_) {
+    next = indices_.front();
+    indices_.pop_front();
+  }
+
+  indices_.push_back(next);
+  delta_x_history_.col(next) = delta_x;
+  delta_gradient_history_.col(next) = delta_gradient;
+  delta_x_dot_delta_gradient_(next) = delta_x_dot_delta_gradient;
+  approximate_eigenvalue_scale_ =
+      delta_x_dot_delta_gradient / delta_gradient.squaredNorm();
+  return true;
+}
+
+void LowRankInverseHessian::RightMultiply(const double* x_ptr,
+                                          double* y_ptr) const {
+  ConstVectorRef gradient(x_ptr, num_parameters_);
+  VectorRef search_direction(y_ptr, num_parameters_);
+
+  search_direction = gradient;
+
+  const int num_corrections = indices_.size();
+  Vector alpha(num_corrections);
+
+  for (list<int>::const_reverse_iterator it = indices_.rbegin();
+       it != indices_.rend();
+       ++it) {
+    const double alpha_i = delta_x_history_.col(*it).dot(search_direction) /
+        delta_x_dot_delta_gradient_(*it);
+    search_direction -= alpha_i * delta_gradient_history_.col(*it);
+    alpha(*it) = alpha_i;
+  }
+
+  if (use_approximate_eigenvalue_scaling_) {
+    // Rescale the initial inverse Hessian approximation (H_0) to be iteratively
+    // updated so that it is of similar 'size' to the true inverse Hessian along
+    // the most recent search direction.  As shown in [1]:
+    //
+    //   \gamma_k = (delta_gradient_{k-1}' * delta_x_{k-1}) /
+    //              (delta_gradient_{k-1}' * delta_gradient_{k-1})
+    //
+    // Satisfies:
+    //
+    //   (1 / \lambda_m) <= \gamma_k <= (1 / \lambda_1)
+    //
+    // Where \lambda_1 & \lambda_m are the smallest and largest eigenvalues of
+    // the true Hessian (not the inverse) along the most recent search direction
+    // respectively.  Thus \gamma is an approximate eigenvalue of the true
+    // inverse Hessian, and choosing: H_0 = I * \gamma will yield a starting
+    // point that has a similar scale to the true inverse Hessian.  This
+    // technique is widely reported to often improve convergence, however this
+    // is not universally true, particularly if there are errors in the initial
+    // jacobians, or if there are significant differences in the sensitivity
+    // of the problem to the parameters (i.e. the range of the magnitudes of
+    // the components of the gradient is large).
+    //
+    // The original origin of this rescaling trick is somewhat unclear, the
+    // earliest reference appears to be Oren [1], however it is widely discussed
+    // without specific attributation in various texts including [2] (p143/178).
+    //
+    // [1] Oren S.S., Self-scaling variable metric (SSVM) algorithms Part II:
+    //     Implementation and experiments, Management Science,
+    //     20(5), 863-874, 1974.
+    // [2] Nocedal J., Wright S., Numerical Optimization, Springer, 1999.
+    search_direction *= approximate_eigenvalue_scale_;
+
+    VLOG(4) << "Applying approximate_eigenvalue_scale: "
+            << approximate_eigenvalue_scale_ << " to initial inverse Hessian "
+            << "approximation.";
+  }
+
+  for (list<int>::const_iterator it = indices_.begin();
+       it != indices_.end();
+       ++it) {
+    const double beta = delta_gradient_history_.col(*it).dot(search_direction) /
+        delta_x_dot_delta_gradient_(*it);
+    search_direction += delta_x_history_.col(*it) * (alpha(*it) - beta);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/low_rank_inverse_hessian.h b/internal/ceres/low_rank_inverse_hessian.h
new file mode 100644
index 0000000..2c768c2
--- /dev/null
+++ b/internal/ceres/low_rank_inverse_hessian.h
@@ -0,0 +1,108 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Limited memory positive definite approximation to the inverse
+// Hessian, using the LBFGS algorithm
+
+#ifndef CERES_INTERNAL_LOW_RANK_INVERSE_HESSIAN_H_
+#define CERES_INTERNAL_LOW_RANK_INVERSE_HESSIAN_H_
+
+#include <list>
+
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_operator.h"
+
+namespace ceres {
+namespace internal {
+
+// LowRankInverseHessian is a positive definite approximation to the
+// Hessian using the limited memory variant of the
+// Broyden-Fletcher-Goldfarb-Shanno (BFGS)secant formula for
+// approximating the Hessian.
+//
+// Other update rules like the Davidon-Fletcher-Powell (DFP) are
+// possible, but the BFGS rule is considered the best performing one.
+//
+// The limited memory variant was developed by Nocedal and further
+// enhanced with scaling rule by Byrd, Nocedal and Schanbel.
+//
+// Nocedal, J. (1980). "Updating Quasi-Newton Matrices with Limited
+// Storage". Mathematics of Computation 35 (151): 773–782.
+//
+// Byrd, R. H.; Nocedal, J.; Schnabel, R. B. (1994).
+// "Representations of Quasi-Newton Matrices and their use in
+// Limited Memory Methods". Mathematical Programming 63 (4):
+class LowRankInverseHessian : public LinearOperator {
+ public:
+  // num_parameters is the row/column size of the Hessian.
+  // max_num_corrections is the rank of the Hessian approximation.
+  // use_approximate_eigenvalue_scaling controls whether the initial
+  // inverse Hessian used during Right/LeftMultiply() is scaled by
+  // the approximate eigenvalue of the true inverse Hessian at the
+  // current operating point.
+  // The approximation uses:
+  // 2 * max_num_corrections * num_parameters + max_num_corrections
+  // doubles.
+  LowRankInverseHessian(int num_parameters,
+                        int max_num_corrections,
+                        bool use_approximate_eigenvalue_scaling);
+  virtual ~LowRankInverseHessian() {}
+
+  // Update the low rank approximation. delta_x is the change in the
+  // domain of Hessian, and delta_gradient is the change in the
+  // gradient.  The update copies the delta_x and delta_gradient
+  // vectors, and gets rid of the oldest delta_x and delta_gradient
+  // vectors if the number of corrections is already equal to
+  // max_num_corrections.
+  bool Update(const Vector& delta_x, const Vector& delta_gradient);
+
+  // LinearOperator interface
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual void LeftMultiply(const double* x, double* y) const {
+    RightMultiply(x, y);
+  }
+  virtual int num_rows() const { return num_parameters_; }
+  virtual int num_cols() const { return num_parameters_; }
+
+ private:
+  const int num_parameters_;
+  const int max_num_corrections_;
+  const bool use_approximate_eigenvalue_scaling_;
+  double approximate_eigenvalue_scale_;
+  ColMajorMatrix delta_x_history_;
+  ColMajorMatrix delta_gradient_history_;
+  Vector delta_x_dot_delta_gradient_;
+  std::list<int> indices_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_LOW_RANK_INVERSE_HESSIAN_H_
diff --git a/internal/ceres/map_util.h b/internal/ceres/map_util.h
new file mode 100644
index 0000000..f55aee3
--- /dev/null
+++ b/internal/ceres/map_util.h
@@ -0,0 +1,130 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Originally by Anton Carver
+
+#ifndef CERES_INTERNAL_MAP_UTIL_H_
+#define CERES_INTERNAL_MAP_UTIL_H_
+
+#include <utility>
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// Perform a lookup in a map or hash_map, assuming that the key exists.
+// Crash if it does not.
+//
+// This is intended as a replacement for operator[] as an rvalue (for reading)
+// when the key is guaranteed to exist.
+//
+// operator[] is discouraged for several reasons:
+//  * It has a side-effect of inserting missing keys
+//  * It is not thread-safe (even when it is not inserting, it can still
+//      choose to resize the underlying storage)
+//  * It invalidates iterators (when it chooses to resize)
+//  * It default constructs a value object even if it doesn't need to
+//
+// This version assumes the key is printable, and includes it in the fatal log
+// message.
+template <class Collection>
+const typename Collection::value_type::second_type&
+FindOrDie(const Collection& collection,
+          const typename Collection::value_type::first_type& key) {
+  typename Collection::const_iterator it = collection.find(key);
+  CHECK(it != collection.end()) << "Map key not found: " << key;
+  return it->second;
+}
+
+// Perform a lookup in a map or hash_map.
+// If the key is present in the map then the value associated with that
+// key is returned, otherwise the value passed as a default is returned.
+template <class Collection>
+const typename Collection::value_type::second_type
+FindWithDefault(const Collection& collection,
+                const typename Collection::value_type::first_type& key,
+                const typename Collection::value_type::second_type& value) {
+  typename Collection::const_iterator it = collection.find(key);
+  if (it == collection.end()) {
+    return value;
+  }
+  return it->second;
+}
+
+// Insert a new key and value into a map or hash_map.
+// If the key is not present in the map the key and value are
+// inserted, otherwise nothing happens. True indicates that an insert
+// took place, false indicates the key was already present.
+template <class Collection>
+bool InsertIfNotPresent(
+    Collection * const collection,
+    const typename Collection::value_type::first_type& key,
+    const typename Collection::value_type::second_type& value) {
+  std::pair<typename Collection::iterator, bool> ret =
+      collection->insert(typename Collection::value_type(key, value));
+  return ret.second;
+}
+
+// Perform a lookup in a map or hash_map.
+// Same as above but the returned pointer is not const and can be used to change
+// the stored value.
+template <class Collection>
+typename Collection::value_type::second_type*
+FindOrNull(Collection& collection,  // NOLINT
+           const typename Collection::value_type::first_type& key) {
+  typename Collection::iterator it = collection.find(key);
+  if (it == collection.end()) {
+    return 0;
+  }
+  return &it->second;
+}
+
+// Test to see if a set, map, hash_set or hash_map contains a particular key.
+// Returns true if the key is in the collection.
+template <class Collection, class Key>
+bool ContainsKey(const Collection& collection, const Key& key) {
+  typename Collection::const_iterator it = collection.find(key);
+  return it != collection.end();
+}
+
+// Inserts a new key/value into a map or hash_map.
+// Dies if the key is already present.
+template<class Collection>
+void InsertOrDie(Collection* const collection,
+                 const typename Collection::value_type::first_type& key,
+                 const typename Collection::value_type::second_type& data) {
+  typedef typename Collection::value_type value_type;
+  CHECK(collection->insert(value_type(key, data)).second)
+    << "duplicate key: " << key;
+}
+
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_MAP_UTIL_H_
diff --git a/internal/ceres/miniglog/glog/logging.cc b/internal/ceres/miniglog/glog/logging.cc
new file mode 100644
index 0000000..372ecb0
--- /dev/null
+++ b/internal/ceres/miniglog/glog/logging.cc
@@ -0,0 +1,39 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "glog/logging.h"
+
+namespace google {
+
+// This is the set of log sinks. This must be in a separate library to ensure
+// that there is only one instance of this across the entire program.
+std::set<google::LogSink *> log_sinks_global;
+
+}  // namespace ceres
diff --git a/internal/ceres/miniglog/glog/logging.h b/internal/ceres/miniglog/glog/logging.h
new file mode 100644
index 0000000..0fdf382
--- /dev/null
+++ b/internal/ceres/miniglog/glog/logging.h
@@ -0,0 +1,425 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: settinger@google.com (Scott Ettinger)
+//         mierle@gmail.com (Keir Mierle)
+//
+// Simplified Glog style logging with Android support. Supported macros in
+// decreasing severity level per line:
+//
+//   VLOG(2), VLOG(N)
+//   VLOG(1),
+//   LOG(INFO), VLOG(0), LG
+//   LOG(WARNING),
+//   LOG(ERROR),
+//   LOG(FATAL),
+//
+// With VLOG(n), the output is directed to one of the 5 Android log levels:
+//
+//   2 - Verbose
+//   1 - Debug
+//   0 - Info
+//  -1 - Warning
+//  -2 - Error
+//  -3 - Fatal
+//
+// Any logging of level 2 and above is directed to the Verbose level. All
+// Android log output is tagged with the string "native".
+//
+// If the symbol ANDROID is not defined, all output goes to std::cerr.
+// This allows code to be built on a different system for debug.
+//
+// Portions of this code are taken from the GLOG package.  This code is only a
+// small subset of the GLOG functionality. Notable differences from GLOG
+// behavior include lack of support for displaying unprintable characters and
+// lack of stack trace information upon failure of the CHECK macros.  On
+// non-Android systems, log output goes to std::cerr and is not written to a
+// file.
+//
+// CHECK macros are defined to test for conditions within code.  Any CHECK that
+// fails will log the failure and terminate the application.
+// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
+//      "Check failed 3 >= 4".
+//
+// The following CHECK macros are defined:
+//
+//   CHECK(condition)        - fails if condition is false and logs condition.
+//   CHECK_NOTNULL(variable) - fails if the variable is NULL.
+//
+// The following binary check macros are also defined :
+//
+//   Macro                     Operator equivalent
+//   --------------------      -------------------
+//   CHECK_EQ(val1, val2)      val1 == val2
+//   CHECK_NE(val1, val2)      val1 != val2
+//   CHECK_GT(val1, val2)      val1 > val2
+//   CHECK_GE(val1, val2)      val1 >= val2
+//   CHECK_LT(val1, val2)      val1 < val2
+//   CHECK_LE(val1, val2)      val1 <= val2
+//
+// Debug only versions of all of the check macros are also defined.  These
+// macros generate no code in a release build, but avoid unused variable
+// warnings / errors.
+//
+// To use the debug only versions, prepend a D to the normal check macros, e.g.
+// DCHECK_EQ(a, b).
+
+#ifndef CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
+#define CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
+
+#ifdef ANDROID
+#  include <android/log.h>
+#endif  // ANDROID
+
+#include <algorithm>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+// For appropriate definition of CERES_EXPORT macro.
+#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+
+// Log severity level constants.
+const int FATAL   = -3;
+const int ERROR   = -2;
+const int WARNING = -1;
+const int INFO    =  0;
+
+// ------------------------- Glog compatibility ------------------------------
+
+namespace google {
+
+typedef int LogSeverity;
+const int INFO    = ::INFO;
+const int WARNING = ::WARNING;
+const int ERROR   = ::ERROR;
+const int FATAL   = ::FATAL;
+
+// Sink class used for integration with mock and test functions. If sinks are
+// added, all log output is also sent to each sink through the send function.
+// In this implementation, WaitTillSent() is called immediately after the send.
+// This implementation is not thread safe.
+class CERES_EXPORT LogSink {
+ public:
+  virtual ~LogSink() {}
+  virtual void send(LogSeverity severity,
+                    const char* full_filename,
+                    const char* base_filename,
+                    int line,
+                    const struct tm* tm_time,
+                    const char* message,
+                    size_t message_len) = 0;
+  virtual void WaitTillSent() = 0;
+};
+
+// Global set of log sinks. The actual object is defined in logging.cc.
+extern CERES_EXPORT std::set<LogSink *> log_sinks_global;
+
+inline void InitGoogleLogging(char *argv) {
+  // Do nothing; this is ignored.
+}
+
+// Note: the Log sink functions are not thread safe.
+inline void AddLogSink(LogSink *sink) {
+  // TODO(settinger): Add locks for thread safety.
+  log_sinks_global.insert(sink);
+}
+inline void RemoveLogSink(LogSink *sink) {
+  log_sinks_global.erase(sink);
+}
+
+}  // namespace google
+
+// ---------------------------- Logger Class --------------------------------
+
+// Class created for each use of the logging macros.
+// The logger acts as a stream and routes the final stream contents to the
+// Android logcat output at the proper filter level.  If ANDROID is not
+// defined, output is directed to std::cerr.  This class should not
+// be directly instantiated in code, rather it should be invoked through the
+// use of the log macros LG, LOG, or VLOG.
+class CERES_EXPORT MessageLogger {
+ public:
+  MessageLogger(const char *file, int line, const char *tag, int severity)
+    : file_(file), line_(line), tag_(tag), severity_(severity) {
+    // Pre-pend the stream with the file and line number.
+    StripBasename(std::string(file), &filename_only_);
+    stream_ << filename_only_ << ":" << line << " ";
+  }
+
+  // Output the contents of the stream to the proper channel on destruction.
+  ~MessageLogger() {
+    stream_ << "\n";
+
+#ifdef ANDROID
+    static const int android_log_levels[] = {
+        ANDROID_LOG_FATAL,    // LOG(FATAL)
+        ANDROID_LOG_ERROR,    // LOG(ERROR)
+        ANDROID_LOG_WARN,     // LOG(WARNING)
+        ANDROID_LOG_INFO,     // LOG(INFO), LG, VLOG(0)
+        ANDROID_LOG_DEBUG,    // VLOG(1)
+        ANDROID_LOG_VERBOSE,  // VLOG(2) .. VLOG(N)
+    };
+
+    // Bound the logging level.
+    const int kMaxVerboseLevel = 2;
+    int android_level_index = std::min(std::max(FATAL, severity_),
+                                       kMaxVerboseLevel) - FATAL;
+    int android_log_level = android_log_levels[android_level_index];
+
+    // Output the log string the Android log at the appropriate level.
+    __android_log_write(android_log_level, tag_.c_str(), stream_.str().c_str());
+
+    // Indicate termination if needed.
+    if (severity_ == FATAL) {
+      __android_log_write(ANDROID_LOG_FATAL,
+                          tag_.c_str(),
+                          "terminating.\n");
+    }
+#else
+    // If not building on Android, log all output to std::cerr.
+    std::cerr << stream_.str();
+#endif  // ANDROID
+
+    LogToSinks(severity_);
+    WaitForSinks();
+
+    // Android logging at level FATAL does not terminate execution, so abort()
+    // is still required to stop the program.
+    if (severity_ == FATAL) {
+      abort();
+    }
+  }
+
+  // Return the stream associated with the logger object.
+  std::stringstream &stream() { return stream_; }
+
+ private:
+  void LogToSinks(int severity) {
+    time_t rawtime;
+    time (&rawtime);
+
+    struct tm timeinfo;
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
+    // On Windows, use secure localtime_s not localtime.
+    localtime_s(&timeinfo, &rawtime);
+#else
+    // On non-Windows systems, use threadsafe localtime_r not localtime.
+    localtime_r(&rawtime, &timeinfo);
+#endif
+
+    std::set<google::LogSink*>::iterator iter;
+    // Send the log message to all sinks.
+    for (iter = google::log_sinks_global.begin();
+         iter != google::log_sinks_global.end(); ++iter) {
+      (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
+                    &timeinfo, stream_.str().c_str(), stream_.str().size());
+    }
+  }
+
+  void WaitForSinks() {
+    // TODO(settinger): Add locks for thread safety.
+    std::set<google::LogSink *>::iterator iter;
+
+    // Call WaitTillSent() for all sinks.
+    for (iter = google::log_sinks_global.begin();
+         iter != google::log_sinks_global.end(); ++iter) {
+      (*iter)->WaitTillSent();
+    }
+  }
+
+  void StripBasename(const std::string &full_path, std::string *filename) {
+    // TODO(settinger): Add support for OSs with different path separators.
+    const char kSeparator = '/';
+    size_t pos = full_path.rfind(kSeparator);
+    if (pos != std::string::npos) {
+      *filename = full_path.substr(pos + 1, std::string::npos);
+    } else {
+      *filename = full_path;
+    }
+  }
+
+  std::string file_;
+  std::string filename_only_;
+  int line_;
+  std::string tag_;
+  std::stringstream stream_;
+  int severity_;
+};
+
+// ---------------------- Logging Macro definitions --------------------------
+
+// This class is used to explicitly ignore values in the conditional
+// logging macros.  This avoids compiler warnings like "value computed
+// is not used" and "statement has no effect".
+class CERES_EXPORT LoggerVoidify {
+ public:
+  LoggerVoidify() { }
+  // This has to be an operator with a precedence lower than << but
+  // higher than ?:
+  void operator&(const std::ostream &s) { }
+};
+
+// Log only if condition is met.  Otherwise evaluates to void.
+#define LOG_IF(severity, condition) \
+    !(condition) ? (void) 0 : LoggerVoidify() & \
+      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+
+// Log only if condition is NOT met.  Otherwise evaluates to void.
+#define LOG_IF_FALSE(severity, condition) LOG_IF(severity, !(condition))
+
+// LG is a convenient shortcut for LOG(INFO). Its use is in new
+// google3 code is discouraged and the following shortcut exists for
+// backward compatibility with existing code.
+#ifdef MAX_LOG_LEVEL
+#  define LOG(n)  LOG_IF(n, n <= MAX_LOG_LEVEL)
+#  define VLOG(n) LOG_IF(n, n <= MAX_LOG_LEVEL)
+#  define LG      LOG_IF(INFO, INFO <= MAX_LOG_LEVEL)
+#  define VLOG_IF(n, condition) LOG_IF(n, (n <= MAX_LOG_LEVEL) && condition)
+#else
+#  define LOG(n)  MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
+#  define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", n).stream()    // NOLINT
+#  define LG      MessageLogger((char *)__FILE__, __LINE__, "native", INFO).stream() // NOLINT
+#  define VLOG_IF(n, condition) LOG_IF(n, condition)
+#endif
+
+// Currently, VLOG is always on for levels below MAX_LOG_LEVEL.
+#ifndef MAX_LOG_LEVEL
+#  define VLOG_IS_ON(x) (1)
+#else
+#  define VLOG_IS_ON(x) (x <= MAX_LOG_LEVEL)
+#endif
+
+#ifndef NDEBUG
+#  define DLOG LOG
+#else
+#  define DLOG(severity) true ? (void) 0 : LoggerVoidify() & \
+      MessageLogger((char *)__FILE__, __LINE__, "native", severity).stream()
+#endif
+
+
+// Log a message and terminate.
+template<class T>
+void LogMessageFatal(const char *file, int line, const T &message) {
+  MessageLogger((char *)__FILE__, __LINE__, "native", FATAL).stream()
+      << message;
+}
+
+// ---------------------------- CHECK macros ---------------------------------
+
+// Check for a given boolean condition.
+#define CHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+        << "Check failed: " #condition " "
+
+#ifndef NDEBUG
+// Debug only version of CHECK
+#  define DCHECK(condition) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
+#else
+// Optimized version - generates no code.
+#  define DCHECK(condition) if (false) LOG_IF_FALSE(FATAL, condition) \
+          << "Check failed: " #condition " "
+#endif  // NDEBUG
+
+// ------------------------- CHECK_OP macros ---------------------------------
+
+// Generic binary operator check macro. This should not be directly invoked,
+// instead use the binary comparison macros defined below.
+#define CHECK_OP(val1, val2, op) LOG_IF_FALSE(FATAL, ((val1) op (val2))) \
+  << "Check failed: " #val1 " " #op " " #val2 " "
+
+// Check_op macro definitions
+#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+
+#ifndef NDEBUG
+// Debug only versions of CHECK_OP macros.
+#  define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#  define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#  define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#  define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#  define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#  define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+#else
+// These versions generate no code in optimized mode.
+#  define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
+#  define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
+#  define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
+#  define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
+#  define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
+#  define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
+#endif  // NDEBUG
+
+// ---------------------------CHECK_NOTNULL macros ---------------------------
+
+// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
+// and smart pointers.
+template <typename T>
+T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
+  if (t == NULL) {
+    LogMessageFatal(file, line, std::string(names));
+  }
+  return t;
+}
+
+template <typename T>
+T* CheckNotNull(const char *file, int line, const char *names, T* t) {
+  return CheckNotNullCommon(file, line, names, t);
+}
+
+template <typename T>
+T& CheckNotNull(const char *file, int line, const char *names, T& t) {
+  return CheckNotNullCommon(file, line, names, t);
+}
+
+// Check that a pointer is not null.
+#define CHECK_NOTNULL(val) \
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+
+#ifndef NDEBUG
+// Debug only version of CHECK_NOTNULL
+#define DCHECK_NOTNULL(val) \
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#else
+// Optimized version - generates no code.
+#define DCHECK_NOTNULL(val) if (false)\
+  CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#endif  // NDEBUG
+
+#include "ceres/internal/reenable_warnings.h"
+
+#endif  // CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
diff --git a/internal/ceres/minimizer.cc b/internal/ceres/minimizer.cc
new file mode 100644
index 0000000..f596033
--- /dev/null
+++ b/internal/ceres/minimizer.cc
@@ -0,0 +1,87 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/line_search_minimizer.h"
+#include "ceres/minimizer.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Minimizer* Minimizer::Create(MinimizerType minimizer_type) {
+  if (minimizer_type == TRUST_REGION) {
+    return new TrustRegionMinimizer;
+  }
+
+  if (minimizer_type == LINE_SEARCH) {
+    return new LineSearchMinimizer;
+  }
+
+  LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
+  return NULL;
+}
+
+
+Minimizer::~Minimizer() {}
+
+bool Minimizer::RunCallbacks(const Minimizer::Options& options,
+                             const IterationSummary& iteration_summary,
+                             Solver::Summary* summary) {
+  const bool is_not_silent = !options.is_silent;
+  CallbackReturnType status = SOLVER_CONTINUE;
+  int i = 0;
+  while (status == SOLVER_CONTINUE && i < options.callbacks.size()) {
+    status = (*options.callbacks[i])(iteration_summary);
+    ++i;
+  }
+  switch (status) {
+    case SOLVER_CONTINUE:
+      return true;
+    case SOLVER_TERMINATE_SUCCESSFULLY:
+      summary->termination_type = USER_SUCCESS;
+      summary->message =
+          "User callback returned SOLVER_TERMINATE_SUCCESSFULLY.";
+      VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+      return false;
+    case SOLVER_ABORT:
+      summary->termination_type = USER_FAILURE;
+      summary->message = "User callback returned SOLVER_ABORT.";
+      VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+      return false;
+    default:
+      LOG(FATAL) << "Unknown type of user callback status";
+  }
+  return false;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/minimizer.h b/internal/ceres/minimizer.h
new file mode 100644
index 0000000..b593728
--- /dev/null
+++ b/internal/ceres/minimizer.h
@@ -0,0 +1,202 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_MINIMIZER_H_
+#define CERES_INTERNAL_MINIMIZER_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class Evaluator;
+class SparseMatrix;
+class TrustRegionStrategy;
+class CoordinateDescentMinimizer;
+class LinearSolver;
+
+// Interface for non-linear least squares solvers.
+class Minimizer {
+ public:
+  // Options struct to control the behaviour of the Minimizer. Please
+  // see solver.h for detailed information about the meaning and
+  // default values of each of these parameters.
+  struct Options {
+    Options() {
+      Init(Solver::Options());
+    }
+
+    explicit Options(const Solver::Options& options) {
+      Init(options);
+    }
+
+    void Init(const Solver::Options& options) {
+      num_threads = options.num_threads;
+      max_num_iterations = options.max_num_iterations;
+      max_solver_time_in_seconds = options.max_solver_time_in_seconds;
+      max_step_solver_retries = 5;
+      gradient_tolerance = options.gradient_tolerance;
+      parameter_tolerance = options.parameter_tolerance;
+      function_tolerance = options.function_tolerance;
+      min_relative_decrease = options.min_relative_decrease;
+      eta = options.eta;
+      jacobi_scaling = options.jacobi_scaling;
+      use_nonmonotonic_steps = options.use_nonmonotonic_steps;
+      max_consecutive_nonmonotonic_steps =
+          options.max_consecutive_nonmonotonic_steps;
+      trust_region_problem_dump_directory =
+          options.trust_region_problem_dump_directory;
+      trust_region_minimizer_iterations_to_dump =
+          options.trust_region_minimizer_iterations_to_dump;
+      trust_region_problem_dump_format_type =
+          options.trust_region_problem_dump_format_type;
+      max_num_consecutive_invalid_steps =
+          options.max_num_consecutive_invalid_steps;
+      min_trust_region_radius = options.min_trust_region_radius;
+      line_search_direction_type = options.line_search_direction_type;
+      line_search_type = options.line_search_type;
+      nonlinear_conjugate_gradient_type =
+          options.nonlinear_conjugate_gradient_type;
+      max_lbfgs_rank = options.max_lbfgs_rank;
+      use_approximate_eigenvalue_bfgs_scaling =
+          options.use_approximate_eigenvalue_bfgs_scaling;
+      line_search_interpolation_type =
+          options.line_search_interpolation_type;
+      min_line_search_step_size = options.min_line_search_step_size;
+      line_search_sufficient_function_decrease =
+          options.line_search_sufficient_function_decrease;
+      max_line_search_step_contraction =
+          options.max_line_search_step_contraction;
+      min_line_search_step_contraction =
+          options.min_line_search_step_contraction;
+      max_num_line_search_step_size_iterations =
+          options.max_num_line_search_step_size_iterations;
+      max_num_line_search_direction_restarts =
+          options.max_num_line_search_direction_restarts;
+      line_search_sufficient_curvature_decrease =
+          options.line_search_sufficient_curvature_decrease;
+      max_line_search_step_expansion =
+          options.max_line_search_step_expansion;
+      inner_iteration_tolerance = options.inner_iteration_tolerance;
+      is_silent = (options.logging_type == SILENT);
+      is_constrained = false;
+      callbacks = options.callbacks;
+    }
+
+    int max_num_iterations;
+    double max_solver_time_in_seconds;
+    int num_threads;
+
+    // Number of times the linear solver should be retried in case of
+    // numerical failure. The retries are done by exponentially scaling up
+    // mu at each retry. This leads to stronger and stronger
+    // regularization making the linear least squares problem better
+    // conditioned at each retry.
+    int max_step_solver_retries;
+    double gradient_tolerance;
+    double parameter_tolerance;
+    double function_tolerance;
+    double min_relative_decrease;
+    double eta;
+    bool jacobi_scaling;
+    bool use_nonmonotonic_steps;
+    int max_consecutive_nonmonotonic_steps;
+    std::vector<int> trust_region_minimizer_iterations_to_dump;
+    DumpFormatType trust_region_problem_dump_format_type;
+    std::string trust_region_problem_dump_directory;
+    int max_num_consecutive_invalid_steps;
+    double min_trust_region_radius;
+    LineSearchDirectionType line_search_direction_type;
+    LineSearchType line_search_type;
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+    int max_lbfgs_rank;
+    bool use_approximate_eigenvalue_bfgs_scaling;
+    LineSearchInterpolationType line_search_interpolation_type;
+    double min_line_search_step_size;
+    double line_search_sufficient_function_decrease;
+    double max_line_search_step_contraction;
+    double min_line_search_step_contraction;
+    int max_num_line_search_step_size_iterations;
+    int max_num_line_search_direction_restarts;
+    double line_search_sufficient_curvature_decrease;
+    double max_line_search_step_expansion;
+    double inner_iteration_tolerance;
+
+    // If true, then all logging is disabled.
+    bool is_silent;
+
+    // Use a bounds constrained optimization algorithm.
+    bool is_constrained;
+
+    // List of callbacks that are executed by the Minimizer at the end
+    // of each iteration.
+    //
+    // The Options struct does not own these pointers.
+    std::vector<IterationCallback*> callbacks;
+
+    // Object responsible for evaluating the cost, residuals and
+    // Jacobian matrix.
+    shared_ptr<Evaluator> evaluator;
+
+    // Object responsible for actually computing the trust region
+    // step, and sizing the trust region radius.
+    shared_ptr<TrustRegionStrategy> trust_region_strategy;
+
+    // Object holding the Jacobian matrix. It is assumed that the
+    // sparsity structure of the matrix has already been initialized
+    // and will remain constant for the life time of the
+    // optimization.
+    shared_ptr<SparseMatrix> jacobian;
+
+    shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer;
+  };
+
+  static Minimizer* Create(MinimizerType minimizer_type);
+  static bool RunCallbacks(const Options& options,
+                           const IterationSummary& iteration_summary,
+                           Solver::Summary* summary);
+
+  virtual ~Minimizer();
+  // Note: The minimizer is expected to update the state of the
+  // parameters array every iteration. This is required for the
+  // StateUpdatingCallback to work.
+  virtual void Minimize(const Options& options,
+                        double* parameters,
+                        Solver::Summary* summary) = 0;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_MINIMIZER_H_
diff --git a/internal/ceres/minimizer_test.cc b/internal/ceres/minimizer_test.cc
new file mode 100644
index 0000000..fe9b15e
--- /dev/null
+++ b/internal/ceres/minimizer_test.cc
@@ -0,0 +1,100 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "gtest/gtest.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class FakeIterationCallback : public IterationCallback {
+ public:
+  virtual ~FakeIterationCallback() {}
+  virtual CallbackReturnType operator()(const IterationSummary& summary) {
+    return SOLVER_CONTINUE;
+  }
+};
+
+TEST(Minimizer, InitializationCopiesCallbacks) {
+  FakeIterationCallback callback0;
+  FakeIterationCallback callback1;
+
+  Solver::Options solver_options;
+  solver_options.callbacks.push_back(&callback0);
+  solver_options.callbacks.push_back(&callback1);
+
+  Minimizer::Options minimizer_options(solver_options);
+  ASSERT_EQ(2, minimizer_options.callbacks.size());
+
+  EXPECT_EQ(minimizer_options.callbacks[0], &callback0);
+  EXPECT_EQ(minimizer_options.callbacks[1], &callback1);
+}
+
+class AbortingIterationCallback : public IterationCallback {
+ public:
+  virtual ~AbortingIterationCallback() {}
+  virtual CallbackReturnType operator()(const IterationSummary& summary) {
+    return SOLVER_ABORT;
+  }
+};
+
+TEST(Minimizer, UserAbortUpdatesSummaryMessage) {
+  AbortingIterationCallback callback;
+  Solver::Options solver_options;
+  solver_options.callbacks.push_back(&callback);
+  Minimizer::Options minimizer_options(solver_options);
+  Solver::Summary summary;
+  Minimizer::RunCallbacks(minimizer_options, IterationSummary(), &summary);
+  EXPECT_EQ(summary.message, "User callback returned SOLVER_ABORT.");
+}
+
+class SucceedingIterationCallback : public IterationCallback {
+ public:
+  virtual ~SucceedingIterationCallback() {}
+  virtual CallbackReturnType operator()(const IterationSummary& summary) {
+    return SOLVER_TERMINATE_SUCCESSFULLY;
+  }
+};
+
+TEST(Minimizer, UserSuccessUpdatesSummaryMessage) {
+  SucceedingIterationCallback callback;
+  Solver::Options solver_options;
+  solver_options.callbacks.push_back(&callback);
+  Minimizer::Options minimizer_options(solver_options);
+  Solver::Summary summary;
+  Minimizer::RunCallbacks(minimizer_options, IterationSummary(), &summary);
+  EXPECT_EQ(summary.message,
+            "User callback returned SOLVER_TERMINATE_SUCCESSFULLY.");
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/mutex.h b/internal/ceres/mutex.h
new file mode 100644
index 0000000..2ce9777
--- /dev/null
+++ b/internal/ceres/mutex.h
@@ -0,0 +1,329 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Craig Silverstein.
+//
+// A simple mutex wrapper, supporting locks and read-write locks.
+// You should assume the locks are *not* re-entrant.
+//
+// This class is meant to be internal-only and should be wrapped by an
+// internal namespace.  Before you use this module, please give the
+// name of your internal namespace for this module.  Or, if you want
+// to expose it, you'll want to move it to the Google namespace.  We
+// cannot put this class in global namespace because there can be some
+// problems when we have multiple versions of Mutex in each shared object.
+//
+// NOTE: by default, we have #ifdef'ed out the TryLock() method.
+//       This is for two reasons:
+// 1) TryLock() under Windows is a bit annoying (it requires a
+//    #define to be defined very early).
+// 2) TryLock() is broken for NO_THREADS mode, at least in NDEBUG
+//    mode.
+// If you need TryLock(), and either these two caveats are not a
+// problem for you, or you're willing to work around them, then
+// feel free to #define GMUTEX_TRYLOCK, or to remove the #ifdefs
+// in the code below.
+//
+// CYGWIN NOTE: Cygwin support for rwlock seems to be buggy:
+//    http://www.cygwin.com/ml/cygwin/2008-12/msg00017.html
+// Because of that, we might as well use windows locks for
+// cygwin.  They seem to be more reliable than the cygwin pthreads layer.
+//
+// TRICKY IMPLEMENTATION NOTE:
+// This class is designed to be safe to use during
+// dynamic-initialization -- that is, by global constructors that are
+// run before main() starts.  The issue in this case is that
+// dynamic-initialization happens in an unpredictable order, and it
+// could be that someone else's dynamic initializer could call a
+// function that tries to acquire this mutex -- but that all happens
+// before this mutex's constructor has run.  (This can happen even if
+// the mutex and the function that uses the mutex are in the same .cc
+// file.)  Basically, because Mutex does non-trivial work in its
+// constructor, it's not, in the naive implementation, safe to use
+// before dynamic initialization has run on it.
+//
+// The solution used here is to pair the actual mutex primitive with a
+// bool that is set to true when the mutex is dynamically initialized.
+// (Before that it's false.)  Then we modify all mutex routines to
+// look at the bool, and not try to lock/unlock until the bool makes
+// it to true (which happens after the Mutex constructor has run.)
+//
+// This works because before main() starts -- particularly, during
+// dynamic initialization -- there are no threads, so a) it's ok that
+// the mutex operations are a no-op, since we don't need locking then
+// anyway; and b) we can be quite confident our bool won't change
+// state between a call to Lock() and a call to Unlock() (that would
+// require a global constructor in one translation unit to call Lock()
+// and another global constructor in another translation unit to call
+// Unlock() later, which is pretty perverse).
+//
+// That said, it's tricky, and can conceivably fail; it's safest to
+// avoid trying to acquire a mutex in a global constructor, if you
+// can.  One way it can fail is that a really smart compiler might
+// initialize the bool to true at static-initialization time (too
+// early) rather than at dynamic-initialization time.  To discourage
+// that, we set is_safe_ to true in code (not the constructor
+// colon-initializer) and set it to true via a function that always
+// evaluates to true, but that the compiler can't know always
+// evaluates to true.  This should be good enough.
+
+#ifndef CERES_INTERNAL_MUTEX_H_
+#define CERES_INTERNAL_MUTEX_H_
+
+#include "ceres/internal/port.h"
+
+#if defined(CERES_NO_THREADS)
+  typedef int MutexType;      // to keep a lock-count
+#elif defined(_WIN32) || defined(__CYGWIN32__) || defined(__CYGWIN64__)
+# define CERES_WIN32_LEAN_AND_MEAN  // We only need minimal includes
+# ifdef CERES_GMUTEX_TRYLOCK
+  // We need Windows NT or later for TryEnterCriticalSection().  If you
+  // don't need that functionality, you can remove these _WIN32_WINNT
+  // lines, and change TryLock() to assert(0) or something.
+#   ifndef _WIN32_WINNT
+#     define _WIN32_WINNT 0x0400
+#   endif
+# endif
+// Unfortunately, windows.h defines a bunch of macros with common
+// names. Two in particular need avoiding: ERROR and min/max.
+// To avoid macro definition of ERROR.
+# define NOGDI
+// To avoid macro definition of min/max.
+# ifndef NOMINMAX
+#   define NOMINMAX
+# endif
+# include <windows.h>
+  typedef CRITICAL_SECTION MutexType;
+#elif defined(CERES_HAVE_PTHREAD) && defined(CERES_HAVE_RWLOCK)
+  // Needed for pthread_rwlock_*.  If it causes problems, you could take it
+  // out, but then you'd have to unset CERES_HAVE_RWLOCK (at least on linux --
+  // it *does* cause problems for FreeBSD, or MacOSX, but isn't needed for
+  // locking there.)
+# if defined(__linux__) && !defined(_XOPEN_SOURCE)
+#   define _XOPEN_SOURCE 500  // may be needed to get the rwlock calls
+# endif
+# include <pthread.h>
+  typedef pthread_rwlock_t MutexType;
+#elif defined(CERES_HAVE_PTHREAD)
+# include <pthread.h>
+  typedef pthread_mutex_t MutexType;
+#else
+# error Need to implement mutex.h for your architecture, or #define NO_THREADS
+#endif
+
+// We need to include these header files after defining _XOPEN_SOURCE
+// as they may define the _XOPEN_SOURCE macro.
+#include <assert.h>
+#include <stdlib.h>      // for abort()
+
+namespace ceres {
+namespace internal {
+
+class Mutex {
+ public:
+  // Create a Mutex that is not held by anybody.  This constructor is
+  // typically used for Mutexes allocated on the heap or the stack.
+  // See below for a recommendation for constructing global Mutex
+  // objects.
+  inline Mutex();
+
+  // Destructor
+  inline ~Mutex();
+
+  inline void Lock();    // Block if needed until free then acquire exclusively
+  inline void Unlock();  // Release a lock acquired via Lock()
+#ifdef CERES_GMUTEX_TRYLOCK
+  inline bool TryLock(); // If free, Lock() and return true, else return false
+#endif
+  // Note that on systems that don't support read-write locks, these may
+  // be implemented as synonyms to Lock() and Unlock().  So you can use
+  // these for efficiency, but don't use them anyplace where being able
+  // to do shared reads is necessary to avoid deadlock.
+  inline void ReaderLock();   // Block until free or shared then acquire a share
+  inline void ReaderUnlock(); // Release a read share of this Mutex
+  inline void WriterLock() { Lock(); }     // Acquire an exclusive lock
+  inline void WriterUnlock() { Unlock(); } // Release a lock from WriterLock()
+
+  // TODO(hamaji): Do nothing, implement correctly.
+  inline void AssertHeld() {}
+
+ private:
+  MutexType mutex_;
+  // We want to make sure that the compiler sets is_safe_ to true only
+  // when we tell it to, and never makes assumptions is_safe_ is
+  // always true.  volatile is the most reliable way to do that.
+  volatile bool is_safe_;
+
+  inline void SetIsSafe() { is_safe_ = true; }
+
+  // Catch the error of writing Mutex when intending MutexLock.
+  Mutex(Mutex* /*ignored*/) {}
+  // Disallow "evil" constructors
+  Mutex(const Mutex&);
+  void operator=(const Mutex&);
+};
+
+// Now the implementation of Mutex for various systems
+#if defined(CERES_NO_THREADS)
+
+// When we don't have threads, we can be either reading or writing,
+// but not both.  We can have lots of readers at once (in no-threads
+// mode, that's most likely to happen in recursive function calls),
+// but only one writer.  We represent this by having mutex_ be -1 when
+// writing and a number > 0 when reading (and 0 when no lock is held).
+//
+// In debug mode, we assert these invariants, while in non-debug mode
+// we do nothing, for efficiency.  That's why everything is in an
+// assert.
+
+Mutex::Mutex() : mutex_(0) { }
+Mutex::~Mutex()            { assert(mutex_ == 0); }
+void Mutex::Lock()         { assert(--mutex_ == -1); }
+void Mutex::Unlock()       { assert(mutex_++ == -1); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock()      { if (mutex_) return false; Lock(); return true; }
+#endif
+void Mutex::ReaderLock()   { assert(++mutex_ > 0); }
+void Mutex::ReaderUnlock() { assert(mutex_-- > 0); }
+
+#elif defined(_WIN32) || defined(__CYGWIN32__) || defined(__CYGWIN64__)
+
+Mutex::Mutex()             { InitializeCriticalSection(&mutex_); SetIsSafe(); }
+Mutex::~Mutex()            { DeleteCriticalSection(&mutex_); }
+void Mutex::Lock()         { if (is_safe_) EnterCriticalSection(&mutex_); }
+void Mutex::Unlock()       { if (is_safe_) LeaveCriticalSection(&mutex_); }
+#ifdef GMUTEX_TRYLOCK
+bool Mutex::TryLock()      { return is_safe_ ?
+                                 TryEnterCriticalSection(&mutex_) != 0 : true; }
+#endif
+void Mutex::ReaderLock()   { Lock(); }      // we don't have read-write locks
+void Mutex::ReaderUnlock() { Unlock(); }
+
+#elif defined(CERES_HAVE_PTHREAD) && defined(CERES_HAVE_RWLOCK)
+
+#define CERES_SAFE_PTHREAD(fncall) do { /* run fncall if is_safe_ is true */ \
+  if (is_safe_ && fncall(&mutex_) != 0) abort();                             \
+} while (0)
+
+Mutex::Mutex() {
+  SetIsSafe();
+  if (is_safe_ && pthread_rwlock_init(&mutex_, NULL) != 0) abort();
+}
+Mutex::~Mutex()            { CERES_SAFE_PTHREAD(pthread_rwlock_destroy); }
+void Mutex::Lock()         { CERES_SAFE_PTHREAD(pthread_rwlock_wrlock); }
+void Mutex::Unlock()       { CERES_SAFE_PTHREAD(pthread_rwlock_unlock); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock()      { return is_safe_ ?
+                                    pthread_rwlock_trywrlock(&mutex_) == 0 :
+                                    true; }
+#endif
+void Mutex::ReaderLock()   { CERES_SAFE_PTHREAD(pthread_rwlock_rdlock); }
+void Mutex::ReaderUnlock() { CERES_SAFE_PTHREAD(pthread_rwlock_unlock); }
+#undef CERES_SAFE_PTHREAD
+
+#elif defined(CERES_HAVE_PTHREAD)
+
+#define CERES_SAFE_PTHREAD(fncall) do { /* run fncall if is_safe_ is true */  \
+  if (is_safe_ && fncall(&mutex_) != 0) abort();                              \
+} while (0)
+
+Mutex::Mutex()             {
+  SetIsSafe();
+  if (is_safe_ && pthread_mutex_init(&mutex_, NULL) != 0) abort();
+}
+Mutex::~Mutex()            { CERES_SAFE_PTHREAD(pthread_mutex_destroy); }
+void Mutex::Lock()         { CERES_SAFE_PTHREAD(pthread_mutex_lock); }
+void Mutex::Unlock()       { CERES_SAFE_PTHREAD(pthread_mutex_unlock); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock()      { return is_safe_ ?
+                                 pthread_mutex_trylock(&mutex_) == 0 : true; }
+#endif
+void Mutex::ReaderLock()   { Lock(); }
+void Mutex::ReaderUnlock() { Unlock(); }
+#undef CERES_SAFE_PTHREAD
+
+#endif
+
+// --------------------------------------------------------------------------
+// Some helper classes
+
+// Note: The weird "Ceres" prefix for the class is a workaround for having two
+// similar mutex.h files included in the same translation unit. This is a
+// problem because macros do not respect C++ namespaces, and as a result, this
+// does not work well (e.g. inside Chrome). The offending macros are
+// "MutexLock(x) COMPILE_ASSERT(false)". To work around this, "Ceres" is
+// prefixed to the class names; this permits defining the classes.
+
+// CeresMutexLock(mu) acquires mu when constructed and releases it
+// when destroyed.
+class CeresMutexLock {
+ public:
+  explicit CeresMutexLock(Mutex *mu) : mu_(mu) { mu_->Lock(); }
+  ~CeresMutexLock() { mu_->Unlock(); }
+ private:
+  Mutex * const mu_;
+  // Disallow "evil" constructors
+  CeresMutexLock(const CeresMutexLock&);
+  void operator=(const CeresMutexLock&);
+};
+
+// CeresReaderMutexLock and CeresWriterMutexLock do the same, for rwlocks
+class CeresReaderMutexLock {
+ public:
+  explicit CeresReaderMutexLock(Mutex *mu) : mu_(mu) { mu_->ReaderLock(); }
+  ~CeresReaderMutexLock() { mu_->ReaderUnlock(); }
+ private:
+  Mutex * const mu_;
+  // Disallow "evil" constructors
+  CeresReaderMutexLock(const CeresReaderMutexLock&);
+  void operator=(const CeresReaderMutexLock&);
+};
+
+class CeresWriterMutexLock {
+ public:
+  explicit CeresWriterMutexLock(Mutex *mu) : mu_(mu) { mu_->WriterLock(); }
+  ~CeresWriterMutexLock() { mu_->WriterUnlock(); }
+ private:
+  Mutex * const mu_;
+  // Disallow "evil" constructors
+  CeresWriterMutexLock(const CeresWriterMutexLock&);
+  void operator=(const CeresWriterMutexLock&);
+};
+
+// Catch bug where variable name is omitted, e.g. MutexLock (&mu);
+#define CeresMutexLock(x) \
+    COMPILE_ASSERT(0, ceres_mutex_lock_decl_missing_var_name)
+#define CeresReaderMutexLock(x) \
+    COMPILE_ASSERT(0, ceres_rmutex_lock_decl_missing_var_name)
+#define CeresWriterMutexLock(x) \
+    COMPILE_ASSERT(0, ceres_wmutex_lock_decl_missing_var_name)
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_MUTEX_H_
diff --git a/internal/ceres/normal_prior.cc b/internal/ceres/normal_prior.cc
new file mode 100644
index 0000000..b3666cd
--- /dev/null
+++ b/internal/ceres/normal_prior.cc
@@ -0,0 +1,66 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/normal_prior.h"
+
+#include <cstddef>
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+NormalPrior::NormalPrior(const Matrix& A, const Vector& b)
+    : A_(A), b_(b) {
+  CHECK_GT(b_.rows(), 0);
+  CHECK_GT(A_.rows(), 0);
+  CHECK_EQ(b_.rows(), A.cols());
+  set_num_residuals(A_.rows());
+  mutable_parameter_block_sizes()->push_back(b_.rows());
+}
+
+bool NormalPrior::Evaluate(double const* const* parameters,
+                           double* residuals,
+                           double** jacobians) const {
+  ConstVectorRef p(parameters[0], parameter_block_sizes()[0]);
+  VectorRef r(residuals, num_residuals());
+  // The following line should read
+  // r = A_ * (p - b_);
+  // The extra eval is to get around a bug in the eigen library.
+  r = A_ * (p - b_).eval();
+  if ((jacobians != NULL) && (jacobians[0] != NULL)) {
+    MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_;
+  }
+  return true;
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/normal_prior_test.cc b/internal/ceres/normal_prior_test.cc
new file mode 100644
index 0000000..1a51cfd
--- /dev/null
+++ b/internal/ceres/normal_prior_test.cc
@@ -0,0 +1,133 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/normal_prior.h"
+
+#include <cstddef>
+
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/random.h"
+
+namespace ceres {
+namespace internal {
+
+void RandomVector(Vector* v) {
+  for (int r = 0; r < v->rows(); ++r)
+    (*v)[r] = 2 * RandDouble() - 1;
+}
+
+void RandomMatrix(Matrix* m) {
+  for (int r = 0; r < m->rows(); ++r) {
+    for (int c = 0; c < m->cols(); ++c) {
+      (*m)(r, c) = 2 * RandDouble() - 1;
+    }
+  }
+}
+
+TEST(NormalPriorTest, ResidualAtRandomPosition) {
+  srand(5);
+
+  for (int num_rows = 1; num_rows < 5; ++num_rows) {
+    for (int num_cols = 1; num_cols < 5; ++num_cols) {
+      Vector b(num_cols);
+      RandomVector(&b);
+
+      Matrix A(num_rows, num_cols);
+      RandomMatrix(&A);
+
+      double * x = new double[num_cols];
+      for (int i = 0; i < num_cols; ++i)
+        x[i] = 2 * RandDouble() - 1;
+
+      double * jacobian = new double[num_rows * num_cols];
+      Vector residuals(num_rows);
+
+      NormalPrior prior(A, b);
+      prior.Evaluate(&x, residuals.data(), &jacobian);
+
+      // Compare the norm of the residual
+      double residual_diff_norm =
+          (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+      EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+      // Compare the jacobians
+      MatrixRef J(jacobian, num_rows, num_cols);
+      double jacobian_diff_norm = (J - A).norm();
+      EXPECT_NEAR(jacobian_diff_norm, 0.0, 1e-10);
+
+      delete []x;
+      delete []jacobian;
+    }
+  }
+}
+
+TEST(NormalPriorTest, ResidualAtRandomPositionNullJacobians) {
+  srand(5);
+
+  for (int num_rows = 1; num_rows < 5; ++num_rows) {
+    for (int num_cols = 1; num_cols < 5; ++num_cols) {
+      Vector b(num_cols);
+      RandomVector(&b);
+
+      Matrix A(num_rows, num_cols);
+      RandomMatrix(&A);
+
+      double * x = new double[num_cols];
+      for (int i = 0; i < num_cols; ++i)
+        x[i] = 2 * RandDouble() - 1;
+
+      double* jacobians[1];
+      jacobians[0] = NULL;
+
+      Vector residuals(num_rows);
+
+      NormalPrior prior(A, b);
+      prior.Evaluate(&x, residuals.data(), jacobians);
+
+      // Compare the norm of the residual
+      double residual_diff_norm =
+          (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+      EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+      prior.Evaluate(&x, residuals.data(), NULL);
+      // Compare the norm of the residual
+      residual_diff_norm =
+          (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+      EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+
+      delete []x;
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/numeric_diff_cost_function_test.cc b/internal/ceres/numeric_diff_cost_function_test.cc
new file mode 100644
index 0000000..983f11e
--- /dev/null
+++ b/internal/ceres/numeric_diff_cost_function_test.cc
@@ -0,0 +1,389 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         tbennun@gmail.com (Tal Ben-Nun)
+
+#include "ceres/numeric_diff_cost_function.h"
+
+#include <algorithm>
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/array_utils.h"
+#include "ceres/numeric_diff_test_utils.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(NumericDiffCostFunction, EasyCaseFunctorCentralDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor,
+                                  CENTRAL,
+                                  3,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new EasyFunctor));
+  EasyFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+}
+
+TEST(NumericDiffCostFunction, EasyCaseFunctorForwardDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor,
+                                  FORWARD,
+                                  3,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new EasyFunctor));
+  EasyFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+}
+
+TEST(NumericDiffCostFunction, EasyCaseFunctorRidders) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor,
+                                  RIDDERS,
+                                  3,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new EasyFunctor));
+  EasyFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+TEST(NumericDiffCostFunction, EasyCaseCostFunctionCentralDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyCostFunction,
+                                  CENTRAL,
+                                  3,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new EasyCostFunction, TAKE_OWNERSHIP));
+  EasyFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+}
+
+TEST(NumericDiffCostFunction, EasyCaseCostFunctionForwardDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyCostFunction,
+                                  FORWARD,
+                                  3,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new EasyCostFunction, TAKE_OWNERSHIP));
+  EasyFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+}
+
+TEST(NumericDiffCostFunction, EasyCaseCostFunctionRidders) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyCostFunction,
+                                  RIDDERS,
+                                  3,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new EasyCostFunction, TAKE_OWNERSHIP));
+  EasyFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+TEST(NumericDiffCostFunction,
+     TranscendentalCaseFunctorCentralDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<TranscendentalFunctor,
+                                  CENTRAL,
+                                  2,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new TranscendentalFunctor));
+  TranscendentalFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+}
+
+TEST(NumericDiffCostFunction,
+     TranscendentalCaseFunctorForwardDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<TranscendentalFunctor,
+                                  FORWARD,
+                                  2,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new TranscendentalFunctor));
+  TranscendentalFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+}
+
+TEST(NumericDiffCostFunction,
+     TranscendentalCaseFunctorRidders) {
+  NumericDiffOptions options;
+
+  // Using a smaller initial step size to overcome oscillatory function
+  // behavior.
+  options.ridders_relative_initial_step_size = 1e-3;
+
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<TranscendentalFunctor,
+                                  RIDDERS,
+                                  2,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new TranscendentalFunctor, TAKE_OWNERSHIP, 2, options));
+  TranscendentalFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+TEST(NumericDiffCostFunction,
+     TranscendentalCaseCostFunctionCentralDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<TranscendentalCostFunction,
+                                  CENTRAL,
+                                  2,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new TranscendentalCostFunction, TAKE_OWNERSHIP));
+  TranscendentalFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+}
+
+TEST(NumericDiffCostFunction,
+     TranscendentalCaseCostFunctionForwardDifferences) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<TranscendentalCostFunction,
+                                  FORWARD,
+                                  2,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new TranscendentalCostFunction, TAKE_OWNERSHIP));
+  TranscendentalFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, FORWARD);
+}
+
+TEST(NumericDiffCostFunction,
+     TranscendentalCaseCostFunctionRidders) {
+  NumericDiffOptions options;
+
+  // Using a smaller initial step size to overcome oscillatory function
+  // behavior.
+  options.ridders_relative_initial_step_size = 1e-3;
+
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<TranscendentalCostFunction,
+                                  RIDDERS,
+                                  2,  /* number of residuals */
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+          new TranscendentalCostFunction, TAKE_OWNERSHIP, 2, options));
+  TranscendentalFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, RIDDERS);
+}
+
+template<int num_rows, int num_cols>
+class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    return true;
+  }
+};
+
+// As described in
+// http://forum.kde.org/viewtopic.php?f=74&t=98536#p210774
+// Eigen3 has restrictions on the Row/Column major storage of vectors,
+// depending on their dimensions. This test ensures that the correct
+// templates are instantiated for various shapes of the Jacobian
+// matrix.
+TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) {
+  scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<1,1>,  CENTRAL, 1, 1>(
+          new SizeTestingCostFunction<1,1>, ceres::TAKE_OWNERSHIP));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<2,1>,  CENTRAL, 2, 1>(
+          new SizeTestingCostFunction<2,1>, ceres::TAKE_OWNERSHIP));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<1,2>,  CENTRAL, 1, 2>(
+          new SizeTestingCostFunction<1,2>, ceres::TAKE_OWNERSHIP));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<SizeTestingCostFunction<2,2>,  CENTRAL, 2, 2>(
+          new SizeTestingCostFunction<2,2>, ceres::TAKE_OWNERSHIP));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
+          new EasyFunctor, TAKE_OWNERSHIP, 1));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 1>(
+          new EasyFunctor, TAKE_OWNERSHIP, 2));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
+          new EasyFunctor, TAKE_OWNERSHIP, 1));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 1, 2>(
+          new EasyFunctor, TAKE_OWNERSHIP, 2));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
+          new EasyFunctor, TAKE_OWNERSHIP, 1));
+
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor, CENTRAL, ceres::DYNAMIC, 2, 1>(
+          new EasyFunctor, TAKE_OWNERSHIP, 2));
+}
+
+TEST(NumericDiffCostFunction,
+     EasyCaseFunctorCentralDifferencesAndDynamicNumResiduals) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<EasyFunctor,
+                                  CENTRAL,
+                                  ceres::DYNAMIC,
+                                  5,  /* size of x1 */
+                                  5   /* size of x2 */>(
+                                      new EasyFunctor, TAKE_OWNERSHIP, 3));
+  EasyFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function, CENTRAL);
+}
+
+TEST(NumericDiffCostFunction, ExponentialFunctorRidders) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<ExponentialFunctor,
+                                  RIDDERS,
+                                  1,  /* number of residuals */
+                                  1   /* size of x1 */>(
+             new ExponentialFunctor));
+  ExponentialFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+TEST(NumericDiffCostFunction, ExponentialCostFunctionRidders) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  cost_function.reset(
+      new NumericDiffCostFunction<ExponentialCostFunction,
+                                  RIDDERS,
+                                  1,  /* number of residuals */
+                                  1   /* size of x1 */>(
+             new ExponentialCostFunction));
+  ExponentialFunctor functor;
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+TEST(NumericDiffCostFunction, RandomizedFunctorRidders) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  NumericDiffOptions options;
+  // Larger initial step size is chosen to produce robust results in the
+  // presence of random noise.
+  options.ridders_relative_initial_step_size = 10.0;
+
+  cost_function.reset(
+      new NumericDiffCostFunction<RandomizedFunctor,
+                                  RIDDERS,
+                                  1,  /* number of residuals */
+                                  1   /* size of x1 */>(
+             new RandomizedFunctor(kNoiseFactor, kRandomSeed), TAKE_OWNERSHIP,
+             1, options));
+  RandomizedFunctor functor (kNoiseFactor, kRandomSeed);
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+TEST(NumericDiffCostFunction, RandomizedCostFunctionRidders) {
+  internal::scoped_ptr<CostFunction> cost_function;
+  NumericDiffOptions options;
+  // Larger initial step size is chosen to produce robust results in the
+  // presence of random noise.
+  options.ridders_relative_initial_step_size = 10.0;
+
+  cost_function.reset(
+      new NumericDiffCostFunction<RandomizedCostFunction,
+                                  RIDDERS,
+                                  1,  /* number of residuals */
+                                  1   /* size of x1 */>(
+             new RandomizedCostFunction(kNoiseFactor, kRandomSeed),
+             TAKE_OWNERSHIP, 1, options));
+  RandomizedFunctor functor (kNoiseFactor, kRandomSeed);
+  functor.ExpectCostFunctionEvaluationIsNearlyCorrect(*cost_function);
+}
+
+struct OnlyFillsOneOutputFunctor {
+  bool operator()(const double* x, double* output) const {
+    output[0] = x[0];
+    return true;
+  }
+};
+
+TEST(NumericDiffCostFunction, PartiallyFilledResidualShouldFailEvaluation) {
+  double parameter = 1.0;
+  double jacobian[2];
+  double residuals[2];
+  double* parameters[] = {&parameter};
+  double* jacobians[] = {jacobian};
+
+  scoped_ptr<CostFunction> cost_function(
+      new NumericDiffCostFunction<OnlyFillsOneOutputFunctor, CENTRAL, 2, 1>(
+          new OnlyFillsOneOutputFunctor));
+  InvalidateArray(2, jacobian);
+  InvalidateArray(2, residuals);
+  EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, jacobians));
+  EXPECT_FALSE(IsArrayValid(2, residuals));
+  InvalidateArray(2, residuals);
+  EXPECT_TRUE(cost_function->Evaluate(parameters, residuals, NULL));
+  // We are only testing residuals here, because the Jacobians are
+  // computed using finite differencing from the residuals, so unless
+  // we introduce a validation step after every evaluation of
+  // residuals inside NumericDiffCostFunction, there is no way of
+  // ensuring that the Jacobian array is invalid.
+  EXPECT_FALSE(IsArrayValid(2, residuals));
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/numeric_diff_test_utils.cc b/internal/ceres/numeric_diff_test_utils.cc
new file mode 100644
index 0000000..bab186c
--- /dev/null
+++ b/internal/ceres/numeric_diff_test_utils.cc
@@ -0,0 +1,270 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         tbennun@gmail.com (Tal Ben-Nun)
+
+#include "ceres/numeric_diff_test_utils.h"
+
+#include <algorithm>
+#include <cmath>
+#include "ceres/cost_function.h"
+#include "ceres/internal/macros.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+
+namespace ceres {
+namespace internal {
+
+bool EasyFunctor::operator()(const double* x1,
+                             const double* x2,
+                             double* residuals) const {
+  residuals[0] = residuals[1] = residuals[2] = 0;
+  for (int i = 0; i < 5; ++i) {
+    residuals[0] += x1[i] * x2[i];
+    residuals[2] += x2[i] * x2[i];
+  }
+  residuals[1] = residuals[0] * residuals[0];
+  return true;
+}
+
+void EasyFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+    const CostFunction& cost_function,
+    NumericDiffMethodType method) const {
+  // The x1[0] is made deliberately small to test the performance near
+  // zero.
+  double x1[] = { 1e-64, 2.0, 3.0, 4.0, 5.0 };
+  double x2[] = { 9.0, 9.0, 5.0, 5.0, 1.0 };
+  double *parameters[] = { &x1[0], &x2[0] };
+
+  double dydx1[15];  // 3 x 5, row major.
+  double dydx2[15];  // 3 x 5, row major.
+  double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+  double residuals[3] = {-1e-100, -2e-100, -3e-100 };
+
+  ASSERT_TRUE(cost_function.Evaluate(&parameters[0],
+                                     &residuals[0],
+                                     &jacobians[0]));
+
+  double expected_residuals[3];
+  EasyFunctor functor;
+  functor(x1, x2, expected_residuals);
+  EXPECT_EQ(expected_residuals[0], residuals[0]);
+  EXPECT_EQ(expected_residuals[1], residuals[1]);
+  EXPECT_EQ(expected_residuals[2], residuals[2]);
+
+  double tolerance = 0.0;
+  switch (method) {
+    default:
+    case CENTRAL:
+      tolerance = 3e-9;
+      break;
+
+    case FORWARD:
+      tolerance = 2e-5;
+      break;
+
+    case RIDDERS:
+      tolerance = 1e-13;
+      break;
+  }
+
+  for (int i = 0; i < 5; ++i) {
+    ExpectClose(x2[i],                    dydx1[5 * 0 + i], tolerance);  // y1
+    ExpectClose(x1[i],                    dydx2[5 * 0 + i], tolerance);
+    ExpectClose(2 * x2[i] * residuals[0], dydx1[5 * 1 + i], tolerance);  // y2
+    ExpectClose(2 * x1[i] * residuals[0], dydx2[5 * 1 + i], tolerance);
+    ExpectClose(0.0,                      dydx1[5 * 2 + i], tolerance);  // y3
+    ExpectClose(2 * x2[i],                dydx2[5 * 2 + i], tolerance);
+  }
+}
+
+bool TranscendentalFunctor::operator()(const double* x1,
+                                       const double* x2,
+                                       double* residuals) const {
+  double x1x2 = 0;
+  for (int i = 0; i < 5; ++i) {
+    x1x2 += x1[i] * x2[i];
+  }
+  residuals[0] = sin(x1x2);
+  residuals[1] = exp(-x1x2 / 10);
+  return true;
+}
+
+void TranscendentalFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+    const CostFunction& cost_function,
+    NumericDiffMethodType method) const {
+  struct {
+    double x1[5];
+    double x2[5];
+  } kTests[] = {
+    { { 1.0, 2.0, 3.0, 4.0, 5.0 },  // No zeros.
+      { 9.0, 9.0, 5.0, 5.0, 1.0 },
+    },
+    { { 0.0, 2.0, 3.0, 0.0, 5.0 },  // Some zeros x1.
+      { 9.0, 9.0, 5.0, 5.0, 1.0 },
+    },
+    { { 1.0, 2.0, 3.0, 1.0, 5.0 },  // Some zeros x2.
+      { 0.0, 9.0, 0.0, 5.0, 0.0 },
+    },
+    { { 0.0, 0.0, 0.0, 0.0, 0.0 },  // All zeros x1.
+      { 9.0, 9.0, 5.0, 5.0, 1.0 },
+    },
+    { { 1.0, 2.0, 3.0, 4.0, 5.0 },  // All zeros x2.
+      { 0.0, 0.0, 0.0, 0.0, 0.0 },
+    },
+    { { 0.0, 0.0, 0.0, 0.0, 0.0 },  // All zeros.
+      { 0.0, 0.0, 0.0, 0.0, 0.0 },
+    },
+  };
+
+  for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+    double *x1 = &(kTests[k].x1[0]);
+    double *x2 = &(kTests[k].x2[0]);
+    double *parameters[] = { x1, x2 };
+
+    double dydx1[10];
+    double dydx2[10];
+    double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+    double residuals[2];
+
+    ASSERT_TRUE(cost_function.Evaluate(&parameters[0],
+                                       &residuals[0],
+                                       &jacobians[0]));
+    double x1x2 = 0;
+    for (int i = 0; i < 5; ++i) {
+      x1x2 += x1[i] * x2[i];
+    }
+
+    double tolerance = 0.0;
+    switch (method) {
+      default:
+      case CENTRAL:
+        tolerance = 2e-7;
+        break;
+
+      case FORWARD:
+        tolerance = 2e-5;
+        break;
+
+      case RIDDERS:
+        tolerance = 3e-12;
+        break;
+    }
+
+    for (int i = 0; i < 5; ++i) {
+      ExpectClose( x2[i] * cos(x1x2),              dydx1[5 * 0 + i], tolerance);
+      ExpectClose( x1[i] * cos(x1x2),              dydx2[5 * 0 + i], tolerance);
+      ExpectClose(-x2[i] * exp(-x1x2 / 10.) / 10., dydx1[5 * 1 + i], tolerance);
+      ExpectClose(-x1[i] * exp(-x1x2 / 10.) / 10., dydx2[5 * 1 + i], tolerance);
+    }
+  }
+}
+
+bool ExponentialFunctor::operator()(const double* x1,
+                                    double* residuals) const {
+  residuals[0] = exp(x1[0]);
+  return true;
+}
+
+void ExponentialFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+    const CostFunction& cost_function) const {
+  // Evaluating the functor at specific points for testing.
+  double kTests[] = { 1.0, 2.0, 3.0, 4.0, 5.0 };
+
+  // Minimal tolerance w.r.t. the cost function and the tests.
+  const double kTolerance = 2e-14;
+
+  for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+    double *parameters[] = { &kTests[k] };
+    double dydx;
+    double *jacobians[1] = { &dydx };
+    double residual;
+
+    ASSERT_TRUE(cost_function.Evaluate(&parameters[0],
+                                       &residual,
+                                       &jacobians[0]));
+
+
+    double expected_result = exp(kTests[k]);
+
+    // Expect residual to be close to exp(x).
+    ExpectClose(residual, expected_result, kTolerance);
+
+    // Check evaluated differences. dydx should also be close to exp(x).
+    ExpectClose(dydx, expected_result, kTolerance);
+  }
+}
+
+bool RandomizedFunctor::operator()(const double* x1,
+                                   double* residuals) const {
+  double random_value = static_cast<double>(rand()) /
+      static_cast<double>(RAND_MAX);
+
+  // Normalize noise to [-factor, factor].
+  random_value *= 2.0;
+  random_value -= 1.0;
+  random_value *= noise_factor_;
+
+  residuals[0] = x1[0] * x1[0] + random_value;
+  return true;
+}
+
+void RandomizedFunctor::ExpectCostFunctionEvaluationIsNearlyCorrect(
+    const CostFunction& cost_function) const {
+  double kTests[] = { 0.0, 1.0, 3.0, 4.0, 50.0 };
+
+  const double kTolerance = 2e-4;
+
+  // Initialize random number generator with given seed.
+  srand(random_seed_);
+
+  for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+    double *parameters[] = { &kTests[k] };
+    double dydx;
+    double *jacobians[1] = { &dydx };
+    double residual;
+
+    ASSERT_TRUE(cost_function.Evaluate(&parameters[0],
+                                       &residual,
+                                       &jacobians[0]));
+
+    // Expect residual to be close to x^2 w.r.t. noise factor.
+    ExpectClose(residual, kTests[k] * kTests[k], noise_factor_);
+
+    // Check evaluated differences. (dy/dx = ~2x)
+    ExpectClose(dydx, 2 * kTests[k], kTolerance);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/numeric_diff_test_utils.h b/internal/ceres/numeric_diff_test_utils.h
new file mode 100644
index 0000000..2a551d3
--- /dev/null
+++ b/internal/ceres/numeric_diff_test_utils.h
@@ -0,0 +1,152 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
+#define CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
+
+#include "ceres/cost_function.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// Noise factor for randomized cost function.
+static const double kNoiseFactor = 0.01;
+
+// Default random seed for randomized cost function.
+static const unsigned int kRandomSeed = 1234;
+
+// y1 = x1'x2      -> dy1/dx1 = x2,               dy1/dx2 = x1
+// y2 = (x1'x2)^2  -> dy2/dx1 = 2 * x2 * (x1'x2), dy2/dx2 = 2 * x1 * (x1'x2)
+// y3 = x2'x2      -> dy3/dx1 = 0,                dy3/dx2 = 2 * x2
+class EasyFunctor {
+ public:
+  bool operator()(const double* x1, const double* x2, double* residuals) const;
+  void ExpectCostFunctionEvaluationIsNearlyCorrect(
+      const CostFunction& cost_function,
+      NumericDiffMethodType method) const;
+};
+
+class EasyCostFunction : public SizedCostFunction<3, 5, 5> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** /* not used */) const {
+    return functor_(parameters[0], parameters[1], residuals);
+  }
+
+ private:
+  EasyFunctor functor_;
+};
+
+// y1 = sin(x1'x2)
+// y2 = exp(-x1'x2 / 10)
+//
+// dy1/dx1 =  x2 * cos(x1'x2),            dy1/dx2 =  x1 * cos(x1'x2)
+// dy2/dx1 = -x2 * exp(-x1'x2 / 10) / 10, dy2/dx2 = -x2 * exp(-x1'x2 / 10) / 10
+class TranscendentalFunctor {
+ public:
+  bool operator()(const double* x1, const double* x2, double* residuals) const;
+  void ExpectCostFunctionEvaluationIsNearlyCorrect(
+      const CostFunction& cost_function,
+      NumericDiffMethodType method) const;
+};
+
+class TranscendentalCostFunction : public SizedCostFunction<2, 5, 5> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** /* not used */) const {
+    return functor_(parameters[0], parameters[1], residuals);
+  }
+ private:
+  TranscendentalFunctor functor_;
+};
+
+// y = exp(x), dy/dx = exp(x)
+class ExponentialFunctor {
+ public:
+  bool operator()(const double* x1, double* residuals) const;
+  void ExpectCostFunctionEvaluationIsNearlyCorrect(
+      const CostFunction& cost_function) const;
+};
+
+class ExponentialCostFunction : public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** /* not used */) const {
+    return functor_(parameters[0], residuals);
+  }
+
+ private:
+  ExponentialFunctor functor_;
+};
+
+// Test adaptive numeric differentiation by synthetically adding random noise
+// to a functor.
+// y = x^2 + [random noise], dy/dx ~ 2x
+class RandomizedFunctor {
+ public:
+  RandomizedFunctor(double noise_factor, unsigned int random_seed)
+      : noise_factor_(noise_factor), random_seed_(random_seed) {
+  }
+
+  bool operator()(const double* x1, double* residuals) const;
+  void ExpectCostFunctionEvaluationIsNearlyCorrect(
+      const CostFunction& cost_function) const;
+
+ private:
+  double noise_factor_;
+  unsigned int random_seed_;
+};
+
+class RandomizedCostFunction : public SizedCostFunction<1, 1> {
+ public:
+  RandomizedCostFunction(double noise_factor, unsigned int random_seed)
+      : functor_(noise_factor, random_seed) {
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** /* not used */) const {
+    return functor_(parameters[0], residuals);
+  }
+
+ private:
+  RandomizedFunctor functor_;
+};
+
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_NUMERIC_DIFF_TEST_UTILS_H_
diff --git a/internal/ceres/ordered_groups_test.cc b/internal/ceres/ordered_groups_test.cc
new file mode 100644
index 0000000..4510686
--- /dev/null
+++ b/internal/ceres/ordered_groups_test.cc
@@ -0,0 +1,233 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/ordered_groups.h"
+
+#include <cstddef>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(OrderedGroups, EmptyOrderedGroupBehavesCorrectly) {
+  ParameterBlockOrdering ordering;
+  EXPECT_EQ(ordering.NumGroups(), 0);
+  EXPECT_EQ(ordering.NumElements(), 0);
+  EXPECT_EQ(ordering.GroupSize(1), 0);
+  double x;
+  EXPECT_EQ(ordering.GroupId(&x), -1);
+  EXPECT_FALSE(ordering.Remove(&x));
+}
+
+TEST(OrderedGroups, EverythingInOneGroup) {
+  ParameterBlockOrdering ordering;
+  double x[3];
+  ordering.AddElementToGroup(x, 1);
+  ordering.AddElementToGroup(x + 1, 1);
+  ordering.AddElementToGroup(x + 2, 1);
+  ordering.AddElementToGroup(x, 1);
+
+  EXPECT_EQ(ordering.NumGroups(), 1);
+  EXPECT_EQ(ordering.NumElements(), 3);
+  EXPECT_EQ(ordering.GroupSize(1), 3);
+  EXPECT_EQ(ordering.GroupSize(0), 0);
+  EXPECT_EQ(ordering.GroupId(x), 1);
+  EXPECT_EQ(ordering.GroupId(x + 1), 1);
+  EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+  ordering.Remove(x);
+  EXPECT_EQ(ordering.NumGroups(), 1);
+  EXPECT_EQ(ordering.NumElements(), 2);
+  EXPECT_EQ(ordering.GroupSize(1), 2);
+  EXPECT_EQ(ordering.GroupSize(0), 0);
+
+  EXPECT_EQ(ordering.GroupId(x), -1);
+  EXPECT_EQ(ordering.GroupId(x + 1), 1);
+  EXPECT_EQ(ordering.GroupId(x + 2), 1);
+}
+
+TEST(OrderedGroups, StartInOneGroupAndThenSplit) {
+  ParameterBlockOrdering ordering;
+  double x[3];
+  ordering.AddElementToGroup(x, 1);
+  ordering.AddElementToGroup(x + 1, 1);
+  ordering.AddElementToGroup(x + 2, 1);
+  ordering.AddElementToGroup(x, 1);
+
+  EXPECT_EQ(ordering.NumGroups(), 1);
+  EXPECT_EQ(ordering.NumElements(), 3);
+  EXPECT_EQ(ordering.GroupSize(1), 3);
+  EXPECT_EQ(ordering.GroupSize(0), 0);
+  EXPECT_EQ(ordering.GroupId(x), 1);
+  EXPECT_EQ(ordering.GroupId(x + 1), 1);
+  EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+  ordering.AddElementToGroup(x, 5);
+  EXPECT_EQ(ordering.NumGroups(), 2);
+  EXPECT_EQ(ordering.NumElements(), 3);
+  EXPECT_EQ(ordering.GroupSize(1), 2);
+  EXPECT_EQ(ordering.GroupSize(5), 1);
+  EXPECT_EQ(ordering.GroupSize(0), 0);
+
+  EXPECT_EQ(ordering.GroupId(x), 5);
+  EXPECT_EQ(ordering.GroupId(x + 1), 1);
+  EXPECT_EQ(ordering.GroupId(x + 2), 1);
+}
+
+TEST(OrderedGroups, AddAndRemoveEveryThingFromOneGroup) {
+  ParameterBlockOrdering ordering;
+  double x[3];
+  ordering.AddElementToGroup(x, 1);
+  ordering.AddElementToGroup(x + 1, 1);
+  ordering.AddElementToGroup(x + 2, 1);
+  ordering.AddElementToGroup(x, 1);
+
+  EXPECT_EQ(ordering.NumGroups(), 1);
+  EXPECT_EQ(ordering.NumElements(), 3);
+  EXPECT_EQ(ordering.GroupSize(1), 3);
+  EXPECT_EQ(ordering.GroupSize(0), 0);
+  EXPECT_EQ(ordering.GroupId(x), 1);
+  EXPECT_EQ(ordering.GroupId(x + 1), 1);
+  EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+  ordering.AddElementToGroup(x, 5);
+  ordering.AddElementToGroup(x + 1, 5);
+  ordering.AddElementToGroup(x + 2, 5);
+  EXPECT_EQ(ordering.NumGroups(), 1);
+  EXPECT_EQ(ordering.NumElements(), 3);
+  EXPECT_EQ(ordering.GroupSize(1), 0);
+  EXPECT_EQ(ordering.GroupSize(5), 3);
+  EXPECT_EQ(ordering.GroupSize(0), 0);
+
+  EXPECT_EQ(ordering.GroupId(x), 5);
+  EXPECT_EQ(ordering.GroupId(x + 1), 5);
+  EXPECT_EQ(ordering.GroupId(x + 2), 5);
+}
+
+TEST(OrderedGroups, ReverseOrdering) {
+  ParameterBlockOrdering ordering;
+  double x[3];
+  ordering.AddElementToGroup(x, 1);
+  ordering.AddElementToGroup(x + 1, 2);
+  ordering.AddElementToGroup(x + 2, 2);
+
+  EXPECT_EQ(ordering.NumGroups(), 2);
+  EXPECT_EQ(ordering.NumElements(), 3);
+  EXPECT_EQ(ordering.GroupSize(1), 1);
+  EXPECT_EQ(ordering.GroupSize(2), 2);
+  EXPECT_EQ(ordering.GroupId(x), 1);
+  EXPECT_EQ(ordering.GroupId(x + 1), 2);
+  EXPECT_EQ(ordering.GroupId(x + 2), 2);
+
+  ordering.Reverse();
+
+  EXPECT_EQ(ordering.NumGroups(), 2);
+  EXPECT_EQ(ordering.NumElements(), 3);
+  EXPECT_EQ(ordering.GroupSize(3), 1);
+  EXPECT_EQ(ordering.GroupSize(2), 2);
+  EXPECT_EQ(ordering.GroupId(x), 3);
+  EXPECT_EQ(ordering.GroupId(x + 1), 2);
+  EXPECT_EQ(ordering.GroupId(x + 2), 2);
+}
+
+TEST(OrderedGroups, ReverseOrderingWithEmptyOrderedGroups) {
+  ParameterBlockOrdering ordering;
+  // This should be a no-op.
+  ordering.Reverse();
+
+  // Ensure the properties of an empty OrderedGroups still hold after Reverse().
+  EXPECT_EQ(ordering.NumGroups(), 0);
+  EXPECT_EQ(ordering.NumElements(), 0);
+  EXPECT_EQ(ordering.GroupSize(1), 0);
+  double x;
+  EXPECT_EQ(ordering.GroupId(&x), -1);
+  EXPECT_FALSE(ordering.Remove(&x));
+}
+
+TEST(OrderedGroups, BulkRemove) {
+  ParameterBlockOrdering ordering;
+  double x[3];
+  ordering.AddElementToGroup(x, 1);
+  ordering.AddElementToGroup(x + 1, 2);
+  ordering.AddElementToGroup(x + 2, 2);
+
+  std::vector<double*> elements_to_remove;
+  elements_to_remove.push_back(x);
+  elements_to_remove.push_back(x + 2);
+
+  EXPECT_EQ(ordering.Remove(elements_to_remove), 2);
+  EXPECT_EQ(ordering.NumElements(), 1);
+  EXPECT_EQ(ordering.GroupId(x), -1);
+  EXPECT_EQ(ordering.GroupId(x + 1), 2);
+  EXPECT_EQ(ordering.GroupId(x + 2), -1);
+}
+
+TEST(OrderedGroups, BulkRemoveWithNoElements) {
+  ParameterBlockOrdering ordering;
+
+  double x[3];
+  std::vector<double*> elements_to_remove;
+  elements_to_remove.push_back(x);
+  elements_to_remove.push_back(x + 2);
+
+  EXPECT_EQ(ordering.Remove(elements_to_remove), 0);
+
+  ordering.AddElementToGroup(x, 1);
+  ordering.AddElementToGroup(x + 1, 2);
+  ordering.AddElementToGroup(x + 2, 2);
+
+  elements_to_remove.clear();
+  EXPECT_EQ(ordering.Remove(elements_to_remove), 0);
+}
+
+TEST(OrderedGroups, MinNonZeroGroup) {
+  ParameterBlockOrdering ordering;
+  double x[3];
+
+  ordering.AddElementToGroup(x, 1);
+  ordering.AddElementToGroup(x + 1, 1);
+  ordering.AddElementToGroup(x + 2, 2);
+
+  EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
+  ordering.Remove(x);
+
+  EXPECT_EQ(ordering.MinNonZeroGroup(), 1);
+  ordering.Remove(x + 1);
+
+  EXPECT_EQ(ordering.MinNonZeroGroup(), 2);
+  ordering.Remove(x + 2);
+
+  // No non-zero groups left.
+  EXPECT_DEATH_IF_SUPPORTED(ordering.MinNonZeroGroup(), "NumGroups");
+}
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/parameter_block.h b/internal/ceres/parameter_block.h
new file mode 100644
index 0000000..8e21553
--- /dev/null
+++ b/internal/ceres/parameter_block.h
@@ -0,0 +1,407 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_PARAMETER_BLOCK_H_
+#define CERES_INTERNAL_PARAMETER_BLOCK_H_
+
+#include <algorithm>
+#include <cstdlib>
+#include <limits>
+#include <string>
+#include "ceres/array_utils.h"
+#include "ceres/collections_port.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+class ProblemImpl;
+class ResidualBlock;
+
+// The parameter block encodes the location of the user's original value, and
+// also the "current state" of the parameter. The evaluator uses whatever is in
+// the current state of the parameter when evaluating. This is inlined since the
+// methods are performance sensitive.
+//
+// The class is not thread-safe, unless only const methods are called. The
+// parameter block may also hold a pointer to a local parameterization; the
+// parameter block does not take ownership of this pointer, so the user is
+// responsible for the proper disposal of the local parameterization.
+class ParameterBlock {
+ public:
+  // TODO(keir): Decide what data structure is best here. Should this be a set?
+  // Probably not, because sets are memory inefficient. However, if it's a
+  // vector, you can get into pathological linear performance when removing a
+  // residual block from a problem where all the residual blocks depend on one
+  // parameter; for example, shared focal length in a bundle adjustment
+  // problem. It might be worth making a custom structure that is just an array
+  // when it is small, but transitions to a hash set when it has more elements.
+  //
+  // For now, use a hash set.
+  typedef HashSet<ResidualBlock*> ResidualBlockSet;
+
+  // Create a parameter block with the user state, size, and index specified.
+  // The size is the size of the parameter block and the index is the position
+  // of the parameter block inside a Program (if any).
+  ParameterBlock(double* user_state, int size, int index) {
+    Init(user_state, size, index, NULL);
+  }
+
+  ParameterBlock(double* user_state,
+                 int size,
+                 int index,
+                 LocalParameterization* local_parameterization) {
+    Init(user_state, size, index, local_parameterization);
+  }
+
+  // The size of the parameter block.
+  int Size() const { return size_; }
+
+  // Manipulate the parameter state.
+  bool SetState(const double* x) {
+    CHECK(x != NULL)
+        << "Tried to set the state of constant parameter "
+        << "with user location " << user_state_;
+    CHECK(!is_constant_)
+        << "Tried to set the state of constant parameter "
+        << "with user location " << user_state_;
+
+    state_ = x;
+    return UpdateLocalParameterizationJacobian();
+  }
+
+  // Copy the current parameter state out to x. This is "GetState()" rather than
+  // simply "state()" since it is actively copying the data into the passed
+  // pointer.
+  void GetState(double *x) const {
+    if (x != state_) {
+      memcpy(x, state_, sizeof(*state_) * size_);
+    }
+  }
+
+  // Direct pointers to the current state.
+  const double* state() const { return state_; }
+  const double* user_state() const { return user_state_; }
+  double* mutable_user_state() { return user_state_; }
+  LocalParameterization* local_parameterization() const {
+    return local_parameterization_;
+  }
+  LocalParameterization* mutable_local_parameterization() {
+    return local_parameterization_;
+  }
+
+  // Set this parameter block to vary or not.
+  void SetConstant() { is_constant_ = true; }
+  void SetVarying() { is_constant_ = false; }
+  bool IsConstant() const { return is_constant_; }
+
+  // This parameter block's index in an array.
+  int index() const { return index_; }
+  void set_index(int index) { index_ = index; }
+
+  // This parameter offset inside a larger state vector.
+  int state_offset() const { return state_offset_; }
+  void set_state_offset(int state_offset) { state_offset_ = state_offset; }
+
+  // This parameter offset inside a larger delta vector.
+  int delta_offset() const { return delta_offset_; }
+  void set_delta_offset(int delta_offset) { delta_offset_ = delta_offset; }
+
+  // Methods relating to the parameter block's parameterization.
+
+  // The local to global jacobian. Returns NULL if there is no local
+  // parameterization for this parameter block. The returned matrix is row-major
+  // and has Size() rows and  LocalSize() columns.
+  const double* LocalParameterizationJacobian() const {
+    return local_parameterization_jacobian_.get();
+  }
+
+  int LocalSize() const {
+    return (local_parameterization_ == NULL)
+        ? size_
+        : local_parameterization_->LocalSize();
+  }
+
+  // Set the parameterization. The parameterization can be set exactly once;
+  // multiple calls to set the parameterization to different values will crash.
+  // It is an error to pass NULL for the parameterization. The parameter block
+  // does not take ownership of the parameterization.
+  void SetParameterization(LocalParameterization* new_parameterization) {
+    CHECK(new_parameterization != NULL) << "NULL parameterization invalid.";
+    // Nothing to do if the new parameterization is the same as the
+    // old parameterization.
+    if (new_parameterization == local_parameterization_) {
+      return;
+    }
+
+    CHECK(local_parameterization_ == NULL)
+        << "Can't re-set the local parameterization; it leads to "
+        << "ambiguous ownership. Current local parameterization is: "
+        << local_parameterization_;
+
+    CHECK(new_parameterization->GlobalSize() == size_)
+        << "Invalid parameterization for parameter block. The parameter block "
+        << "has size " << size_ << " while the parameterization has a global "
+        << "size of " << new_parameterization->GlobalSize() << ". Did you "
+        << "accidentally use the wrong parameter block or parameterization?";
+
+    CHECK_GT(new_parameterization->LocalSize(), 0)
+        << "Invalid parameterization. Parameterizations must have a positive "
+        << "dimensional tangent space.";
+
+    local_parameterization_ = new_parameterization;
+    local_parameterization_jacobian_.reset(
+        new double[local_parameterization_->GlobalSize() *
+                   local_parameterization_->LocalSize()]);
+    CHECK(UpdateLocalParameterizationJacobian())
+        << "Local parameterization Jacobian computation failed for x: "
+        << ConstVectorRef(state_, Size()).transpose();
+  }
+
+  void SetUpperBound(int index, double upper_bound) {
+    CHECK_LT(index, size_);
+
+    if (upper_bounds_.get() == NULL) {
+      upper_bounds_.reset(new double[size_]);
+      std::fill(upper_bounds_.get(),
+                upper_bounds_.get() + size_,
+                std::numeric_limits<double>::max());
+    }
+
+    upper_bounds_[index] = upper_bound;
+  }
+
+  void SetLowerBound(int index, double lower_bound) {
+    CHECK_LT(index, size_);
+
+    if (lower_bounds_.get() == NULL) {
+      lower_bounds_.reset(new double[size_]);
+      std::fill(lower_bounds_.get(),
+                lower_bounds_.get() + size_,
+                -std::numeric_limits<double>::max());
+    }
+
+    lower_bounds_[index] = lower_bound;
+  }
+
+  // Generalization of the addition operation. This is the same as
+  // LocalParameterization::Plus() followed by projection onto the
+  // hyper cube implied by the bounds constraints.
+  bool Plus(const double *x, const double* delta, double* x_plus_delta) {
+    if (local_parameterization_ != NULL) {
+      if (!local_parameterization_->Plus(x, delta, x_plus_delta)) {
+        return false;
+      }
+    } else {
+      VectorRef(x_plus_delta, size_) = ConstVectorRef(x, size_) +
+                                       ConstVectorRef(delta,  size_);
+    }
+
+    // Project onto the box constraints.
+    if (lower_bounds_.get() != NULL) {
+      for (int i = 0; i < size_; ++i) {
+        x_plus_delta[i] = std::max(x_plus_delta[i], lower_bounds_[i]);
+      }
+    }
+
+    if (upper_bounds_.get() != NULL) {
+      for (int i = 0; i < size_; ++i) {
+        x_plus_delta[i] = std::min(x_plus_delta[i], upper_bounds_[i]);
+      }
+    }
+
+    return true;
+  }
+
+  std::string ToString() const {
+    return StringPrintf("{ this=%p, user_state=%p, state=%p, size=%d, "
+                        "constant=%d, index=%d, state_offset=%d, "
+                        "delta_offset=%d }",
+                        this,
+                        user_state_,
+                        state_,
+                        size_,
+                        is_constant_,
+                        index_,
+                        state_offset_,
+                        delta_offset_);
+  }
+
+  void EnableResidualBlockDependencies() {
+    CHECK(residual_blocks_.get() == NULL)
+        << "Ceres bug: There is already a residual block collection "
+        << "for parameter block: " << ToString();
+    residual_blocks_.reset(new ResidualBlockSet);
+  }
+
+  void AddResidualBlock(ResidualBlock* residual_block) {
+    CHECK(residual_blocks_.get() != NULL)
+        << "Ceres bug: The residual block collection is null for parameter "
+        << "block: " << ToString();
+    residual_blocks_->insert(residual_block);
+  }
+
+  void RemoveResidualBlock(ResidualBlock* residual_block) {
+    CHECK(residual_blocks_.get() != NULL)
+        << "Ceres bug: The residual block collection is null for parameter "
+        << "block: " << ToString();
+    CHECK(residual_blocks_->find(residual_block) != residual_blocks_->end())
+        << "Ceres bug: Missing residual for parameter block: " << ToString();
+    residual_blocks_->erase(residual_block);
+  }
+
+  // This is only intended for iterating; perhaps this should only expose
+  // .begin() and .end().
+  ResidualBlockSet* mutable_residual_blocks() {
+    return residual_blocks_.get();
+  }
+
+  double LowerBoundForParameter(int index) const {
+    if (lower_bounds_.get() == NULL) {
+      return -std::numeric_limits<double>::max();
+    } else {
+      return lower_bounds_[index];
+    }
+  }
+
+  double UpperBoundForParameter(int index) const {
+    if (upper_bounds_.get() == NULL) {
+      return std::numeric_limits<double>::max();
+    } else {
+      return upper_bounds_[index];
+    }
+  }
+
+ private:
+  void Init(double* user_state,
+            int size,
+            int index,
+            LocalParameterization* local_parameterization) {
+    user_state_ = user_state;
+    size_ = size;
+    index_ = index;
+    is_constant_ = false;
+    state_ = user_state_;
+
+    local_parameterization_ = NULL;
+    if (local_parameterization != NULL) {
+      SetParameterization(local_parameterization);
+    }
+
+    state_offset_ = -1;
+    delta_offset_ = -1;
+  }
+
+  bool UpdateLocalParameterizationJacobian() {
+    if (local_parameterization_ == NULL) {
+      return true;
+    }
+
+    // Update the local to global Jacobian. In some cases this is
+    // wasted effort; if this is a bottleneck, we will find a solution
+    // at that time.
+
+    const int jacobian_size = Size() * LocalSize();
+    InvalidateArray(jacobian_size,
+                    local_parameterization_jacobian_.get());
+    if (!local_parameterization_->ComputeJacobian(
+            state_,
+            local_parameterization_jacobian_.get())) {
+      LOG(WARNING) << "Local parameterization Jacobian computation failed"
+          "for x: " << ConstVectorRef(state_, Size()).transpose();
+      return false;
+    }
+
+    if (!IsArrayValid(jacobian_size, local_parameterization_jacobian_.get())) {
+      LOG(WARNING) << "Local parameterization Jacobian computation returned"
+                   << "an invalid matrix for x: "
+                   << ConstVectorRef(state_, Size()).transpose()
+                   << "\n Jacobian matrix : "
+                   << ConstMatrixRef(local_parameterization_jacobian_.get(),
+                                     Size(),
+                                     LocalSize());
+      return false;
+    }
+    return true;
+  }
+
+  double* user_state_;
+  int size_;
+  bool is_constant_;
+  LocalParameterization* local_parameterization_;
+
+  // The "state" of the parameter. These fields are only needed while the
+  // solver is running. While at first glance using mutable is a bad idea, this
+  // ends up simplifying the internals of Ceres enough to justify the potential
+  // pitfalls of using "mutable."
+  mutable const double* state_;
+  mutable scoped_array<double> local_parameterization_jacobian_;
+
+  // The index of the parameter. This is used by various other parts of Ceres to
+  // permit switching from a ParameterBlock* to an index in another array.
+  int32 index_;
+
+  // The offset of this parameter block inside a larger state vector.
+  int32 state_offset_;
+
+  // The offset of this parameter block inside a larger delta vector.
+  int32 delta_offset_;
+
+  // If non-null, contains the residual blocks this parameter block is in.
+  scoped_ptr<ResidualBlockSet> residual_blocks_;
+
+  // Upper and lower bounds for the parameter block.  SetUpperBound
+  // and SetLowerBound lazily initialize the upper_bounds_ and
+  // lower_bounds_ arrays. If they are never called, then memory for
+  // these arrays is never allocated. Thus for problems where there
+  // are no bounds, or only one sided bounds we do not pay the cost of
+  // allocating memory for the inactive bounds constraints.
+  //
+  // Upon initialization these arrays are initialized to
+  // std::numeric_limits<double>::max() and
+  // -std::numeric_limits<double>::max() respectively which correspond
+  // to the parameter block being unconstrained.
+  scoped_array<double> upper_bounds_;
+  scoped_array<double> lower_bounds_;
+
+  // Necessary so ProblemImpl can clean up the parameterizations.
+  friend class ProblemImpl;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_PARAMETER_BLOCK_H_
diff --git a/internal/ceres/parameter_block_ordering.cc b/internal/ceres/parameter_block_ordering.cc
new file mode 100644
index 0000000..efba339
--- /dev/null
+++ b/internal/ceres/parameter_block_ordering.cc
@@ -0,0 +1,173 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/parameter_block_ordering.h"
+
+#include "ceres/graph.h"
+#include "ceres/graph_algorithms.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::set;
+using std::vector;
+
+int ComputeStableSchurOrdering(const Program& program,
+                         vector<ParameterBlock*>* ordering) {
+  CHECK_NOTNULL(ordering)->clear();
+  EventLogger event_logger("ComputeStableSchurOrdering");
+  scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+  event_logger.AddEvent("CreateHessianGraph");
+
+  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+  const HashSet<ParameterBlock*>& vertices = graph->vertices();
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    if (vertices.count(parameter_blocks[i]) > 0) {
+      ordering->push_back(parameter_blocks[i]);
+    }
+  }
+  event_logger.AddEvent("Preordering");
+
+  int independent_set_size = StableIndependentSetOrdering(*graph, ordering);
+  event_logger.AddEvent("StableIndependentSet");
+
+  // Add the excluded blocks to back of the ordering vector.
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    ParameterBlock* parameter_block = parameter_blocks[i];
+    if (parameter_block->IsConstant()) {
+      ordering->push_back(parameter_block);
+    }
+  }
+  event_logger.AddEvent("ConstantParameterBlocks");
+
+  return independent_set_size;
+}
+
+int ComputeSchurOrdering(const Program& program,
+                         vector<ParameterBlock*>* ordering) {
+  CHECK_NOTNULL(ordering)->clear();
+
+  scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+  int independent_set_size = IndependentSetOrdering(*graph, ordering);
+  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+
+  // Add the excluded blocks to back of the ordering vector.
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    ParameterBlock* parameter_block = parameter_blocks[i];
+    if (parameter_block->IsConstant()) {
+      ordering->push_back(parameter_block);
+    }
+  }
+
+  return independent_set_size;
+}
+
+void ComputeRecursiveIndependentSetOrdering(const Program& program,
+                                            ParameterBlockOrdering* ordering) {
+  CHECK_NOTNULL(ordering)->Clear();
+  const vector<ParameterBlock*> parameter_blocks = program.parameter_blocks();
+  scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+
+  int num_covered = 0;
+  int round = 0;
+  while (num_covered < parameter_blocks.size()) {
+    vector<ParameterBlock*> independent_set_ordering;
+    const int independent_set_size =
+        IndependentSetOrdering(*graph, &independent_set_ordering);
+    for (int i = 0; i < independent_set_size; ++i) {
+      ParameterBlock* parameter_block = independent_set_ordering[i];
+      ordering->AddElementToGroup(parameter_block->mutable_user_state(), round);
+      graph->RemoveVertex(parameter_block);
+    }
+    num_covered += independent_set_size;
+    ++round;
+  }
+}
+
+Graph<ParameterBlock*>* CreateHessianGraph(const Program& program) {
+  Graph<ParameterBlock*>* graph = CHECK_NOTNULL(new Graph<ParameterBlock*>);
+  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    ParameterBlock* parameter_block = parameter_blocks[i];
+    if (!parameter_block->IsConstant()) {
+      graph->AddVertex(parameter_block);
+    }
+  }
+
+  const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+  for (int i = 0; i < residual_blocks.size(); ++i) {
+    const ResidualBlock* residual_block = residual_blocks[i];
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+    ParameterBlock* const* parameter_blocks =
+        residual_block->parameter_blocks();
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      if (parameter_blocks[j]->IsConstant()) {
+        continue;
+      }
+
+      for (int k = j + 1; k < num_parameter_blocks; ++k) {
+        if (parameter_blocks[k]->IsConstant()) {
+          continue;
+        }
+
+        graph->AddEdge(parameter_blocks[j], parameter_blocks[k]);
+      }
+    }
+  }
+
+  return graph;
+}
+
+void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
+                          vector<int>* group_sizes) {
+  CHECK_NOTNULL(group_sizes)->clear();
+  if (ordering == NULL) {
+    return;
+  }
+
+  const map<int, set<double*> >& group_to_elements =
+      ordering->group_to_elements();
+  for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+       it != group_to_elements.end();
+       ++it) {
+    group_sizes->push_back(it->second.size());
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/parameter_block_ordering.h b/internal/ceres/parameter_block_ordering.h
new file mode 100644
index 0000000..f996929
--- /dev/null
+++ b/internal/ceres/parameter_block_ordering.h
@@ -0,0 +1,89 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
+#define CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
+
+#include <vector>
+#include "ceres/ordered_groups.h"
+#include "ceres/graph.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class ParameterBlock;
+
+// Uses an approximate independent set ordering to order the parameter
+// blocks of a problem so that it is suitable for use with Schur
+// complement based solvers. The output variable ordering contains an
+// ordering of the parameter blocks and the return value is size of
+// the independent set or the number of e_blocks (see
+// schur_complement_solver.h for an explanation). Constant parameters
+// are added to the end.
+//
+// The ordering vector has the structure
+//
+// ordering = [independent set,
+//             complement of the independent set,
+//             fixed blocks]
+int ComputeSchurOrdering(const Program& program,
+                         std::vector<ParameterBlock* >* ordering);
+
+// Same as above, except that ties while computing the independent set
+// ordering are resolved in favour of the order in which the parameter
+// blocks occur in the program.
+int ComputeStableSchurOrdering(const Program& program,
+                               std::vector<ParameterBlock* >* ordering);
+
+// Use an approximate independent set ordering to decompose the
+// parameter blocks of a problem in a sequence of independent
+// sets. The ordering covers all the non-constant parameter blocks in
+// the program.
+void ComputeRecursiveIndependentSetOrdering(const Program& program,
+                                            ParameterBlockOrdering* ordering);
+
+// Builds a graph on the parameter blocks of a Problem, whose
+// structure reflects the sparsity structure of the Hessian. Each
+// vertex corresponds to a parameter block in the Problem except for
+// parameter blocks that are marked constant. An edge connects two
+// parameter blocks, if they co-occur in a residual block.
+Graph<ParameterBlock*>* CreateHessianGraph(const Program& program);
+
+// Iterate over each of the groups in order of their priority and fill
+// summary with their sizes.
+void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
+                          std::vector<int>* group_sizes);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
diff --git a/internal/ceres/parameter_block_ordering_test.cc b/internal/ceres/parameter_block_ordering_test.cc
new file mode 100644
index 0000000..c98cdb5
--- /dev/null
+++ b/internal/ceres/parameter_block_ordering_test.cc
@@ -0,0 +1,179 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/parameter_block_ordering.h"
+
+#include <cstddef>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/stl_util.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+typedef Graph<ParameterBlock*> HessianGraph;
+typedef HashSet<ParameterBlock*> VertexSet;
+
+template <int M, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction: public SizedCostFunction<M, N1, N2, N3> {
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    return true;
+  }
+};
+
+class SchurOrderingTest : public ::testing::Test {
+ protected :
+  virtual void SetUp() {
+    // The explicit calls to AddParameterBlock are necessary because
+    // the below tests depend on the specific numbering of the
+    // parameter blocks.
+    problem_.AddParameterBlock(x_, 3);
+    problem_.AddParameterBlock(y_, 4);
+    problem_.AddParameterBlock(z_, 5);
+    problem_.AddParameterBlock(w_, 6);
+
+    problem_.AddResidualBlock(new DummyCostFunction<2, 3>, NULL, x_);
+    problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, NULL, z_, y_);
+    problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, NULL, x_, z_);
+    problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, NULL, z_, x_);
+    problem_.AddResidualBlock(new DummyCostFunction<1, 5, 3, 6>, NULL,
+                              z_, x_, w_);
+  }
+
+  ProblemImpl problem_;
+  double x_[3], y_[4], z_[5], w_[6];
+};
+
+TEST_F(SchurOrderingTest, NoFixed) {
+  const Program& program = problem_.program();
+  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+  scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+
+  const VertexSet& vertices = graph->vertices();
+  EXPECT_EQ(vertices.size(), 4);
+
+  for (int i = 0; i < 4; ++i) {
+    EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
+  }
+
+  {
+    const VertexSet& neighbors = graph->Neighbors(parameter_blocks[0]);
+    EXPECT_EQ(neighbors.size(), 2);
+    EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+    EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+  }
+
+  {
+    const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
+    EXPECT_EQ(neighbors.size(), 1);
+    EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+  }
+
+  {
+    const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
+    EXPECT_EQ(neighbors.size(), 3);
+    EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
+    EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
+    EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+  }
+
+  {
+    const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
+    EXPECT_EQ(neighbors.size(), 2);
+    EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
+    EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+  }
+}
+
+TEST_F(SchurOrderingTest, AllFixed) {
+  problem_.SetParameterBlockConstant(x_);
+  problem_.SetParameterBlockConstant(y_);
+  problem_.SetParameterBlockConstant(z_);
+  problem_.SetParameterBlockConstant(w_);
+
+  const Program& program = problem_.program();
+  scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+  EXPECT_EQ(graph->vertices().size(), 0);
+}
+
+TEST_F(SchurOrderingTest, OneFixed) {
+  problem_.SetParameterBlockConstant(x_);
+
+  const Program& program = problem_.program();
+  const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+  scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+
+  const VertexSet& vertices = graph->vertices();
+
+  EXPECT_EQ(vertices.size(), 3);
+  EXPECT_TRUE(vertices.find(parameter_blocks[0]) == vertices.end());
+
+  for (int i = 1; i < 3; ++i) {
+    EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
+  }
+
+  {
+    const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
+    EXPECT_EQ(neighbors.size(), 1);
+    EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+  }
+
+  {
+    const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
+    EXPECT_EQ(neighbors.size(), 2);
+    EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
+    EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+  }
+
+  {
+    const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
+    EXPECT_EQ(neighbors.size(), 1);
+    EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+  }
+
+  // The constant parameter block is at the end.
+  vector<ParameterBlock*> ordering;
+  ComputeSchurOrdering(program, &ordering);
+  EXPECT_EQ(ordering.back(), parameter_blocks[0]);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/parameter_block_test.cc b/internal/ceres/parameter_block_test.cc
new file mode 100644
index 0000000..164bb4c
--- /dev/null
+++ b/internal/ceres/parameter_block_test.cc
@@ -0,0 +1,252 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/parameter_block.h"
+
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(ParameterBlock, SetLocalParameterizationDiesOnSizeMismatch) {
+  double x[3] = {1.0, 2.0, 3.0};
+  ParameterBlock parameter_block(x, 3, -1);
+  std::vector<int> indices;
+  indices.push_back(1);
+  SubsetParameterization subset_wrong_size(4, indices);
+  EXPECT_DEATH_IF_SUPPORTED(
+      parameter_block.SetParameterization(&subset_wrong_size), "global");
+}
+
+TEST(ParameterBlock, SetLocalParameterizationWithSameExistingParameterization) {
+  double x[3] = {1.0, 2.0, 3.0};
+  ParameterBlock parameter_block(x, 3, -1);
+  std::vector<int> indices;
+  indices.push_back(1);
+  SubsetParameterization subset(3, indices);
+  parameter_block.SetParameterization(&subset);
+  parameter_block.SetParameterization(&subset);
+}
+
+TEST(ParameterBlock, SetLocalParameterizationDiesWhenResettingToNull) {
+  double x[3] = {1.0, 2.0, 3.0};
+  ParameterBlock parameter_block(x, 3, -1);
+  std::vector<int> indices;
+  indices.push_back(1);
+  SubsetParameterization subset(3, indices);
+  parameter_block.SetParameterization(&subset);
+  EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL");
+}
+
+TEST(ParameterBlock,
+     SetLocalParameterizationDiesWhenResettingToDifferentParameterization) {
+  double x[3] = {1.0, 2.0, 3.0};
+  ParameterBlock parameter_block(x, 3, -1);
+  std::vector<int> indices;
+  indices.push_back(1);
+  SubsetParameterization subset(3, indices);
+  parameter_block.SetParameterization(&subset);
+  SubsetParameterization subset_different(3, indices);
+  EXPECT_DEATH_IF_SUPPORTED(
+      parameter_block.SetParameterization(&subset_different), "re-set");
+}
+
+TEST(ParameterBlock, SetLocalParameterizationDiesOnNullParameterization) {
+  double x[3] = {1.0, 2.0, 3.0};
+  ParameterBlock parameter_block(x, 3, -1);
+  std::vector<int> indices;
+  indices.push_back(1);
+  EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL");
+}
+
+TEST(ParameterBlock, SetParameterizationDiesOnZeroLocalSize) {
+  double x[3] = {1.0, 2.0, 3.0};
+  ParameterBlock parameter_block(x, 3, -1);
+  std::vector<int> indices;
+  indices.push_back(0);
+  indices.push_back(1);
+  indices.push_back(2);
+  SubsetParameterization subset(3, indices);
+  EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(&subset),
+                            "positive dimensional tangent");
+}
+
+TEST(ParameterBlock, SetLocalParameterizationAndNormalOperation) {
+  double x[3] = { 1.0, 2.0, 3.0 };
+  ParameterBlock parameter_block(x, 3, -1);
+  std::vector<int> indices;
+  indices.push_back(1);
+  SubsetParameterization subset(3, indices);
+  parameter_block.SetParameterization(&subset);
+
+  // Ensure the local parameterization jacobian result is correctly computed.
+  ConstMatrixRef local_parameterization_jacobian(
+      parameter_block.LocalParameterizationJacobian(),
+      3,
+      2);
+  ASSERT_EQ(1.0, local_parameterization_jacobian(0, 0));
+  ASSERT_EQ(0.0, local_parameterization_jacobian(0, 1));
+  ASSERT_EQ(0.0, local_parameterization_jacobian(1, 0));
+  ASSERT_EQ(0.0, local_parameterization_jacobian(1, 1));
+  ASSERT_EQ(0.0, local_parameterization_jacobian(2, 0));
+  ASSERT_EQ(1.0, local_parameterization_jacobian(2, 1));
+
+  // Check that updating works as expected.
+  double x_plus_delta[3];
+  double delta[2] = { 0.5, 0.3 };
+  parameter_block.Plus(x, delta, x_plus_delta);
+  ASSERT_EQ(1.5, x_plus_delta[0]);
+  ASSERT_EQ(2.0, x_plus_delta[1]);
+  ASSERT_EQ(3.3, x_plus_delta[2]);
+}
+
+struct TestParameterization : public LocalParameterization {
+ public:
+  virtual ~TestParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const {
+    LOG(FATAL) << "Shouldn't get called.";
+    return true;
+  }
+  virtual bool ComputeJacobian(const double* x,
+                               double* jacobian) const {
+    jacobian[0] = *x * 2;
+    return true;
+  }
+
+  virtual int GlobalSize() const { return 1; }
+  virtual int LocalSize() const { return 1; }
+};
+
+TEST(ParameterBlock, SetStateUpdatesLocalParameterizationJacobian) {
+  TestParameterization test_parameterization;
+  double x[1] = { 1.0 };
+  ParameterBlock parameter_block(x, 1, -1, &test_parameterization);
+
+  EXPECT_EQ(2.0, *parameter_block.LocalParameterizationJacobian());
+
+  x[0] = 5.5;
+  parameter_block.SetState(x);
+  EXPECT_EQ(11.0, *parameter_block.LocalParameterizationJacobian());
+}
+
+TEST(ParameterBlock, PlusWithNoLocalParameterization) {
+  double x[2] = { 1.0, 2.0 };
+  ParameterBlock parameter_block(x, 2, -1);
+
+  double delta[2] = { 0.2, 0.3 };
+  double x_plus_delta[2];
+  parameter_block.Plus(x, delta, x_plus_delta);
+  EXPECT_EQ(1.2, x_plus_delta[0]);
+  EXPECT_EQ(2.3, x_plus_delta[1]);
+}
+
+// Stops computing the jacobian after the first time.
+class BadLocalParameterization : public LocalParameterization {
+ public:
+  BadLocalParameterization()
+      : calls_(0) {
+  }
+
+  virtual ~BadLocalParameterization() {}
+  virtual bool Plus(const double* x,
+                    const double* delta,
+                    double* x_plus_delta) const {
+    *x_plus_delta = *x + *delta;
+    return true;
+  }
+
+  virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+    if (calls_ == 0) {
+      jacobian[0] = 0;
+    }
+    ++calls_;
+    return true;
+  }
+
+  virtual int GlobalSize() const { return 1;}
+  virtual int LocalSize()  const { return 1;}
+
+ private:
+  mutable int calls_;
+};
+
+TEST(ParameterBlock, DetectBadLocalParameterization) {
+  double x = 1;
+  BadLocalParameterization bad_parameterization;
+  ParameterBlock parameter_block(&x, 1, -1, &bad_parameterization);
+  double y = 2;
+  EXPECT_FALSE(parameter_block.SetState(&y));
+}
+
+TEST(ParameterBlock, DefaultBounds) {
+  double x[2];
+  ParameterBlock parameter_block(x, 2, -1, NULL);
+  EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
+            std::numeric_limits<double>::max());
+  EXPECT_EQ(parameter_block.UpperBoundForParameter(1),
+            std::numeric_limits<double>::max());
+  EXPECT_EQ(parameter_block.LowerBoundForParameter(0),
+            -std::numeric_limits<double>::max());
+  EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
+            -std::numeric_limits<double>::max());
+}
+
+TEST(ParameterBlock, SetBounds) {
+  double x[2];
+  ParameterBlock parameter_block(x, 2, -1, NULL);
+  parameter_block.SetLowerBound(0, 1);
+  parameter_block.SetUpperBound(1, 1);
+
+  EXPECT_EQ(parameter_block.LowerBoundForParameter(0), 1.0);
+  EXPECT_EQ(parameter_block.LowerBoundForParameter(1),
+            -std::numeric_limits<double>::max());
+
+  EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
+            std::numeric_limits<double>::max());
+  EXPECT_EQ(parameter_block.UpperBoundForParameter(1), 1.0);
+}
+
+TEST(ParameterBlock, PlusWithBoundsConstraints) {
+  double x[] = {1.0, 0.0};
+  double delta[] = {2.0, -10.0};
+  ParameterBlock parameter_block(x, 2, -1, NULL);
+  parameter_block.SetUpperBound(0, 2.0);
+  parameter_block.SetLowerBound(1, -1.0);
+  double x_plus_delta[2];
+  parameter_block.Plus(x, delta, x_plus_delta);
+  EXPECT_EQ(x_plus_delta[0], 2.0);
+  EXPECT_EQ(x_plus_delta[1], -1.0);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/partitioned_matrix_view.cc b/internal/ceres/partitioned_matrix_view.cc
new file mode 100644
index 0000000..23927a7
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view.cc
@@ -0,0 +1,153 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+#include "ceres/linear_solver.h"
+#include "ceres/partitioned_matrix_view.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+PartitionedMatrixViewBase*
+PartitionedMatrixViewBase::Create(const LinearSolver::Options& options,
+                                  const BlockSparseMatrix& matrix) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 2)) {
+   return new PartitionedMatrixView<2, 2, 2>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 3)) {
+   return new PartitionedMatrixView<2, 2, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 4)) {
+   return new PartitionedMatrixView<2, 2, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2)) {
+   return new PartitionedMatrixView<2, 2, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 3)) {
+   return new PartitionedMatrixView<2, 3, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 4)) {
+   return new PartitionedMatrixView<2, 3, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 6)) {
+   return new PartitionedMatrixView<2, 3, 6>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 9)) {
+   return new PartitionedMatrixView<2, 3, 9>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3)) {
+   return new PartitionedMatrixView<2, 3, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 3)) {
+   return new PartitionedMatrixView<2, 4, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 4)) {
+   return new PartitionedMatrixView<2, 4, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 8)) {
+   return new PartitionedMatrixView<2, 4, 8>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 9)) {
+   return new PartitionedMatrixView<2, 4, 9>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4)) {
+   return new PartitionedMatrixView<2, 4, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if (options.row_block_size == 2){
+   return new PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 2)) {
+   return new PartitionedMatrixView<4, 4, 2>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 3)) {
+   return new PartitionedMatrixView<4, 4, 3>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 4)) {
+   return new PartitionedMatrixView<4, 4, 4>(matrix, options.elimination_groups[0]);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4)) {
+   return new PartitionedMatrixView<4, 4, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
+ }
+
+#endif
+  VLOG(1) << "Template specializations not found for <"
+          << options.row_block_size << ","
+          << options.e_block_size << ","
+          << options.f_block_size << ">";
+  return new PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(
+               matrix, options.elimination_groups[0]);
+};
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/partitioned_matrix_view.h b/internal/ceres/partitioned_matrix_view.h
new file mode 100644
index 0000000..6e75060
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view.h
@@ -0,0 +1,152 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// For generalized bi-partite Jacobian matrices that arise in
+// Structure from Motion related problems, it is sometimes useful to
+// have access to the two parts of the matrix as linear operators
+// themselves. This class provides that functionality.
+
+#ifndef CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
+#define CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_solver.h"
+#include "ceres/small_blas.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Given generalized bi-partite matrix A = [E F], with the same block
+// structure as required by the Schur complement based solver, found
+// in explicit_schur_complement_solver.h, provide access to the
+// matrices E and F and their outer products E'E and F'F with
+// themselves.
+//
+// Lack of BlockStructure object will result in a crash and if the
+// block structure of the matrix does not satisfy the requirements of
+// the Schur complement solver it will result in unpredictable and
+// wrong output.
+class PartitionedMatrixViewBase {
+ public:
+  virtual ~PartitionedMatrixViewBase() {}
+
+  // y += E'x
+  virtual void LeftMultiplyE(const double* x, double* y) const = 0;
+
+  // y += F'x
+  virtual void LeftMultiplyF(const double* x, double* y) const = 0;
+
+  // y += Ex
+  virtual void RightMultiplyE(const double* x, double* y) const = 0;
+
+  // y += Fx
+  virtual void RightMultiplyF(const double* x, double* y) const = 0;
+
+  // Create and return the block diagonal of the matrix E'E.
+  virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const = 0;
+
+  // Create and return the block diagonal of the matrix F'F. Caller
+  // owns the result.
+  virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const = 0;
+
+  // Compute the block diagonal of the matrix E'E and store it in
+  // block_diagonal. The matrix block_diagonal is expected to have a
+  // BlockStructure (preferably created using
+  // CreateBlockDiagonalMatrixEtE) which is has the same structure as
+  // the block diagonal of E'E.
+  virtual void UpdateBlockDiagonalEtE(
+      BlockSparseMatrix* block_diagonal) const = 0;
+
+  // Compute the block diagonal of the matrix F'F and store it in
+  // block_diagonal. The matrix block_diagonal is expected to have a
+  // BlockStructure (preferably created using
+  // CreateBlockDiagonalMatrixFtF) which is has the same structure as
+  // the block diagonal of F'F.
+  virtual void UpdateBlockDiagonalFtF(
+      BlockSparseMatrix* block_diagonal) const = 0;
+
+  virtual int num_col_blocks_e() const = 0;
+  virtual int num_col_blocks_f() const = 0;
+  virtual int num_cols_e()       const = 0;
+  virtual int num_cols_f()       const = 0;
+  virtual int num_rows()         const = 0;
+  virtual int num_cols()         const = 0;
+
+  static PartitionedMatrixViewBase* Create(const LinearSolver::Options& options,
+                                           const BlockSparseMatrix& matrix);
+};
+
+template <int kRowBlockSize = Eigen::Dynamic,
+          int kEBlockSize = Eigen::Dynamic,
+          int kFBlockSize = Eigen::Dynamic >
+class PartitionedMatrixView : public PartitionedMatrixViewBase {
+ public:
+  // matrix = [E F], where the matrix E contains the first
+  // num_col_blocks_a column blocks.
+  PartitionedMatrixView(const BlockSparseMatrix& matrix, int num_col_blocks_e);
+
+  virtual ~PartitionedMatrixView();
+  virtual void LeftMultiplyE(const double* x, double* y) const;
+  virtual void LeftMultiplyF(const double* x, double* y) const;
+  virtual void RightMultiplyE(const double* x, double* y) const;
+  virtual void RightMultiplyF(const double* x, double* y) const;
+  virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const;
+  virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const;
+  virtual void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const;
+  virtual void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const;
+  virtual int num_col_blocks_e() const { return num_col_blocks_e_;  }
+  virtual int num_col_blocks_f() const { return num_col_blocks_f_;  }
+  virtual int num_cols_e()       const { return num_cols_e_;        }
+  virtual int num_cols_f()       const { return num_cols_f_;        }
+  virtual int num_rows()         const { return matrix_.num_rows(); }
+  virtual int num_cols()         const { return matrix_.num_cols(); }
+
+ private:
+  BlockSparseMatrix* CreateBlockDiagonalMatrixLayout(int start_col_block,
+                                                     int end_col_block) const;
+
+  const BlockSparseMatrix& matrix_;
+  int num_row_blocks_e_;
+  int num_col_blocks_e_;
+  int num_col_blocks_f_;
+  int num_cols_e_;
+  int num_cols_f_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
diff --git a/internal/ceres/partitioned_matrix_view_impl.h b/internal/ceres/partitioned_matrix_view_impl.h
new file mode 100644
index 0000000..86fb278
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view_impl.h
@@ -0,0 +1,380 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/partitioned_matrix_view.h"
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/small_blas.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+PartitionedMatrixView(
+    const BlockSparseMatrix& matrix,
+    int num_col_blocks_e)
+    : matrix_(matrix),
+      num_col_blocks_e_(num_col_blocks_e) {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+  CHECK_NOTNULL(bs);
+
+  num_col_blocks_f_ = bs->cols.size() - num_col_blocks_e_;
+
+  // Compute the number of row blocks in E. The number of row blocks
+  // in E maybe less than the number of row blocks in the input matrix
+  // as some of the row blocks at the bottom may not have any
+  // e_blocks. For a definition of what an e_block is, please see
+  // explicit_schur_complement_solver.h
+  num_row_blocks_e_ = 0;
+  for (int r = 0; r < bs->rows.size(); ++r) {
+    const std::vector<Cell>& cells = bs->rows[r].cells;
+    if (cells[0].block_id < num_col_blocks_e_) {
+      ++num_row_blocks_e_;
+    }
+  }
+
+  // Compute the number of columns in E and F.
+  num_cols_e_ = 0;
+  num_cols_f_ = 0;
+
+  for (int c = 0; c < bs->cols.size(); ++c) {
+    const Block& block = bs->cols[c];
+    if (c < num_col_blocks_e_) {
+      num_cols_e_ += block.size;
+    } else {
+      num_cols_f_ += block.size;
+    }
+  }
+
+  CHECK_EQ(num_cols_e_ + num_cols_f_, matrix_.num_cols());
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+~PartitionedMatrixView() {
+}
+
+// The next four methods don't seem to be particularly cache
+// friendly. This is an artifact of how the BlockStructure of the
+// input matrix is constructed. These methods will benefit from
+// multithreading as well as improved data layout.
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+RightMultiplyE(const double* x, double* y) const {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+  // Iterate over the first num_row_blocks_e_ row blocks, and multiply
+  // by the first cell in each row block.
+  const double* values = matrix_.values();
+  for (int r = 0; r < num_row_blocks_e_; ++r) {
+    const Cell& cell = bs->rows[r].cells[0];
+    const int row_block_pos = bs->rows[r].block.position;
+    const int row_block_size = bs->rows[r].block.size;
+    const int col_block_id = cell.block_id;
+    const int col_block_pos = bs->cols[col_block_id].position;
+    const int col_block_size = bs->cols[col_block_id].size;
+    MatrixVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+        values + cell.position, row_block_size, col_block_size,
+        x + col_block_pos,
+        y + row_block_pos);
+  }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+RightMultiplyF(const double* x, double* y) const {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+  // Iterate over row blocks, and if the row block is in E, then
+  // multiply by all the cells except the first one which is of type
+  // E. If the row block is not in E (i.e its in the bottom
+  // num_row_blocks - num_row_blocks_e row blocks), then all the cells
+  // are of type F and multiply by them all.
+  const double* values = matrix_.values();
+  for (int r = 0; r < num_row_blocks_e_; ++r) {
+    const int row_block_pos = bs->rows[r].block.position;
+    const int row_block_size = bs->rows[r].block.size;
+    const std::vector<Cell>& cells = bs->rows[r].cells;
+    for (int c = 1; c < cells.size(); ++c) {
+      const int col_block_id = cells[c].block_id;
+      const int col_block_pos = bs->cols[col_block_id].position;
+      const int col_block_size = bs->cols[col_block_id].size;
+      MatrixVectorMultiply<kRowBlockSize, kFBlockSize, 1>(
+          values + cells[c].position, row_block_size, col_block_size,
+          x + col_block_pos - num_cols_e_,
+          y + row_block_pos);
+    }
+  }
+
+  for (int r = num_row_blocks_e_; r < bs->rows.size(); ++r) {
+    const int row_block_pos = bs->rows[r].block.position;
+    const int row_block_size = bs->rows[r].block.size;
+    const std::vector<Cell>& cells = bs->rows[r].cells;
+    for (int c = 0; c < cells.size(); ++c) {
+      const int col_block_id = cells[c].block_id;
+      const int col_block_pos = bs->cols[col_block_id].position;
+      const int col_block_size = bs->cols[col_block_id].size;
+      MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+          values + cells[c].position, row_block_size, col_block_size,
+          x + col_block_pos - num_cols_e_,
+          y + row_block_pos);
+    }
+  }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+LeftMultiplyE(const double* x, double* y) const {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+  // Iterate over the first num_row_blocks_e_ row blocks, and multiply
+  // by the first cell in each row block.
+  const double* values = matrix_.values();
+  for (int r = 0; r < num_row_blocks_e_; ++r) {
+    const Cell& cell = bs->rows[r].cells[0];
+    const int row_block_pos = bs->rows[r].block.position;
+    const int row_block_size = bs->rows[r].block.size;
+    const int col_block_id = cell.block_id;
+    const int col_block_pos = bs->cols[col_block_id].position;
+    const int col_block_size = bs->cols[col_block_id].size;
+    MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+        values + cell.position, row_block_size, col_block_size,
+        x + row_block_pos,
+        y + col_block_pos);
+  }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+LeftMultiplyF(const double* x, double* y) const {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+  // Iterate over row blocks, and if the row block is in E, then
+  // multiply by all the cells except the first one which is of type
+  // E. If the row block is not in E (i.e its in the bottom
+  // num_row_blocks - num_row_blocks_e row blocks), then all the cells
+  // are of type F and multiply by them all.
+  const double* values = matrix_.values();
+  for (int r = 0; r < num_row_blocks_e_; ++r) {
+    const int row_block_pos = bs->rows[r].block.position;
+    const int row_block_size = bs->rows[r].block.size;
+    const std::vector<Cell>& cells = bs->rows[r].cells;
+    for (int c = 1; c < cells.size(); ++c) {
+      const int col_block_id = cells[c].block_id;
+      const int col_block_pos = bs->cols[col_block_id].position;
+      const int col_block_size = bs->cols[col_block_id].size;
+      MatrixTransposeVectorMultiply<kRowBlockSize, kFBlockSize, 1>(
+        values + cells[c].position, row_block_size, col_block_size,
+        x + row_block_pos,
+        y + col_block_pos - num_cols_e_);
+    }
+  }
+
+  for (int r = num_row_blocks_e_; r < bs->rows.size(); ++r) {
+    const int row_block_pos = bs->rows[r].block.position;
+    const int row_block_size = bs->rows[r].block.size;
+    const std::vector<Cell>& cells = bs->rows[r].cells;
+    for (int c = 0; c < cells.size(); ++c) {
+      const int col_block_id = cells[c].block_id;
+      const int col_block_pos = bs->cols[col_block_id].position;
+      const int col_block_size = bs->cols[col_block_id].size;
+      MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+        values + cells[c].position, row_block_size, col_block_size,
+        x + row_block_pos,
+        y + col_block_pos - num_cols_e_);
+    }
+  }
+}
+
+// Given a range of columns blocks of a matrix m, compute the block
+// structure of the block diagonal of the matrix m(:,
+// start_col_block:end_col_block)'m(:, start_col_block:end_col_block)
+// and return a BlockSparseMatrix with the this block structure. The
+// caller owns the result.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+BlockSparseMatrix*
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+CreateBlockDiagonalMatrixLayout(int start_col_block, int end_col_block) const {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+  CompressedRowBlockStructure* block_diagonal_structure =
+      new CompressedRowBlockStructure;
+
+  int block_position = 0;
+  int diagonal_cell_position = 0;
+
+  // Iterate over the column blocks, creating a new diagonal block for
+  // each column block.
+  for (int c = start_col_block; c < end_col_block; ++c) {
+    const Block& block = bs->cols[c];
+    block_diagonal_structure->cols.push_back(Block());
+    Block& diagonal_block = block_diagonal_structure->cols.back();
+    diagonal_block.size = block.size;
+    diagonal_block.position = block_position;
+
+    block_diagonal_structure->rows.push_back(CompressedRow());
+    CompressedRow& row = block_diagonal_structure->rows.back();
+    row.block = diagonal_block;
+
+    row.cells.push_back(Cell());
+    Cell& cell = row.cells.back();
+    cell.block_id = c - start_col_block;
+    cell.position = diagonal_cell_position;
+
+    block_position += block.size;
+    diagonal_cell_position += block.size * block.size;
+  }
+
+  // Build a BlockSparseMatrix with the just computed block
+  // structure.
+  return new BlockSparseMatrix(block_diagonal_structure);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+BlockSparseMatrix*
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+CreateBlockDiagonalEtE() const {
+  BlockSparseMatrix* block_diagonal =
+      CreateBlockDiagonalMatrixLayout(0, num_col_blocks_e_);
+  UpdateBlockDiagonalEtE(block_diagonal);
+  return block_diagonal;
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+BlockSparseMatrix*
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+CreateBlockDiagonalFtF() const {
+  BlockSparseMatrix* block_diagonal =
+      CreateBlockDiagonalMatrixLayout(
+          num_col_blocks_e_, num_col_blocks_e_ + num_col_blocks_f_);
+  UpdateBlockDiagonalFtF(block_diagonal);
+  return block_diagonal;
+}
+
+// Similar to the code in RightMultiplyE, except instead of the matrix
+// vector multiply its an outer product.
+//
+//    block_diagonal = block_diagonal(E'E)
+//
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+UpdateBlockDiagonalEtE(
+    BlockSparseMatrix* block_diagonal) const {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+  const CompressedRowBlockStructure* block_diagonal_structure =
+      block_diagonal->block_structure();
+
+  block_diagonal->SetZero();
+  const double* values = matrix_.values();
+  for (int r = 0; r < num_row_blocks_e_ ; ++r) {
+    const Cell& cell = bs->rows[r].cells[0];
+    const int row_block_size = bs->rows[r].block.size;
+    const int block_id = cell.block_id;
+    const int col_block_size = bs->cols[block_id].size;
+    const int cell_position =
+        block_diagonal_structure->rows[block_id].cells[0].position;
+
+    MatrixTransposeMatrixMultiply
+        <kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
+            values + cell.position, row_block_size, col_block_size,
+            values + cell.position, row_block_size, col_block_size,
+            block_diagonal->mutable_values() + cell_position,
+            0, 0, col_block_size, col_block_size);
+  }
+}
+
+// Similar to the code in RightMultiplyF, except instead of the matrix
+// vector multiply its an outer product.
+//
+//   block_diagonal = block_diagonal(F'F)
+//
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>::
+UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const {
+  const CompressedRowBlockStructure* bs = matrix_.block_structure();
+  const CompressedRowBlockStructure* block_diagonal_structure =
+      block_diagonal->block_structure();
+
+  block_diagonal->SetZero();
+  const double* values = matrix_.values();
+  for (int r = 0; r < num_row_blocks_e_; ++r) {
+    const int row_block_size = bs->rows[r].block.size;
+    const std::vector<Cell>& cells = bs->rows[r].cells;
+    for (int c = 1; c < cells.size(); ++c) {
+      const int col_block_id = cells[c].block_id;
+      const int col_block_size = bs->cols[col_block_id].size;
+      const int diagonal_block_id = col_block_id - num_col_blocks_e_;
+      const int cell_position =
+          block_diagonal_structure->rows[diagonal_block_id].cells[0].position;
+
+      MatrixTransposeMatrixMultiply
+          <kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
+              values + cells[c].position, row_block_size, col_block_size,
+              values + cells[c].position, row_block_size, col_block_size,
+              block_diagonal->mutable_values() + cell_position,
+              0, 0, col_block_size, col_block_size);
+    }
+  }
+
+  for (int r = num_row_blocks_e_; r < bs->rows.size(); ++r) {
+    const int row_block_size = bs->rows[r].block.size;
+    const std::vector<Cell>& cells = bs->rows[r].cells;
+    for (int c = 0; c < cells.size(); ++c) {
+      const int col_block_id = cells[c].block_id;
+      const int col_block_size = bs->cols[col_block_id].size;
+      const int diagonal_block_id = col_block_id - num_col_blocks_e_;
+      const int cell_position =
+          block_diagonal_structure->rows[diagonal_block_id].cells[0].position;
+
+      MatrixTransposeMatrixMultiply
+          <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
+              values + cells[c].position, row_block_size, col_block_size,
+              values + cells[c].position, row_block_size, col_block_size,
+              block_diagonal->mutable_values() + cell_position,
+              0, 0, col_block_size, col_block_size);
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/partitioned_matrix_view_template.py b/internal/ceres/partitioned_matrix_view_template.py
new file mode 100644
index 0000000..7894523
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view_template.py
@@ -0,0 +1,152 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: sameeragarwal@google.com (Sameer Agarwal)
+#
+# Script for explicitly generating template specialization of the
+# PartitionedMatrixView class. Explicitly generating these
+# instantiations in separate .cc files breaks the compilation into
+# separate compilation unit rather than one large cc file.
+#
+# This script creates two sets of files.
+#
+# 1. partitioned_matrix_view_x_x_x.cc
+# where the x indicates the template parameters and
+#
+# 2. partitioned_matrix_view.cc
+#
+# that contains a factory function for instantiating these classes
+# based on runtime parameters.
+#
+# The list of tuples, specializations indicates the set of
+# specializations that is generated.
+
+HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+"""
+
+DYNAMIC_FILE = """
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<%s, %s, %s>;
+
+}  // namespace internal
+}  // namespace ceres
+"""
+
+SPECIALIZATION_FILE = """
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<%s, %s, %s>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY_FILE_HEADER = """
+#include "ceres/linear_solver.h"
+#include "ceres/partitioned_matrix_view.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+PartitionedMatrixViewBase*
+PartitionedMatrixViewBase::Create(const LinearSolver::Options& options,
+                                  const BlockSparseMatrix& matrix) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+FACTORY = """ return new PartitionedMatrixView<%s, %s, %s>(matrix, options.elimination_groups[0]);"""
+
+FACTORY_FOOTER = """
+#endif
+  VLOG(1) << "Template specializations not found for <"
+          << options.row_block_size << ","
+          << options.e_block_size << ","
+          << options.f_block_size << ">";
+  return new PartitionedMatrixView<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(
+               matrix, options.elimination_groups[0]);
+};
+
+}  // namespace internal
+}  // namespace ceres
+"""
diff --git a/internal/ceres/partitioned_matrix_view_test.cc b/internal/ceres/partitioned_matrix_view_test.cc
new file mode 100644
index 0000000..1e48892
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view_test.cc
@@ -0,0 +1,174 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/partitioned_matrix_view.h"
+
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/random.h"
+#include "ceres/sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kEpsilon = 1e-14;
+
+class PartitionedMatrixViewTest : public ::testing::Test {
+ protected :
+  virtual void SetUp() {
+    srand(5);
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(2));
+    CHECK_NOTNULL(problem.get());
+    A_.reset(problem->A.release());
+
+    num_cols_ = A_->num_cols();
+    num_rows_ = A_->num_rows();
+    num_eliminate_blocks_ = problem->num_eliminate_blocks;
+    LinearSolver::Options options;
+    options.elimination_groups.push_back(num_eliminate_blocks_);
+    pmv_.reset(PartitionedMatrixViewBase::Create(
+                   options,
+                   *down_cast<BlockSparseMatrix*>(A_.get())));
+  }
+
+  int num_rows_;
+  int num_cols_;
+  int num_eliminate_blocks_;
+  scoped_ptr<SparseMatrix> A_;
+  scoped_ptr<PartitionedMatrixViewBase> pmv_;
+};
+
+TEST_F(PartitionedMatrixViewTest, DimensionsTest) {
+  EXPECT_EQ(pmv_->num_col_blocks_e(), num_eliminate_blocks_);
+  EXPECT_EQ(pmv_->num_col_blocks_f(), num_cols_ - num_eliminate_blocks_);
+  EXPECT_EQ(pmv_->num_cols_e(), num_eliminate_blocks_);
+  EXPECT_EQ(pmv_->num_cols_f(), num_cols_ - num_eliminate_blocks_);
+  EXPECT_EQ(pmv_->num_cols(), A_->num_cols());
+  EXPECT_EQ(pmv_->num_rows(), A_->num_rows());
+}
+
+TEST_F(PartitionedMatrixViewTest, RightMultiplyE) {
+  Vector x1(pmv_->num_cols_e());
+  Vector x2(pmv_->num_cols());
+  x2.setZero();
+
+  for (int i = 0; i < pmv_->num_cols_e(); ++i) {
+    x1(i) = x2(i) = RandDouble();
+  }
+
+  Vector y1 = Vector::Zero(pmv_->num_rows());
+  pmv_->RightMultiplyE(x1.data(), y1.data());
+
+  Vector y2 = Vector::Zero(pmv_->num_rows());
+  A_->RightMultiply(x2.data(), y2.data());
+
+  for (int i = 0; i < pmv_->num_rows(); ++i) {
+    EXPECT_NEAR(y1(i), y2(i), kEpsilon);
+  }
+}
+
+TEST_F(PartitionedMatrixViewTest, RightMultiplyF) {
+  Vector x1(pmv_->num_cols_f());
+  Vector x2 = Vector::Zero(pmv_->num_cols());
+
+  for (int i = 0; i < pmv_->num_cols_f(); ++i) {
+    x1(i) = RandDouble();
+    x2(i + pmv_->num_cols_e()) = x1(i);
+  }
+
+  Vector y1 = Vector::Zero(pmv_->num_rows());
+  pmv_->RightMultiplyF(x1.data(), y1.data());
+
+  Vector y2 = Vector::Zero(pmv_->num_rows());
+  A_->RightMultiply(x2.data(), y2.data());
+
+  for (int i = 0; i < pmv_->num_rows(); ++i) {
+    EXPECT_NEAR(y1(i), y2(i), kEpsilon);
+  }
+}
+
+TEST_F(PartitionedMatrixViewTest, LeftMultiply) {
+  Vector x = Vector::Zero(pmv_->num_rows());
+  for (int i = 0; i < pmv_->num_rows(); ++i) {
+    x(i) = RandDouble();
+  }
+
+  Vector y = Vector::Zero(pmv_->num_cols());
+  Vector y1 = Vector::Zero(pmv_->num_cols_e());
+  Vector y2 = Vector::Zero(pmv_->num_cols_f());
+
+  A_->LeftMultiply(x.data(), y.data());
+  pmv_->LeftMultiplyE(x.data(), y1.data());
+  pmv_->LeftMultiplyF(x.data(), y2.data());
+
+  for (int i = 0; i < pmv_->num_cols(); ++i) {
+    EXPECT_NEAR(y(i),
+                (i < pmv_->num_cols_e()) ? y1(i) : y2(i - pmv_->num_cols_e()),
+                kEpsilon);
+  }
+}
+
+TEST_F(PartitionedMatrixViewTest, BlockDiagonalEtE) {
+  scoped_ptr<BlockSparseMatrix>
+      block_diagonal_ee(pmv_->CreateBlockDiagonalEtE());
+  const CompressedRowBlockStructure* bs  = block_diagonal_ee->block_structure();
+
+  EXPECT_EQ(block_diagonal_ee->num_rows(), 2);
+  EXPECT_EQ(block_diagonal_ee->num_cols(), 2);
+  EXPECT_EQ(bs->cols.size(), 2);
+  EXPECT_EQ(bs->rows.size(), 2);
+
+  EXPECT_NEAR(block_diagonal_ee->values()[0], 10.0, kEpsilon);
+  EXPECT_NEAR(block_diagonal_ee->values()[1], 155.0, kEpsilon);
+}
+
+TEST_F(PartitionedMatrixViewTest, BlockDiagonalFtF) {
+  scoped_ptr<BlockSparseMatrix>
+      block_diagonal_ff(pmv_->CreateBlockDiagonalFtF());
+  const CompressedRowBlockStructure* bs  = block_diagonal_ff->block_structure();
+
+  EXPECT_EQ(block_diagonal_ff->num_rows(), 3);
+  EXPECT_EQ(block_diagonal_ff->num_cols(), 3);
+  EXPECT_EQ(bs->cols.size(), 3);
+  EXPECT_EQ(bs->rows.size(), 3);
+  EXPECT_NEAR(block_diagonal_ff->values()[0], 70.0, kEpsilon);
+  EXPECT_NEAR(block_diagonal_ff->values()[1], 17.0, kEpsilon);
+  EXPECT_NEAR(block_diagonal_ff->values()[2], 37.0, kEpsilon);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/polynomial.cc b/internal/ceres/polynomial.cc
new file mode 100644
index 0000000..6462bdd
--- /dev/null
+++ b/internal/ceres/polynomial.cc
@@ -0,0 +1,394 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/polynomial.h"
+
+#include <cmath>
+#include <cstddef>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "ceres/function_sample.h"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// Balancing function as described by B. N. Parlett and C. Reinsch,
+// "Balancing a Matrix for Calculation of Eigenvalues and Eigenvectors".
+// In: Numerische Mathematik, Volume 13, Number 4 (1969), 293-304,
+// Springer Berlin / Heidelberg. DOI: 10.1007/BF02165404
+void BalanceCompanionMatrix(Matrix* companion_matrix_ptr) {
+  CHECK_NOTNULL(companion_matrix_ptr);
+  Matrix& companion_matrix = *companion_matrix_ptr;
+  Matrix companion_matrix_offdiagonal = companion_matrix;
+  companion_matrix_offdiagonal.diagonal().setZero();
+
+  const int degree = companion_matrix.rows();
+
+  // gamma <= 1 controls how much a change in the scaling has to
+  // lower the 1-norm of the companion matrix to be accepted.
+  //
+  // gamma = 1 seems to lead to cycles (numerical issues?), so
+  // we set it slightly lower.
+  const double gamma = 0.9;
+
+  // Greedily scale row/column pairs until there is no change.
+  bool scaling_has_changed;
+  do {
+    scaling_has_changed = false;
+
+    for (int i = 0; i < degree; ++i) {
+      const double row_norm = companion_matrix_offdiagonal.row(i).lpNorm<1>();
+      const double col_norm = companion_matrix_offdiagonal.col(i).lpNorm<1>();
+
+      // Decompose row_norm/col_norm into mantissa * 2^exponent,
+      // where 0.5 <= mantissa < 1. Discard mantissa (return value
+      // of frexp), as only the exponent is needed.
+      int exponent = 0;
+      std::frexp(row_norm / col_norm, &exponent);
+      exponent /= 2;
+
+      if (exponent != 0) {
+        const double scaled_col_norm = std::ldexp(col_norm, exponent);
+        const double scaled_row_norm = std::ldexp(row_norm, -exponent);
+        if (scaled_col_norm + scaled_row_norm < gamma * (col_norm + row_norm)) {
+          // Accept the new scaling. (Multiplication by powers of 2 should not
+          // introduce rounding errors (ignoring non-normalized numbers and
+          // over- or underflow))
+          scaling_has_changed = true;
+          companion_matrix_offdiagonal.row(i) *= std::ldexp(1.0, -exponent);
+          companion_matrix_offdiagonal.col(i) *= std::ldexp(1.0, exponent);
+        }
+      }
+    }
+  } while (scaling_has_changed);
+
+  companion_matrix_offdiagonal.diagonal() = companion_matrix.diagonal();
+  companion_matrix = companion_matrix_offdiagonal;
+  VLOG(3) << "Balanced companion matrix is\n" << companion_matrix;
+}
+
+void BuildCompanionMatrix(const Vector& polynomial,
+                          Matrix* companion_matrix_ptr) {
+  CHECK_NOTNULL(companion_matrix_ptr);
+  Matrix& companion_matrix = *companion_matrix_ptr;
+
+  const int degree = polynomial.size() - 1;
+
+  companion_matrix.resize(degree, degree);
+  companion_matrix.setZero();
+  companion_matrix.diagonal(-1).setOnes();
+  companion_matrix.col(degree - 1) = -polynomial.reverse().head(degree);
+}
+
+// Remove leading terms with zero coefficients.
+Vector RemoveLeadingZeros(const Vector& polynomial_in) {
+  int i = 0;
+  while (i < (polynomial_in.size() - 1) && polynomial_in(i) == 0.0) {
+    ++i;
+  }
+  return polynomial_in.tail(polynomial_in.size() - i);
+}
+
+void FindLinearPolynomialRoots(const Vector& polynomial,
+                               Vector* real,
+                               Vector* imaginary) {
+  CHECK_EQ(polynomial.size(), 2);
+  if (real != NULL) {
+    real->resize(1);
+    (*real)(0) = -polynomial(1) / polynomial(0);
+  }
+
+  if (imaginary != NULL) {
+    imaginary->setZero(1);
+  }
+}
+
+void FindQuadraticPolynomialRoots(const Vector& polynomial,
+                                  Vector* real,
+                                  Vector* imaginary) {
+  CHECK_EQ(polynomial.size(), 3);
+  const double a = polynomial(0);
+  const double b = polynomial(1);
+  const double c = polynomial(2);
+  const double D = b * b - 4 * a * c;
+  const double sqrt_D = sqrt(fabs(D));
+  if (real != NULL) {
+    real->setZero(2);
+  }
+  if (imaginary != NULL) {
+    imaginary->setZero(2);
+  }
+
+  // Real roots.
+  if (D >= 0) {
+    if (real != NULL) {
+      // Stable quadratic roots according to BKP Horn.
+      // http://people.csail.mit.edu/bkph/articles/Quadratics.pdf
+      if (b >= 0) {
+        (*real)(0) = (-b - sqrt_D) / (2.0 * a);
+        (*real)(1) = (2.0 * c) / (-b - sqrt_D);
+      } else {
+        (*real)(0) = (2.0 * c) / (-b + sqrt_D);
+        (*real)(1) = (-b + sqrt_D) / (2.0 * a);
+      }
+    }
+    return;
+  }
+
+  // Use the normal quadratic formula for the complex case.
+  if (real != NULL) {
+    (*real)(0) = -b / (2.0 * a);
+    (*real)(1) = -b / (2.0 * a);
+  }
+  if (imaginary != NULL) {
+    (*imaginary)(0) = sqrt_D / (2.0 * a);
+    (*imaginary)(1) = -sqrt_D / (2.0 * a);
+  }
+}
+}  // namespace
+
+bool FindPolynomialRoots(const Vector& polynomial_in,
+                         Vector* real,
+                         Vector* imaginary) {
+  if (polynomial_in.size() == 0) {
+    LOG(ERROR) << "Invalid polynomial of size 0 passed to FindPolynomialRoots";
+    return false;
+  }
+
+  Vector polynomial = RemoveLeadingZeros(polynomial_in);
+  const int degree = polynomial.size() - 1;
+
+  VLOG(3) << "Input polynomial: " << polynomial_in.transpose();
+  if (polynomial.size() != polynomial_in.size()) {
+    VLOG(3) << "Trimmed polynomial: " << polynomial.transpose();
+  }
+
+  // Is the polynomial constant?
+  if (degree == 0) {
+    LOG(WARNING) << "Trying to extract roots from a constant "
+                 << "polynomial in FindPolynomialRoots";
+    // We return true with no roots, not false, as if the polynomial is constant
+    // it is correct that there are no roots. It is not the case that they were
+    // there, but that we have failed to extract them.
+    return true;
+  }
+
+  // Linear
+  if (degree == 1) {
+    FindLinearPolynomialRoots(polynomial, real, imaginary);
+    return true;
+  }
+
+  // Quadratic
+  if (degree == 2) {
+    FindQuadraticPolynomialRoots(polynomial, real, imaginary);
+    return true;
+  }
+
+  // The degree is now known to be at least 3. For cubic or higher
+  // roots we use the method of companion matrices.
+
+  // Divide by leading term
+  const double leading_term = polynomial(0);
+  polynomial /= leading_term;
+
+  // Build and balance the companion matrix to the polynomial.
+  Matrix companion_matrix(degree, degree);
+  BuildCompanionMatrix(polynomial, &companion_matrix);
+  BalanceCompanionMatrix(&companion_matrix);
+
+  // Find its (complex) eigenvalues.
+  Eigen::EigenSolver<Matrix> solver(companion_matrix, false);
+  if (solver.info() != Eigen::Success) {
+    LOG(ERROR) << "Failed to extract eigenvalues from companion matrix.";
+    return false;
+  }
+
+  // Output roots
+  if (real != NULL) {
+    *real = solver.eigenvalues().real();
+  } else {
+    LOG(WARNING) << "NULL pointer passed as real argument to "
+                 << "FindPolynomialRoots. Real parts of the roots will not "
+                 << "be returned.";
+  }
+  if (imaginary != NULL) {
+    *imaginary = solver.eigenvalues().imag();
+  }
+  return true;
+}
+
+Vector DifferentiatePolynomial(const Vector& polynomial) {
+  const int degree = polynomial.rows() - 1;
+  CHECK_GE(degree, 0);
+
+  // Degree zero polynomials are constants, and their derivative does
+  // not result in a smaller degree polynomial, just a degree zero
+  // polynomial with value zero.
+  if (degree == 0) {
+    return Eigen::VectorXd::Zero(1);
+  }
+
+  Vector derivative(degree);
+  for (int i = 0; i < degree; ++i) {
+    derivative(i) = (degree - i) * polynomial(i);
+  }
+
+  return derivative;
+}
+
+void MinimizePolynomial(const Vector& polynomial,
+                        const double x_min,
+                        const double x_max,
+                        double* optimal_x,
+                        double* optimal_value) {
+  // Find the minimum of the polynomial at the two ends.
+  //
+  // We start by inspecting the middle of the interval. Technically
+  // this is not needed, but we do this to make this code as close to
+  // the minFunc package as possible.
+  *optimal_x = (x_min + x_max) / 2.0;
+  *optimal_value = EvaluatePolynomial(polynomial, *optimal_x);
+
+  const double x_min_value = EvaluatePolynomial(polynomial, x_min);
+  if (x_min_value < *optimal_value) {
+    *optimal_value = x_min_value;
+    *optimal_x = x_min;
+  }
+
+  const double x_max_value = EvaluatePolynomial(polynomial, x_max);
+  if (x_max_value < *optimal_value) {
+    *optimal_value = x_max_value;
+    *optimal_x = x_max;
+  }
+
+  // If the polynomial is linear or constant, we are done.
+  if (polynomial.rows() <= 2) {
+    return;
+  }
+
+  const Vector derivative = DifferentiatePolynomial(polynomial);
+  Vector roots_real;
+  if (!FindPolynomialRoots(derivative, &roots_real, NULL)) {
+    LOG(WARNING) << "Unable to find the critical points of "
+                 << "the interpolating polynomial.";
+    return;
+  }
+
+  // This is a bit of an overkill, as some of the roots may actually
+  // have a complex part, but its simpler to just check these values.
+  for (int i = 0; i < roots_real.rows(); ++i) {
+    const double root = roots_real(i);
+    if ((root < x_min) || (root > x_max)) {
+      continue;
+    }
+
+    const double value = EvaluatePolynomial(polynomial, root);
+    if (value < *optimal_value) {
+      *optimal_value = value;
+      *optimal_x = root;
+    }
+  }
+}
+
+Vector FindInterpolatingPolynomial(const vector<FunctionSample>& samples) {
+  const int num_samples = samples.size();
+  int num_constraints = 0;
+  for (int i = 0; i < num_samples; ++i) {
+    if (samples[i].value_is_valid) {
+      ++num_constraints;
+    }
+    if (samples[i].gradient_is_valid) {
+      ++num_constraints;
+    }
+  }
+
+  const int degree = num_constraints - 1;
+
+  Matrix lhs = Matrix::Zero(num_constraints, num_constraints);
+  Vector rhs = Vector::Zero(num_constraints);
+
+  int row = 0;
+  for (int i = 0; i < num_samples; ++i) {
+    const FunctionSample& sample = samples[i];
+    if (sample.value_is_valid) {
+      for (int j = 0; j <= degree; ++j) {
+        lhs(row, j) = pow(sample.x, degree - j);
+      }
+      rhs(row) = sample.value;
+      ++row;
+    }
+
+    if (sample.gradient_is_valid) {
+      for (int j = 0; j < degree; ++j) {
+        lhs(row, j) = (degree - j) * pow(sample.x, degree - j - 1);
+      }
+      rhs(row) = sample.gradient;
+      ++row;
+    }
+  }
+
+  // TODO(sameeragarwal): This is a hack.
+  // https://github.com/ceres-solver/ceres-solver/issues/248
+  Eigen::FullPivLU<Matrix> lu(lhs);
+  return lu.setThreshold(0.0).solve(rhs);
+}
+
+void MinimizeInterpolatingPolynomial(const vector<FunctionSample>& samples,
+                                     double x_min,
+                                     double x_max,
+                                     double* optimal_x,
+                                     double* optimal_value) {
+  const Vector polynomial = FindInterpolatingPolynomial(samples);
+  MinimizePolynomial(polynomial, x_min, x_max, optimal_x, optimal_value);
+  for (int i = 0; i < samples.size(); ++i) {
+    const FunctionSample& sample = samples[i];
+    if ((sample.x < x_min) || (sample.x > x_max)) {
+      continue;
+    }
+
+    const double value = EvaluatePolynomial(polynomial, sample.x);
+    if (value < *optimal_value) {
+      *optimal_x = sample.x;
+      *optimal_value = value;
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/polynomial.h b/internal/ceres/polynomial.h
new file mode 100644
index 0000000..3e09bae
--- /dev/null
+++ b/internal/ceres/polynomial.h
@@ -0,0 +1,116 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
+#define CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
+
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+struct FunctionSample;
+
+// All polynomials are assumed to be the form
+//
+//   sum_{i=0}^N polynomial(i) x^{N-i}.
+//
+// and are given by a vector of coefficients of size N + 1.
+
+// Evaluate the polynomial at x using the Horner scheme.
+inline double EvaluatePolynomial(const Vector& polynomial, double x) {
+  double v = 0.0;
+  for (int i = 0; i < polynomial.size(); ++i) {
+    v = v * x + polynomial(i);
+  }
+  return v;
+}
+
+// Use the companion matrix eigenvalues to determine the roots of the
+// polynomial.
+//
+// This function returns true on success, false otherwise.
+// Failure indicates that the polynomial is invalid (of size 0) or
+// that the eigenvalues of the companion matrix could not be computed.
+// On failure, a more detailed message will be written to LOG(ERROR).
+// If real is not NULL, the real parts of the roots will be returned in it.
+// Likewise, if imaginary is not NULL, imaginary parts will be returned in it.
+bool FindPolynomialRoots(const Vector& polynomial,
+                         Vector* real,
+                         Vector* imaginary);
+
+// Return the derivative of the given polynomial. It is assumed that
+// the input polynomial is at least of degree zero.
+Vector DifferentiatePolynomial(const Vector& polynomial);
+
+// Find the minimum value of the polynomial in the interval [x_min,
+// x_max]. The minimum is obtained by computing all the roots of the
+// derivative of the input polynomial. All real roots within the
+// interval [x_min, x_max] are considered as well as the end points
+// x_min and x_max. Since polynomials are differentiable functions,
+// this ensures that the true minimum is found.
+void MinimizePolynomial(const Vector& polynomial,
+                        double x_min,
+                        double x_max,
+                        double* optimal_x,
+                        double* optimal_value);
+
+// Given a set of function value and/or gradient samples, find a
+// polynomial whose value and gradients are exactly equal to the ones
+// in samples.
+//
+// Generally speaking,
+//
+// degree = # values + # gradients - 1
+//
+// Of course its possible to sample a polynomial any number of times,
+// in which case, generally speaking the spurious higher order
+// coefficients will be zero.
+Vector FindInterpolatingPolynomial(const std::vector<FunctionSample>& samples);
+
+// Interpolate the function described by samples with a polynomial,
+// and minimize it on the interval [x_min, x_max]. Depending on the
+// input samples, it is possible that the interpolation or the root
+// finding algorithms may fail due to numerical difficulties. But the
+// function is guaranteed to return its best guess of an answer, by
+// considering the samples and the end points as possible solutions.
+void MinimizeInterpolatingPolynomial(const std::vector<FunctionSample>& samples,
+                                     double x_min,
+                                     double x_max,
+                                     double* optimal_x,
+                                     double* optimal_value);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
diff --git a/internal/ceres/polynomial_test.cc b/internal/ceres/polynomial_test.cc
new file mode 100644
index 0000000..00c8534
--- /dev/null
+++ b/internal/ceres/polynomial_test.cc
@@ -0,0 +1,517 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/polynomial.h"
+
+#include <limits>
+#include <cmath>
+#include <cstddef>
+#include <algorithm>
+#include "gtest/gtest.h"
+#include "ceres/function_sample.h"
+#include "ceres/test_util.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+// For IEEE-754 doubles, machine precision is about 2e-16.
+const double kEpsilon = 1e-13;
+const double kEpsilonLoose = 1e-9;
+
+// Return the constant polynomial p(x) = 1.23.
+Vector ConstantPolynomial(double value) {
+  Vector poly(1);
+  poly(0) = value;
+  return poly;
+}
+
+// Return the polynomial p(x) = poly(x) * (x - root).
+Vector AddRealRoot(const Vector& poly, double root) {
+  Vector poly2(poly.size() + 1);
+  poly2.setZero();
+  poly2.head(poly.size()) += poly;
+  poly2.tail(poly.size()) -= root * poly;
+  return poly2;
+}
+
+// Return the polynomial
+// p(x) = poly(x) * (x - real - imag*i) * (x - real + imag*i).
+Vector AddComplexRootPair(const Vector& poly, double real, double imag) {
+  Vector poly2(poly.size() + 2);
+  poly2.setZero();
+  // Multiply poly by x^2 - 2real + abs(real,imag)^2
+  poly2.head(poly.size()) += poly;
+  poly2.segment(1, poly.size()) -= 2 * real * poly;
+  poly2.tail(poly.size()) += (real*real + imag*imag) * poly;
+  return poly2;
+}
+
+// Sort the entries in a vector.
+// Needed because the roots are not returned in sorted order.
+Vector SortVector(const Vector& in) {
+  Vector out(in);
+  std::sort(out.data(), out.data() + out.size());
+  return out;
+}
+
+// Run a test with the polynomial defined by the N real roots in roots_real.
+// If use_real is false, NULL is passed as the real argument to
+// FindPolynomialRoots. If use_imaginary is false, NULL is passed as the
+// imaginary argument to FindPolynomialRoots.
+template<int N>
+void RunPolynomialTestRealRoots(const double (&real_roots)[N],
+                                bool use_real,
+                                bool use_imaginary,
+                                double epsilon) {
+  Vector real;
+  Vector imaginary;
+  Vector poly = ConstantPolynomial(1.23);
+  for (int i = 0; i < N; ++i) {
+    poly = AddRealRoot(poly, real_roots[i]);
+  }
+  Vector* const real_ptr = use_real ? &real : NULL;
+  Vector* const imaginary_ptr = use_imaginary ? &imaginary : NULL;
+  bool success = FindPolynomialRoots(poly, real_ptr, imaginary_ptr);
+
+  EXPECT_EQ(success, true);
+  if (use_real) {
+    EXPECT_EQ(real.size(), N);
+    real = SortVector(real);
+    ExpectArraysClose(N, real.data(), real_roots, epsilon);
+  }
+  if (use_imaginary) {
+    EXPECT_EQ(imaginary.size(), N);
+    const Vector zeros = Vector::Zero(N);
+    ExpectArraysClose(N, imaginary.data(), zeros.data(), epsilon);
+  }
+}
+}  // namespace
+
+TEST(Polynomial, InvalidPolynomialOfZeroLengthIsRejected) {
+  // Vector poly(0) is an ambiguous constructor call, so
+  // use the constructor with explicit column count.
+  Vector poly(0, 1);
+  Vector real;
+  Vector imag;
+  bool success = FindPolynomialRoots(poly, &real, &imag);
+
+  EXPECT_EQ(success, false);
+}
+
+TEST(Polynomial, ConstantPolynomialReturnsNoRoots) {
+  Vector poly = ConstantPolynomial(1.23);
+  Vector real;
+  Vector imag;
+  bool success = FindPolynomialRoots(poly, &real, &imag);
+
+  EXPECT_EQ(success, true);
+  EXPECT_EQ(real.size(), 0);
+  EXPECT_EQ(imag.size(), 0);
+}
+
+TEST(Polynomial, LinearPolynomialWithPositiveRootWorks) {
+  const double roots[1] = { 42.42 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, LinearPolynomialWithNegativeRootWorks) {
+  const double roots[1] = { -42.42 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithPositiveRootsWorks) {
+  const double roots[2] = { 1.0, 42.42 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithOneNegativeRootWorks) {
+  const double roots[2] = { -42.42, 1.0 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithTwoNegativeRootsWorks) {
+  const double roots[2] = { -42.42, -1.0 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithCloseRootsWorks) {
+  const double roots[2] = { 42.42, 42.43 };
+  RunPolynomialTestRealRoots(roots, true, false, kEpsilonLoose);
+}
+
+TEST(Polynomial, QuadraticPolynomialWithComplexRootsWorks) {
+  Vector real;
+  Vector imag;
+
+  Vector poly = ConstantPolynomial(1.23);
+  poly = AddComplexRootPair(poly, 42.42, 4.2);
+  bool success = FindPolynomialRoots(poly, &real, &imag);
+
+  EXPECT_EQ(success, true);
+  EXPECT_EQ(real.size(), 2);
+  EXPECT_EQ(imag.size(), 2);
+  ExpectClose(real(0), 42.42, kEpsilon);
+  ExpectClose(real(1), 42.42, kEpsilon);
+  ExpectClose(std::abs(imag(0)), 4.2, kEpsilon);
+  ExpectClose(std::abs(imag(1)), 4.2, kEpsilon);
+  ExpectClose(std::abs(imag(0) + imag(1)), 0.0, kEpsilon);
+}
+
+TEST(Polynomial, QuarticPolynomialWorks) {
+  const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, QuarticPolynomialWithTwoClustersOfCloseRootsWorks) {
+  const double roots[4] = { 1.23e-1, 2.46e-1, 1.23e+5, 2.46e+5 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilonLoose);
+}
+
+TEST(Polynomial, QuarticPolynomialWithTwoZeroRootsWorks) {
+  const double roots[4] = { -42.42, 0.0, 0.0, 42.42 };
+  RunPolynomialTestRealRoots(roots, true, true, 2 * kEpsilonLoose);
+}
+
+TEST(Polynomial, QuarticMonomialWorks) {
+  const double roots[4] = { 0.0, 0.0, 0.0, 0.0 };
+  RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(Polynomial, NullPointerAsImaginaryPartWorks) {
+  const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+  RunPolynomialTestRealRoots(roots, true, false, kEpsilon);
+}
+
+TEST(Polynomial, NullPointerAsRealPartWorks) {
+  const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+  RunPolynomialTestRealRoots(roots, false, true, kEpsilon);
+}
+
+TEST(Polynomial, BothOutputArgumentsNullWorks) {
+  const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+  RunPolynomialTestRealRoots(roots, false, false, kEpsilon);
+}
+
+TEST(Polynomial, DifferentiateConstantPolynomial) {
+  // p(x) = 1;
+  Vector polynomial(1);
+  polynomial(0) = 1.0;
+  const Vector derivative = DifferentiatePolynomial(polynomial);
+  EXPECT_EQ(derivative.rows(), 1);
+  EXPECT_EQ(derivative(0), 0);
+}
+
+TEST(Polynomial, DifferentiateQuadraticPolynomial) {
+  // p(x) = x^2 + 2x + 3;
+  Vector polynomial(3);
+  polynomial(0) = 1.0;
+  polynomial(1) = 2.0;
+  polynomial(2) = 3.0;
+
+  const Vector derivative = DifferentiatePolynomial(polynomial);
+  EXPECT_EQ(derivative.rows(), 2);
+  EXPECT_EQ(derivative(0), 2.0);
+  EXPECT_EQ(derivative(1), 2.0);
+}
+
+TEST(Polynomial, MinimizeConstantPolynomial) {
+  // p(x) = 1;
+  Vector polynomial(1);
+  polynomial(0) = 1.0;
+
+  double optimal_x = 0.0;
+  double optimal_value = 0.0;
+  double min_x = 0.0;
+  double max_x = 1.0;
+  MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+
+  EXPECT_EQ(optimal_value, 1.0);
+  EXPECT_LE(optimal_x, max_x);
+  EXPECT_GE(optimal_x, min_x);
+}
+
+TEST(Polynomial, MinimizeLinearPolynomial) {
+  // p(x) = x - 2
+  Vector polynomial(2);
+
+  polynomial(0) = 1.0;
+  polynomial(1) = 2.0;
+
+  double optimal_x = 0.0;
+  double optimal_value = 0.0;
+  double min_x = 0.0;
+  double max_x = 1.0;
+  MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+
+  EXPECT_EQ(optimal_x, 0.0);
+  EXPECT_EQ(optimal_value, 2.0);
+}
+
+
+TEST(Polynomial, MinimizeQuadraticPolynomial) {
+  // p(x) = x^2 - 3 x + 2
+  // min_x = 3/2
+  // min_value = -1/4;
+  Vector polynomial(3);
+  polynomial(0) = 1.0;
+  polynomial(1) = -3.0;
+  polynomial(2) = 2.0;
+
+  double optimal_x = 0.0;
+  double optimal_value = 0.0;
+  double min_x = -2.0;
+  double max_x = 2.0;
+  MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+  EXPECT_EQ(optimal_x, 3.0/2.0);
+  EXPECT_EQ(optimal_value, -1.0/4.0);
+
+  min_x = -2.0;
+  max_x = 1.0;
+  MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+  EXPECT_EQ(optimal_x, 1.0);
+  EXPECT_EQ(optimal_value, 0.0);
+
+  min_x = 2.0;
+  max_x = 3.0;
+  MinimizePolynomial(polynomial, min_x, max_x, &optimal_x, &optimal_value);
+  EXPECT_EQ(optimal_x, 2.0);
+  EXPECT_EQ(optimal_value, 0.0);
+}
+
+TEST(Polymomial, ConstantInterpolatingPolynomial) {
+  // p(x) = 1.0
+  Vector true_polynomial(1);
+  true_polynomial << 1.0;
+
+  vector<FunctionSample> samples;
+  FunctionSample sample;
+  sample.x = 1.0;
+  sample.value = 1.0;
+  sample.value_is_valid = true;
+  samples.push_back(sample);
+
+  const Vector polynomial = FindInterpolatingPolynomial(samples);
+  EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-15);
+}
+
+TEST(Polynomial, LinearInterpolatingPolynomial) {
+  // p(x) = 2x - 1
+  Vector true_polynomial(2);
+  true_polynomial << 2.0, -1.0;
+
+  vector<FunctionSample> samples;
+  FunctionSample sample;
+  sample.x = 1.0;
+  sample.value = 1.0;
+  sample.value_is_valid = true;
+  sample.gradient = 2.0;
+  sample.gradient_is_valid = true;
+  samples.push_back(sample);
+
+  const Vector polynomial = FindInterpolatingPolynomial(samples);
+  EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-15);
+}
+
+TEST(Polynomial, QuadraticInterpolatingPolynomial) {
+  // p(x) = 2x^2 + 3x + 2
+  Vector true_polynomial(3);
+  true_polynomial << 2.0, 3.0, 2.0;
+
+  vector<FunctionSample> samples;
+  {
+    FunctionSample sample;
+    sample.x = 1.0;
+    sample.value = 7.0;
+    sample.value_is_valid = true;
+    sample.gradient = 7.0;
+    sample.gradient_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = -3.0;
+    sample.value = 11.0;
+    sample.value_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  Vector polynomial = FindInterpolatingPolynomial(samples);
+  EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-15);
+}
+
+TEST(Polynomial, DeficientCubicInterpolatingPolynomial) {
+  // p(x) = 2x^2 + 3x + 2
+  Vector true_polynomial(4);
+  true_polynomial << 0.0, 2.0, 3.0, 2.0;
+
+  vector<FunctionSample> samples;
+  {
+    FunctionSample sample;
+    sample.x = 1.0;
+    sample.value = 7.0;
+    sample.value_is_valid = true;
+    sample.gradient = 7.0;
+    sample.gradient_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = -3.0;
+    sample.value = 11.0;
+    sample.value_is_valid = true;
+    sample.gradient = -9;
+    sample.gradient_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  const Vector polynomial = FindInterpolatingPolynomial(samples);
+  EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+
+TEST(Polynomial, CubicInterpolatingPolynomialFromValues) {
+  // p(x) = x^3 + 2x^2 + 3x + 2
+  Vector true_polynomial(4);
+  true_polynomial << 1.0, 2.0, 3.0, 2.0;
+
+  vector<FunctionSample> samples;
+  {
+    FunctionSample sample;
+    sample.x = 1.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = -3.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = 2.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = 0.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  const Vector polynomial = FindInterpolatingPolynomial(samples);
+  EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+TEST(Polynomial, CubicInterpolatingPolynomialFromValuesAndOneGradient) {
+  // p(x) = x^3 + 2x^2 + 3x + 2
+  Vector true_polynomial(4);
+  true_polynomial << 1.0, 2.0, 3.0, 2.0;
+  Vector true_gradient_polynomial = DifferentiatePolynomial(true_polynomial);
+
+  vector<FunctionSample> samples;
+  {
+    FunctionSample sample;
+    sample.x = 1.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = -3.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = 2.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    sample.gradient = EvaluatePolynomial(true_gradient_polynomial, sample.x);
+    sample.gradient_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  const Vector polynomial = FindInterpolatingPolynomial(samples);
+  EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+TEST(Polynomial, CubicInterpolatingPolynomialFromValuesAndGradients) {
+  // p(x) = x^3 + 2x^2 + 3x + 2
+  Vector true_polynomial(4);
+  true_polynomial << 1.0, 2.0, 3.0, 2.0;
+  Vector true_gradient_polynomial = DifferentiatePolynomial(true_polynomial);
+
+  vector<FunctionSample> samples;
+  {
+    FunctionSample sample;
+    sample.x = -3.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    sample.gradient = EvaluatePolynomial(true_gradient_polynomial, sample.x);
+    sample.gradient_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  {
+    FunctionSample sample;
+    sample.x = 2.0;
+    sample.value = EvaluatePolynomial(true_polynomial, sample.x);
+    sample.value_is_valid = true;
+    sample.gradient = EvaluatePolynomial(true_gradient_polynomial, sample.x);
+    sample.gradient_is_valid = true;
+    samples.push_back(sample);
+  }
+
+  const Vector polynomial = FindInterpolatingPolynomial(samples);
+  EXPECT_NEAR((true_polynomial - polynomial).norm(), 0.0, 1e-14);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/preconditioner.cc b/internal/ceres/preconditioner.cc
new file mode 100644
index 0000000..82621da
--- /dev/null
+++ b/internal/ceres/preconditioner.cc
@@ -0,0 +1,73 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/preconditioner.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Preconditioner::~Preconditioner() {
+}
+
+PreconditionerType Preconditioner::PreconditionerForZeroEBlocks(
+    PreconditionerType preconditioner_type) {
+  if (preconditioner_type == SCHUR_JACOBI ||
+      preconditioner_type == CLUSTER_JACOBI ||
+      preconditioner_type == CLUSTER_TRIDIAGONAL) {
+    return JACOBI;
+  }
+  return preconditioner_type;
+}
+
+SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper(
+    const SparseMatrix* matrix)
+    : matrix_(CHECK_NOTNULL(matrix)) {
+}
+
+SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() {
+}
+
+bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A,
+                                                   const double* D) {
+  return true;
+}
+
+void SparseMatrixPreconditionerWrapper::RightMultiply(const double* x,
+                                                      double* y) const {
+  matrix_->RightMultiply(x, y);
+}
+
+int  SparseMatrixPreconditionerWrapper::num_rows() const {
+  return matrix_->num_rows();
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/preconditioner.h b/internal/ceres/preconditioner.h
new file mode 100644
index 0000000..a248eae
--- /dev/null
+++ b/internal/ceres/preconditioner.h
@@ -0,0 +1,177 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_PRECONDITIONER_H_
+#define CERES_INTERNAL_PRECONDITIONER_H_
+
+#include <vector>
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/linear_operator.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class SparseMatrix;
+
+class Preconditioner : public LinearOperator {
+ public:
+  struct Options {
+    Options()
+        : type(JACOBI),
+          visibility_clustering_type(CANONICAL_VIEWS),
+          sparse_linear_algebra_library_type(SUITE_SPARSE),
+          num_threads(1),
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
+    }
+
+    PreconditionerType type;
+    VisibilityClusteringType visibility_clustering_type;
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+
+    // If possible, how many threads the preconditioner can use.
+    int num_threads;
+
+    // Hints about the order in which the parameter blocks should be
+    // eliminated by the linear solver.
+    //
+    // For example if elimination_groups is a vector of size k, then
+    // the linear solver is informed that it should eliminate the
+    // parameter blocks 0 ... elimination_groups[0] - 1 first, and
+    // then elimination_groups[0] ... elimination_groups[1] - 1 and so
+    // on. Within each elimination group, the linear solver is free to
+    // choose how the parameter blocks are ordered. Different linear
+    // solvers have differing requirements on elimination_groups.
+    //
+    // The most common use is for Schur type solvers, where there
+    // should be at least two elimination groups and the first
+    // elimination group must form an independent set in the normal
+    // equations. The first elimination group corresponds to the
+    // num_eliminate_blocks in the Schur type solvers.
+    std::vector<int> elimination_groups;
+
+    // If the block sizes in a BlockSparseMatrix are fixed, then in
+    // some cases the Schur complement based solvers can detect and
+    // specialize on them.
+    //
+    // It is expected that these parameters are set programmatically
+    // rather than manually.
+    //
+    // Please see schur_complement_solver.h and schur_eliminator.h for
+    // more details.
+    int row_block_size;
+    int e_block_size;
+    int f_block_size;
+  };
+
+  // If the optimization problem is such that there are no remaining
+  // e-blocks, ITERATIVE_SCHUR with a Schur type preconditioner cannot
+  // be used. This function returns JACOBI if a preconditioner for
+  // ITERATIVE_SCHUR is used. The input preconditioner_type is
+  // returned otherwise.
+  static PreconditionerType PreconditionerForZeroEBlocks(
+      PreconditionerType preconditioner_type);
+
+  virtual ~Preconditioner();
+
+  // Update the numerical value of the preconditioner for the linear
+  // system:
+  //
+  //  |   A   | x = |b|
+  //  |diag(D)|     |0|
+  //
+  // for some vector b. It is important that the matrix A have the
+  // same block structure as the one used to construct this object.
+  //
+  // D can be NULL, in which case its interpreted as a diagonal matrix
+  // of size zero.
+  virtual bool Update(const LinearOperator& A, const double* D) = 0;
+
+  // LinearOperator interface. Since the operator is symmetric,
+  // LeftMultiply and num_cols are just calls to RightMultiply and
+  // num_rows respectively. Update() must be called before
+  // RightMultiply can be called.
+  virtual void RightMultiply(const double* x, double* y) const = 0;
+  virtual void LeftMultiply(const double* x, double* y) const {
+    return RightMultiply(x, y);
+  }
+
+  virtual int num_rows() const = 0;
+  virtual int num_cols() const {
+    return num_rows();
+  }
+};
+
+// This templated subclass of Preconditioner serves as a base class for
+// other preconditioners that depend on the particular matrix layout of
+// the underlying linear operator.
+template <typename MatrixType>
+class TypedPreconditioner : public Preconditioner {
+ public:
+  virtual ~TypedPreconditioner() {}
+  virtual bool Update(const LinearOperator& A, const double* D) {
+    return UpdateImpl(*down_cast<const MatrixType*>(&A), D);
+  }
+
+ private:
+  virtual bool UpdateImpl(const MatrixType& A, const double* D) = 0;
+};
+
+// Preconditioners that depend on acccess to the low level structure
+// of a SparseMatrix.
+typedef TypedPreconditioner<SparseMatrix>              SparseMatrixPreconditioner;               // NOLINT
+typedef TypedPreconditioner<BlockSparseMatrix>         BlockSparseMatrixPreconditioner;          // NOLINT
+typedef TypedPreconditioner<CompressedRowSparseMatrix> CompressedRowSparseMatrixPreconditioner;  // NOLINT
+
+// Wrap a SparseMatrix object as a preconditioner.
+class SparseMatrixPreconditionerWrapper : public SparseMatrixPreconditioner {
+ public:
+  // Wrapper does NOT take ownership of the matrix pointer.
+  explicit SparseMatrixPreconditionerWrapper(const SparseMatrix* matrix);
+  virtual ~SparseMatrixPreconditionerWrapper();
+
+  // Preconditioner interface
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual int num_rows() const;
+
+ private:
+  virtual bool UpdateImpl(const SparseMatrix& A, const double* D);
+  const SparseMatrix* matrix_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_PRECONDITIONER_H_
diff --git a/internal/ceres/preprocessor.cc b/internal/ceres/preprocessor.cc
new file mode 100644
index 0000000..4aba6a3
--- /dev/null
+++ b/internal/ceres/preprocessor.cc
@@ -0,0 +1,113 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/callbacks.h"
+#include "ceres/gradient_checking_cost_function.h"
+#include "ceres/line_search_preprocessor.h"
+#include "ceres/preprocessor.h"
+#include "ceres/problem_impl.h"
+#include "ceres/solver.h"
+#include "ceres/trust_region_preprocessor.h"
+
+namespace ceres {
+namespace internal {
+
+Preprocessor* Preprocessor::Create(MinimizerType minimizer_type) {
+  if (minimizer_type == TRUST_REGION) {
+    return new TrustRegionPreprocessor;
+  }
+
+  if (minimizer_type == LINE_SEARCH) {
+    return new LineSearchPreprocessor;
+  }
+
+  LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
+  return NULL;
+}
+
+Preprocessor::~Preprocessor() {
+}
+
+void ChangeNumThreadsIfNeeded(Solver::Options* options) {
+#ifndef CERES_USE_OPENMP
+  if (options->num_threads > 1) {
+    LOG(WARNING)
+        << "OpenMP support is not compiled into this binary; "
+        << "only options.num_threads = 1 is supported. Switching "
+        << "to single threaded mode.";
+    options->num_threads = 1;
+  }
+
+  // Only the Trust Region solver currently uses a linear solver.
+  if (options->minimizer_type == TRUST_REGION &&
+      options->num_linear_solver_threads > 1) {
+    LOG(WARNING)
+        << "OpenMP support is not compiled into this binary; "
+        << "only options.num_linear_solver_threads=1 is supported. Switching "
+        << "to single threaded mode.";
+    options->num_linear_solver_threads = 1;
+  }
+#endif  // CERES_USE_OPENMP
+}
+
+void SetupCommonMinimizerOptions(PreprocessedProblem* pp) {
+  const Solver::Options& options = pp->options;
+  Program* program = pp->reduced_program.get();
+
+  // Assuming that the parameter blocks in the program have been
+  // reordered as needed, extract them into a contiguous vector.
+  pp->reduced_parameters.resize(program->NumParameters());
+  double* reduced_parameters = pp->reduced_parameters.data();
+  program->ParameterBlocksToStateVector(reduced_parameters);
+
+  Minimizer::Options& minimizer_options = pp->minimizer_options;
+  minimizer_options = Minimizer::Options(options);
+  minimizer_options.evaluator = pp->evaluator;
+
+  if (options.logging_type != SILENT) {
+    pp->logging_callback.reset(
+        new LoggingCallback(options.minimizer_type,
+                            options.minimizer_progress_to_stdout));
+    minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+                                       pp->logging_callback.get());
+  }
+
+  if (options.update_state_every_iteration) {
+    pp->state_updating_callback.reset(
+      new StateUpdatingCallback(program, reduced_parameters));
+    // This must get pushed to the front of the callbacks so that it
+    // is run before any of the user callbacks.
+    minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+                                       pp->state_updating_callback.get());
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/preprocessor.h b/internal/ceres/preprocessor.h
new file mode 100644
index 0000000..ff53d6f
--- /dev/null
+++ b/internal/ceres/preprocessor.h
@@ -0,0 +1,122 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_PREPROCESSOR_H_
+#define CERES_INTERNAL_PREPROCESSOR_H_
+
+#include <string>
+#include <vector>
+
+#include "ceres/coordinate_descent_minimizer.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+struct PreprocessedProblem;
+
+// Given a Problem object and a Solver::Options object indicating the
+// configuration of the solver, the job of the Preprocessor is to
+// analyze the Problem and perform the setup needed to solve it using
+// the desired Minimization algorithm. The setup involves removing
+// redundancies in the input problem (inactive parameter and residual
+// blocks), finding fill reducing orderings as needed, configuring and
+// creating various objects needed by the Minimizer to solve the
+// problem such as an evaluator, a linear solver etc.
+//
+// Each Minimizer (LineSearchMinimizer and TrustRegionMinimizer) comes
+// with a corresponding Preprocessor (LineSearchPreprocessor and
+// TrustRegionPreprocessor) that knows about its needs and performs
+// the preprocessing needed.
+//
+// The output of the Preprocessor is stored in a PreprocessedProblem
+// object.
+class Preprocessor {
+ public:
+  // Factory.
+  static Preprocessor* Create(MinimizerType minimizer_type);
+  virtual ~Preprocessor();
+  virtual bool Preprocess(const Solver::Options& options,
+                          ProblemImpl* problem,
+                          PreprocessedProblem* pp) = 0;
+};
+
+// A PreprocessedProblem is the result of running the Preprocessor on
+// a Problem and Solver::Options object.
+struct PreprocessedProblem {
+  PreprocessedProblem()
+      : fixed_cost(0.0) {
+  }
+
+  std::string error;
+  Solver::Options options;
+  LinearSolver::Options linear_solver_options;
+  Evaluator::Options evaluator_options;
+  Minimizer::Options minimizer_options;
+
+  ProblemImpl* problem;
+  scoped_ptr<ProblemImpl> gradient_checking_problem;
+  scoped_ptr<Program> reduced_program;
+  scoped_ptr<LinearSolver> linear_solver;
+  scoped_ptr<IterationCallback> logging_callback;
+  scoped_ptr<IterationCallback> state_updating_callback;
+
+  shared_ptr<Evaluator> evaluator;
+  shared_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer;
+
+  std::vector<double*> removed_parameter_blocks;
+  Vector reduced_parameters;
+  double fixed_cost;
+};
+
+// Common functions used by various preprocessors.
+
+// If OpenMP support is not available and user has requested more than
+// one thread, then set the *_num_threads options as needed to 1.
+void ChangeNumThreadsIfNeeded(Solver::Options* options);
+
+// Extract the effective parameter vector from the preprocessed
+// problem and setup bits of the Minimizer::Options object that are
+// common to all Preprocessors.
+void SetupCommonMinimizerOptions(PreprocessedProblem* pp);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_PREPROCESSOR_H_
diff --git a/internal/ceres/problem.cc b/internal/ceres/problem.cc
new file mode 100644
index 0000000..730ce64
--- /dev/null
+++ b/internal/ceres/problem.cc
@@ -0,0 +1,277 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         keir@google.com (Keir Mierle)
+
+#include "ceres/problem.h"
+
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/problem_impl.h"
+
+namespace ceres {
+
+using std::vector;
+
+Problem::Problem() : problem_impl_(new internal::ProblemImpl) {}
+Problem::Problem(const Problem::Options& options)
+    : problem_impl_(new internal::ProblemImpl(options)) {}
+Problem::~Problem() {}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    const vector<double*>& parameter_blocks) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         parameter_blocks);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1, x2);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1, x2, x3);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1, x2, x3, x4);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1, x2, x3, x4, x5);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1, x2, x3, x4, x5, x6);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6, double* x7) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1, x2, x3, x4, x5, x6, x7);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6, double* x7, double* x8) {
+  return problem_impl_->AddResidualBlock(cost_function,
+                                         loss_function,
+                                         x0, x1, x2, x3, x4, x5, x6, x7, x8);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6, double* x7, double* x8, double* x9) {
+  return problem_impl_->AddResidualBlock(
+      cost_function,
+      loss_function,
+      x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
+}
+
+void Problem::AddParameterBlock(double* values, int size) {
+  problem_impl_->AddParameterBlock(values, size);
+}
+
+void Problem::AddParameterBlock(double* values,
+                                int size,
+                                LocalParameterization* local_parameterization) {
+  problem_impl_->AddParameterBlock(values, size, local_parameterization);
+}
+
+void Problem::RemoveResidualBlock(ResidualBlockId residual_block) {
+  problem_impl_->RemoveResidualBlock(residual_block);
+}
+
+void Problem::RemoveParameterBlock(double* values) {
+  problem_impl_->RemoveParameterBlock(values);
+}
+
+void Problem::SetParameterBlockConstant(double* values) {
+  problem_impl_->SetParameterBlockConstant(values);
+}
+
+void Problem::SetParameterBlockVariable(double* values) {
+  problem_impl_->SetParameterBlockVariable(values);
+}
+
+bool Problem::IsParameterBlockConstant(double* values) const {
+  return problem_impl_->IsParameterBlockConstant(values);
+}
+
+void Problem::SetParameterization(
+    double* values,
+    LocalParameterization* local_parameterization) {
+  problem_impl_->SetParameterization(values, local_parameterization);
+}
+
+const LocalParameterization* Problem::GetParameterization(
+    double* values) const {
+  return problem_impl_->GetParameterization(values);
+}
+
+void Problem::SetParameterLowerBound(double* values,
+                                     int index,
+                                     double lower_bound) {
+  problem_impl_->SetParameterLowerBound(values, index, lower_bound);
+}
+
+void Problem::SetParameterUpperBound(double* values,
+                                     int index,
+                                     double upper_bound) {
+  problem_impl_->SetParameterUpperBound(values, index, upper_bound);
+}
+
+bool Problem::Evaluate(const EvaluateOptions& evaluate_options,
+                       double* cost,
+                       vector<double>* residuals,
+                       vector<double>* gradient,
+                       CRSMatrix* jacobian) {
+  return problem_impl_->Evaluate(evaluate_options,
+                                 cost,
+                                 residuals,
+                                 gradient,
+                                 jacobian);
+}
+
+int Problem::NumParameterBlocks() const {
+  return problem_impl_->NumParameterBlocks();
+}
+
+int Problem::NumParameters() const {
+  return problem_impl_->NumParameters();
+}
+
+int Problem::NumResidualBlocks() const {
+  return problem_impl_->NumResidualBlocks();
+}
+
+int Problem::NumResiduals() const {
+  return problem_impl_->NumResiduals();
+}
+
+int Problem::ParameterBlockSize(const double* parameter_block) const {
+  return problem_impl_->ParameterBlockSize(parameter_block);
+}
+
+int Problem::ParameterBlockLocalSize(const double* parameter_block) const {
+  return problem_impl_->ParameterBlockLocalSize(parameter_block);
+}
+
+bool Problem::HasParameterBlock(const double* values) const {
+  return problem_impl_->HasParameterBlock(values);
+}
+
+void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const {
+  problem_impl_->GetParameterBlocks(parameter_blocks);
+}
+
+void Problem::GetResidualBlocks(
+    vector<ResidualBlockId>* residual_blocks) const {
+  problem_impl_->GetResidualBlocks(residual_blocks);
+}
+
+void Problem::GetParameterBlocksForResidualBlock(
+    const ResidualBlockId residual_block,
+    vector<double*>* parameter_blocks) const {
+  problem_impl_->GetParameterBlocksForResidualBlock(residual_block,
+                                                    parameter_blocks);
+}
+
+const CostFunction* Problem::GetCostFunctionForResidualBlock(
+    const ResidualBlockId residual_block) const {
+  return problem_impl_->GetCostFunctionForResidualBlock(residual_block);
+}
+
+const LossFunction* Problem::GetLossFunctionForResidualBlock(
+    const ResidualBlockId residual_block) const {
+  return problem_impl_->GetLossFunctionForResidualBlock(residual_block);
+}
+
+void Problem::GetResidualBlocksForParameterBlock(
+    const double* values,
+    vector<ResidualBlockId>* residual_blocks) const {
+  problem_impl_->GetResidualBlocksForParameterBlock(values,
+                                                    residual_blocks);
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc
new file mode 100644
index 0000000..9861958
--- /dev/null
+++ b/internal/ceres/problem_impl.cc
@@ -0,0 +1,946 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         mierle@gmail.com (Keir Mierle)
+
+#include "ceres/problem_impl.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <iterator>
+#include <set>
+#include <string>
+#include <utility>
+#include <vector>
+#include "ceres/casts.h"
+#include "ceres/compressed_row_jacobian_writer.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/program_evaluator.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "ceres/stl_util.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::string;
+using std::vector;
+typedef std::map<double*, internal::ParameterBlock*> ParameterMap;
+
+namespace {
+// Returns true if two regions of memory, a and b, with sizes size_a and size_b
+// respectively, overlap.
+bool RegionsAlias(const double* a, int size_a,
+                  const double* b, int size_b) {
+  return (a < b) ? b < (a + size_a)
+                 : a < (b + size_b);
+}
+
+void CheckForNoAliasing(double* existing_block,
+                        int existing_block_size,
+                        double* new_block,
+                        int new_block_size) {
+  CHECK(!RegionsAlias(existing_block, existing_block_size,
+                      new_block, new_block_size))
+      << "Aliasing detected between existing parameter block at memory "
+      << "location " << existing_block
+      << " and has size " << existing_block_size << " with new parameter "
+      << "block that has memory address " << new_block << " and would have "
+      << "size " << new_block_size << ".";
+}
+
+}  // namespace
+
+ParameterBlock* ProblemImpl::InternalAddParameterBlock(double* values,
+                                                       int size) {
+  CHECK(values != NULL) << "Null pointer passed to AddParameterBlock "
+                        << "for a parameter with size " << size;
+
+  // Ignore the request if there is a block for the given pointer already.
+  ParameterMap::iterator it = parameter_block_map_.find(values);
+  if (it != parameter_block_map_.end()) {
+    if (!options_.disable_all_safety_checks) {
+      int existing_size = it->second->Size();
+      CHECK(size == existing_size)
+          << "Tried adding a parameter block with the same double pointer, "
+          << values << ", twice, but with different block sizes. Original "
+          << "size was " << existing_size << " but new size is "
+          << size;
+    }
+    return it->second;
+  }
+
+  if (!options_.disable_all_safety_checks) {
+    // Before adding the parameter block, also check that it doesn't alias any
+    // other parameter blocks.
+    if (!parameter_block_map_.empty()) {
+      ParameterMap::iterator lb = parameter_block_map_.lower_bound(values);
+
+      // If lb is not the first block, check the previous block for aliasing.
+      if (lb != parameter_block_map_.begin()) {
+        ParameterMap::iterator previous = lb;
+        --previous;
+        CheckForNoAliasing(previous->first,
+                           previous->second->Size(),
+                           values,
+                           size);
+      }
+
+      // If lb is not off the end, check lb for aliasing.
+      if (lb != parameter_block_map_.end()) {
+        CheckForNoAliasing(lb->first,
+                           lb->second->Size(),
+                           values,
+                           size);
+      }
+    }
+  }
+
+  // Pass the index of the new parameter block as well to keep the index in
+  // sync with the position of the parameter in the program's parameter vector.
+  ParameterBlock* new_parameter_block =
+      new ParameterBlock(values, size, program_->parameter_blocks_.size());
+
+  // For dynamic problems, add the list of dependent residual blocks, which is
+  // empty to start.
+  if (options_.enable_fast_removal) {
+    new_parameter_block->EnableResidualBlockDependencies();
+  }
+  parameter_block_map_[values] = new_parameter_block;
+  program_->parameter_blocks_.push_back(new_parameter_block);
+  return new_parameter_block;
+}
+
+void ProblemImpl::InternalRemoveResidualBlock(ResidualBlock* residual_block) {
+  CHECK_NOTNULL(residual_block);
+  // Perform no check on the validity of residual_block, that is handled in
+  // the public method: RemoveResidualBlock().
+
+  // If needed, remove the parameter dependencies on this residual block.
+  if (options_.enable_fast_removal) {
+    const int num_parameter_blocks_for_residual =
+        residual_block->NumParameterBlocks();
+    for (int i = 0; i < num_parameter_blocks_for_residual; ++i) {
+      residual_block->parameter_blocks()[i]
+          ->RemoveResidualBlock(residual_block);
+    }
+
+    ResidualBlockSet::iterator it = residual_block_set_.find(residual_block);
+    residual_block_set_.erase(it);
+  }
+  DeleteBlockInVector(program_->mutable_residual_blocks(), residual_block);
+}
+
+// Deletes the residual block in question, assuming there are no other
+// references to it inside the problem (e.g. by another parameter). Referenced
+// cost and loss functions are tucked away for future deletion, since it is not
+// possible to know whether other parts of the problem depend on them without
+// doing a full scan.
+void ProblemImpl::DeleteBlock(ResidualBlock* residual_block) {
+  // The const casts here are legit, since ResidualBlock holds these
+  // pointers as const pointers but we have ownership of them and
+  // have the right to destroy them when the destructor is called.
+  if (options_.cost_function_ownership == TAKE_OWNERSHIP &&
+      residual_block->cost_function() != NULL) {
+    cost_functions_to_delete_.push_back(
+        const_cast<CostFunction*>(residual_block->cost_function()));
+  }
+  if (options_.loss_function_ownership == TAKE_OWNERSHIP &&
+      residual_block->loss_function() != NULL) {
+    loss_functions_to_delete_.push_back(
+        const_cast<LossFunction*>(residual_block->loss_function()));
+  }
+  delete residual_block;
+}
+
+// Deletes the parameter block in question, assuming there are no other
+// references to it inside the problem (e.g. by any residual blocks).
+// Referenced parameterizations are tucked away for future deletion, since it
+// is not possible to know whether other parts of the problem depend on them
+// without doing a full scan.
+void ProblemImpl::DeleteBlock(ParameterBlock* parameter_block) {
+  if (options_.local_parameterization_ownership == TAKE_OWNERSHIP &&
+      parameter_block->local_parameterization() != NULL) {
+    local_parameterizations_to_delete_.push_back(
+        parameter_block->mutable_local_parameterization());
+  }
+  parameter_block_map_.erase(parameter_block->mutable_user_state());
+  delete parameter_block;
+}
+
+ProblemImpl::ProblemImpl() : program_(new internal::Program) {}
+ProblemImpl::ProblemImpl(const Problem::Options& options)
+    : options_(options),
+      program_(new internal::Program) {}
+
+ProblemImpl::~ProblemImpl() {
+  // Collect the unique cost/loss functions and delete the residuals.
+  const int num_residual_blocks = program_->residual_blocks_.size();
+  cost_functions_to_delete_.reserve(num_residual_blocks);
+  loss_functions_to_delete_.reserve(num_residual_blocks);
+  for (int i = 0; i < program_->residual_blocks_.size(); ++i) {
+    DeleteBlock(program_->residual_blocks_[i]);
+  }
+
+  // Collect the unique parameterizations and delete the parameters.
+  for (int i = 0; i < program_->parameter_blocks_.size(); ++i) {
+    DeleteBlock(program_->parameter_blocks_[i]);
+  }
+
+  // Delete the owned cost/loss functions and parameterizations.
+  STLDeleteUniqueContainerPointers(local_parameterizations_to_delete_.begin(),
+                                   local_parameterizations_to_delete_.end());
+  STLDeleteUniqueContainerPointers(cost_functions_to_delete_.begin(),
+                                   cost_functions_to_delete_.end());
+  STLDeleteUniqueContainerPointers(loss_functions_to_delete_.begin(),
+                                   loss_functions_to_delete_.end());
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    const vector<double*>& parameter_blocks) {
+  CHECK_NOTNULL(cost_function);
+  CHECK_EQ(parameter_blocks.size(),
+           cost_function->parameter_block_sizes().size());
+
+  // Check the sizes match.
+  const vector<int32>& parameter_block_sizes =
+      cost_function->parameter_block_sizes();
+
+  if (!options_.disable_all_safety_checks) {
+    CHECK_EQ(parameter_block_sizes.size(), parameter_blocks.size())
+        << "Number of blocks input is different than the number of blocks "
+        << "that the cost function expects.";
+
+    // Check for duplicate parameter blocks.
+    vector<double*> sorted_parameter_blocks(parameter_blocks);
+    sort(sorted_parameter_blocks.begin(), sorted_parameter_blocks.end());
+    const bool has_duplicate_items =
+        (std::adjacent_find(sorted_parameter_blocks.begin(),
+                            sorted_parameter_blocks.end())
+         != sorted_parameter_blocks.end());
+    if (has_duplicate_items) {
+      string blocks;
+      for (int i = 0; i < parameter_blocks.size(); ++i) {
+        blocks += StringPrintf(" %p ", parameter_blocks[i]);
+      }
+
+      LOG(FATAL) << "Duplicate parameter blocks in a residual parameter "
+                 << "are not allowed. Parameter block pointers: ["
+                 << blocks << "]";
+    }
+  }
+
+  // Add parameter blocks and convert the double*'s to parameter blocks.
+  vector<ParameterBlock*> parameter_block_ptrs(parameter_blocks.size());
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    parameter_block_ptrs[i] =
+        InternalAddParameterBlock(parameter_blocks[i],
+                                  parameter_block_sizes[i]);
+  }
+
+  if (!options_.disable_all_safety_checks) {
+    // Check that the block sizes match the block sizes expected by the
+    // cost_function.
+    for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
+      CHECK_EQ(cost_function->parameter_block_sizes()[i],
+               parameter_block_ptrs[i]->Size())
+          << "The cost function expects parameter block " << i
+          << " of size " << cost_function->parameter_block_sizes()[i]
+          << " but was given a block of size "
+          << parameter_block_ptrs[i]->Size();
+    }
+  }
+
+  ResidualBlock* new_residual_block =
+      new ResidualBlock(cost_function,
+                        loss_function,
+                        parameter_block_ptrs,
+                        program_->residual_blocks_.size());
+
+  // Add dependencies on the residual to the parameter blocks.
+  if (options_.enable_fast_removal) {
+    for (int i = 0; i < parameter_blocks.size(); ++i) {
+      parameter_block_ptrs[i]->AddResidualBlock(new_residual_block);
+    }
+  }
+
+  program_->residual_blocks_.push_back(new_residual_block);
+
+  if (options_.enable_fast_removal) {
+    residual_block_set_.insert(new_residual_block);
+  }
+
+  return new_residual_block;
+}
+
+// Unfortunately, macros don't help much to reduce this code, and var args don't
+// work because of the ambiguous case that there is no loss function.
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  residual_parameters.push_back(x3);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  residual_parameters.push_back(x3);
+  residual_parameters.push_back(x4);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  residual_parameters.push_back(x3);
+  residual_parameters.push_back(x4);
+  residual_parameters.push_back(x5);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  residual_parameters.push_back(x3);
+  residual_parameters.push_back(x4);
+  residual_parameters.push_back(x5);
+  residual_parameters.push_back(x6);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6, double* x7) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  residual_parameters.push_back(x3);
+  residual_parameters.push_back(x4);
+  residual_parameters.push_back(x5);
+  residual_parameters.push_back(x6);
+  residual_parameters.push_back(x7);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6, double* x7, double* x8) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  residual_parameters.push_back(x3);
+  residual_parameters.push_back(x4);
+  residual_parameters.push_back(x5);
+  residual_parameters.push_back(x6);
+  residual_parameters.push_back(x7);
+  residual_parameters.push_back(x8);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+ResidualBlock* ProblemImpl::AddResidualBlock(
+    CostFunction* cost_function,
+    LossFunction* loss_function,
+    double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+    double* x6, double* x7, double* x8, double* x9) {
+  vector<double*> residual_parameters;
+  residual_parameters.push_back(x0);
+  residual_parameters.push_back(x1);
+  residual_parameters.push_back(x2);
+  residual_parameters.push_back(x3);
+  residual_parameters.push_back(x4);
+  residual_parameters.push_back(x5);
+  residual_parameters.push_back(x6);
+  residual_parameters.push_back(x7);
+  residual_parameters.push_back(x8);
+  residual_parameters.push_back(x9);
+  return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+void ProblemImpl::AddParameterBlock(double* values, int size) {
+  InternalAddParameterBlock(values, size);
+}
+
+void ProblemImpl::AddParameterBlock(
+    double* values,
+    int size,
+    LocalParameterization* local_parameterization) {
+  ParameterBlock* parameter_block =
+      InternalAddParameterBlock(values, size);
+  if (local_parameterization != NULL) {
+    parameter_block->SetParameterization(local_parameterization);
+  }
+}
+
+// Delete a block from a vector of blocks, maintaining the indexing invariant.
+// This is done in constant time by moving an element from the end of the
+// vector over the element to remove, then popping the last element. It
+// destroys the ordering in the interest of speed.
+template<typename Block>
+void ProblemImpl::DeleteBlockInVector(vector<Block*>* mutable_blocks,
+                                      Block* block_to_remove) {
+  CHECK_EQ((*mutable_blocks)[block_to_remove->index()], block_to_remove)
+      << "You found a Ceres bug! \n"
+      << "Block requested: "
+      << block_to_remove->ToString() << "\n"
+      << "Block present: "
+      << (*mutable_blocks)[block_to_remove->index()]->ToString();
+
+  // Prepare the to-be-moved block for the new, lower-in-index position by
+  // setting the index to the blocks final location.
+  Block* tmp = mutable_blocks->back();
+  tmp->set_index(block_to_remove->index());
+
+  // Overwrite the to-be-deleted residual block with the one at the end.
+  (*mutable_blocks)[block_to_remove->index()] = tmp;
+
+  DeleteBlock(block_to_remove);
+
+  // The block is gone so shrink the vector of blocks accordingly.
+  mutable_blocks->pop_back();
+}
+
+void ProblemImpl::RemoveResidualBlock(ResidualBlock* residual_block) {
+  CHECK_NOTNULL(residual_block);
+
+  // Verify that residual_block identifies a residual in the current problem.
+  const string residual_not_found_message =
+      StringPrintf("Residual block to remove: %p not found. This usually means "
+                   "one of three things have happened:\n"
+                   " 1) residual_block is uninitialised and points to a random "
+                   "area in memory.\n"
+                   " 2) residual_block represented a residual that was added to"
+                   " the problem, but referred to a parameter block which has "
+                   "since been removed, which removes all residuals which "
+                   "depend on that parameter block, and was thus removed.\n"
+                   " 3) residual_block referred to a residual that has already "
+                   "been removed from the problem (by the user).",
+                   residual_block);
+  if (options_.enable_fast_removal) {
+    CHECK(residual_block_set_.find(residual_block) !=
+          residual_block_set_.end())
+        << residual_not_found_message;
+  } else {
+    // Perform a full search over all current residuals.
+    CHECK(std::find(program_->residual_blocks().begin(),
+                    program_->residual_blocks().end(),
+                    residual_block) != program_->residual_blocks().end())
+        << residual_not_found_message;
+  }
+
+  InternalRemoveResidualBlock(residual_block);
+}
+
+void ProblemImpl::RemoveParameterBlock(double* values) {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "it can be removed.";
+  }
+
+  if (options_.enable_fast_removal) {
+    // Copy the dependent residuals from the parameter block because the set of
+    // dependents will change after each call to RemoveResidualBlock().
+    vector<ResidualBlock*> residual_blocks_to_remove(
+        parameter_block->mutable_residual_blocks()->begin(),
+        parameter_block->mutable_residual_blocks()->end());
+    for (int i = 0; i < residual_blocks_to_remove.size(); ++i) {
+      InternalRemoveResidualBlock(residual_blocks_to_remove[i]);
+    }
+  } else {
+    // Scan all the residual blocks to remove ones that depend on the parameter
+    // block. Do the scan backwards since the vector changes while iterating.
+    const int num_residual_blocks = NumResidualBlocks();
+    for (int i = num_residual_blocks - 1; i >= 0; --i) {
+      ResidualBlock* residual_block =
+          (*(program_->mutable_residual_blocks()))[i];
+      const int num_parameter_blocks = residual_block->NumParameterBlocks();
+      for (int j = 0; j < num_parameter_blocks; ++j) {
+        if (residual_block->parameter_blocks()[j] == parameter_block) {
+          InternalRemoveResidualBlock(residual_block);
+          // The parameter blocks are guaranteed unique.
+          break;
+        }
+      }
+    }
+  }
+  DeleteBlockInVector(program_->mutable_parameter_blocks(), parameter_block);
+}
+
+void ProblemImpl::SetParameterBlockConstant(double* values) {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "it can be set constant.";
+  }
+
+  parameter_block->SetConstant();
+}
+
+bool ProblemImpl::IsParameterBlockConstant(double* values) const {
+  const ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  CHECK(parameter_block != NULL)
+    << "Parameter block not found: " << values << ". You must add the "
+    << "parameter block to the problem before it can be queried.";
+
+  return parameter_block->IsConstant();
+}
+
+void ProblemImpl::SetParameterBlockVariable(double* values) {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "it can be set varying.";
+  }
+
+  parameter_block->SetVarying();
+}
+
+void ProblemImpl::SetParameterization(
+    double* values,
+    LocalParameterization* local_parameterization) {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "you can set its local parameterization.";
+  }
+
+  parameter_block->SetParameterization(local_parameterization);
+}
+
+const LocalParameterization* ProblemImpl::GetParameterization(
+    double* values) const {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "you can get its local parameterization.";
+  }
+
+  return parameter_block->local_parameterization();
+}
+
+void ProblemImpl::SetParameterLowerBound(double* values,
+                                         int index,
+                                         double lower_bound) {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "you can set a lower bound on one of its components.";
+  }
+
+  parameter_block->SetLowerBound(index, lower_bound);
+}
+
+void ProblemImpl::SetParameterUpperBound(double* values,
+                                         int index,
+                                         double upper_bound) {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, values, NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "you can set an upper bound on one of its components.";
+  }
+  parameter_block->SetUpperBound(index, upper_bound);
+}
+
+bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
+                           double* cost,
+                           vector<double>* residuals,
+                           vector<double>* gradient,
+                           CRSMatrix* jacobian) {
+  if (cost == NULL &&
+      residuals == NULL &&
+      gradient == NULL &&
+      jacobian == NULL) {
+    LOG(INFO) << "Nothing to do.";
+    return true;
+  }
+
+  // If the user supplied residual blocks, then use them, otherwise
+  // take the residual blocks from the underlying program.
+  Program program;
+  *program.mutable_residual_blocks() =
+      ((evaluate_options.residual_blocks.size() > 0)
+       ? evaluate_options.residual_blocks : program_->residual_blocks());
+
+  const vector<double*>& parameter_block_ptrs =
+      evaluate_options.parameter_blocks;
+
+  vector<ParameterBlock*> variable_parameter_blocks;
+  vector<ParameterBlock*>& parameter_blocks =
+      *program.mutable_parameter_blocks();
+
+  if (parameter_block_ptrs.size() == 0) {
+    // The user did not provide any parameter blocks, so default to
+    // using all the parameter blocks in the order that they are in
+    // the underlying program object.
+    parameter_blocks = program_->parameter_blocks();
+  } else {
+    // The user supplied a vector of parameter blocks. Using this list
+    // requires a number of steps.
+
+    // 1. Convert double* into ParameterBlock*
+    parameter_blocks.resize(parameter_block_ptrs.size());
+    for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
+      parameter_blocks[i] = FindWithDefault(parameter_block_map_,
+                                            parameter_block_ptrs[i],
+                                            NULL);
+      if (parameter_blocks[i] == NULL) {
+        LOG(FATAL) << "No known parameter block for "
+                   << "Problem::Evaluate::Options.parameter_blocks[" << i << "]"
+                   << " = " << parameter_block_ptrs[i];
+      }
+    }
+
+    // 2. The user may have only supplied a subset of parameter
+    // blocks, so identify the ones that are not supplied by the user
+    // and are NOT constant. These parameter blocks are stored in
+    // variable_parameter_blocks.
+    //
+    // To ensure that the parameter blocks are not included in the
+    // columns of the jacobian, we need to make sure that they are
+    // constant during evaluation and then make them variable again
+    // after we are done.
+    vector<ParameterBlock*> all_parameter_blocks(program_->parameter_blocks());
+    vector<ParameterBlock*> included_parameter_blocks(
+        program.parameter_blocks());
+
+    vector<ParameterBlock*> excluded_parameter_blocks;
+    sort(all_parameter_blocks.begin(), all_parameter_blocks.end());
+    sort(included_parameter_blocks.begin(), included_parameter_blocks.end());
+    set_difference(all_parameter_blocks.begin(),
+                   all_parameter_blocks.end(),
+                   included_parameter_blocks.begin(),
+                   included_parameter_blocks.end(),
+                   back_inserter(excluded_parameter_blocks));
+
+    variable_parameter_blocks.reserve(excluded_parameter_blocks.size());
+    for (int i = 0; i < excluded_parameter_blocks.size(); ++i) {
+      ParameterBlock* parameter_block = excluded_parameter_blocks[i];
+      if (!parameter_block->IsConstant()) {
+        variable_parameter_blocks.push_back(parameter_block);
+        parameter_block->SetConstant();
+      }
+    }
+  }
+
+  // Setup the Parameter indices and offsets before an evaluator can
+  // be constructed and used.
+  program.SetParameterOffsetsAndIndex();
+
+  Evaluator::Options evaluator_options;
+
+  // Even though using SPARSE_NORMAL_CHOLESKY requires SuiteSparse or
+  // CXSparse, here it just being used for telling the evaluator to
+  // use a SparseRowCompressedMatrix for the jacobian. This is because
+  // the Evaluator decides the storage for the Jacobian based on the
+  // type of linear solver being used.
+  evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+#ifndef CERES_USE_OPENMP
+  LOG_IF(WARNING, evaluate_options.num_threads > 1)
+      << "OpenMP support is not compiled into this binary; "
+      << "only evaluate_options.num_threads = 1 is supported. Switching "
+      << "to single threaded mode.";
+  evaluator_options.num_threads = 1;
+#else
+  evaluator_options.num_threads = evaluate_options.num_threads;
+#endif  // CERES_USE_OPENMP
+
+  scoped_ptr<Evaluator> evaluator(
+      new ProgramEvaluator<ScratchEvaluatePreparer,
+                           CompressedRowJacobianWriter>(evaluator_options,
+                                                        &program));
+
+  if (residuals !=NULL) {
+    residuals->resize(evaluator->NumResiduals());
+  }
+
+  if (gradient != NULL) {
+    gradient->resize(evaluator->NumEffectiveParameters());
+  }
+
+  scoped_ptr<CompressedRowSparseMatrix> tmp_jacobian;
+  if (jacobian != NULL) {
+    tmp_jacobian.reset(
+        down_cast<CompressedRowSparseMatrix*>(evaluator->CreateJacobian()));
+  }
+
+  // Point the state pointers to the user state pointers. This is
+  // needed so that we can extract a parameter vector which is then
+  // passed to Evaluator::Evaluate.
+  program.SetParameterBlockStatePtrsToUserStatePtrs();
+
+  // Copy the value of the parameter blocks into a vector, since the
+  // Evaluate::Evaluate method needs its input as such. The previous
+  // call to SetParameterBlockStatePtrsToUserStatePtrs ensures that
+  // these values are the ones corresponding to the actual state of
+  // the parameter blocks, rather than the temporary state pointer
+  // used for evaluation.
+  Vector parameters(program.NumParameters());
+  program.ParameterBlocksToStateVector(parameters.data());
+
+  double tmp_cost = 0;
+
+  Evaluator::EvaluateOptions evaluator_evaluate_options;
+  evaluator_evaluate_options.apply_loss_function =
+      evaluate_options.apply_loss_function;
+  bool status = evaluator->Evaluate(evaluator_evaluate_options,
+                                    parameters.data(),
+                                    &tmp_cost,
+                                    residuals != NULL ? &(*residuals)[0] : NULL,
+                                    gradient != NULL ? &(*gradient)[0] : NULL,
+                                    tmp_jacobian.get());
+
+  // Make the parameter blocks that were temporarily marked constant,
+  // variable again.
+  for (int i = 0; i < variable_parameter_blocks.size(); ++i) {
+    variable_parameter_blocks[i]->SetVarying();
+  }
+
+  if (status) {
+    if (cost != NULL) {
+      *cost = tmp_cost;
+    }
+    if (jacobian != NULL) {
+      tmp_jacobian->ToCRSMatrix(jacobian);
+    }
+  }
+
+  program_->SetParameterBlockStatePtrsToUserStatePtrs();
+  program_->SetParameterOffsetsAndIndex();
+  return status;
+}
+
+int ProblemImpl::NumParameterBlocks() const {
+  return program_->NumParameterBlocks();
+}
+
+int ProblemImpl::NumParameters() const {
+  return program_->NumParameters();
+}
+
+int ProblemImpl::NumResidualBlocks() const {
+  return program_->NumResidualBlocks();
+}
+
+int ProblemImpl::NumResiduals() const {
+  return program_->NumResiduals();
+}
+
+int ProblemImpl::ParameterBlockSize(const double* values) const {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "you can get its size.";
+  }
+
+  return parameter_block->Size();
+}
+
+int ProblemImpl::ParameterBlockLocalSize(const double* values) const {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "you can get its local size.";
+  }
+
+  return parameter_block->LocalSize();
+}
+
+bool ProblemImpl::HasParameterBlock(const double* parameter_block) const {
+  return (parameter_block_map_.find(const_cast<double*>(parameter_block)) !=
+          parameter_block_map_.end());
+}
+
+void ProblemImpl::GetParameterBlocks(vector<double*>* parameter_blocks) const {
+  CHECK_NOTNULL(parameter_blocks);
+  parameter_blocks->resize(0);
+  for (ParameterMap::const_iterator it = parameter_block_map_.begin();
+       it != parameter_block_map_.end();
+       ++it) {
+    parameter_blocks->push_back(it->first);
+  }
+}
+
+void ProblemImpl::GetResidualBlocks(
+    vector<ResidualBlockId>* residual_blocks) const {
+  CHECK_NOTNULL(residual_blocks);
+  *residual_blocks = program().residual_blocks();
+}
+
+void ProblemImpl::GetParameterBlocksForResidualBlock(
+    const ResidualBlockId residual_block,
+    vector<double*>* parameter_blocks) const {
+  int num_parameter_blocks = residual_block->NumParameterBlocks();
+  CHECK_NOTNULL(parameter_blocks)->resize(num_parameter_blocks);
+  for (int i = 0; i < num_parameter_blocks; ++i) {
+    (*parameter_blocks)[i] =
+        residual_block->parameter_blocks()[i]->mutable_user_state();
+  }
+}
+
+const CostFunction* ProblemImpl::GetCostFunctionForResidualBlock(
+    const ResidualBlockId residual_block) const {
+  return residual_block->cost_function();
+}
+
+const LossFunction* ProblemImpl::GetLossFunctionForResidualBlock(
+    const ResidualBlockId residual_block) const {
+  return residual_block->loss_function();
+}
+
+void ProblemImpl::GetResidualBlocksForParameterBlock(
+    const double* values,
+    vector<ResidualBlockId>* residual_blocks) const {
+  ParameterBlock* parameter_block =
+      FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+  if (parameter_block == NULL) {
+    LOG(FATAL) << "Parameter block not found: " << values
+               << ". You must add the parameter block to the problem before "
+               << "you can get the residual blocks that depend on it.";
+  }
+
+  if (options_.enable_fast_removal) {
+    // In this case the residual blocks that depend on the parameter block are
+    // stored in the parameter block already, so just copy them out.
+    CHECK_NOTNULL(residual_blocks)->resize(
+        parameter_block->mutable_residual_blocks()->size());
+    std::copy(parameter_block->mutable_residual_blocks()->begin(),
+              parameter_block->mutable_residual_blocks()->end(),
+              residual_blocks->begin());
+    return;
+  }
+
+  // Find residual blocks that depend on the parameter block.
+  CHECK_NOTNULL(residual_blocks)->clear();
+  const int num_residual_blocks = NumResidualBlocks();
+  for (int i = 0; i < num_residual_blocks; ++i) {
+    ResidualBlock* residual_block =
+        (*(program_->mutable_residual_blocks()))[i];
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      if (residual_block->parameter_blocks()[j] == parameter_block) {
+        residual_blocks->push_back(residual_block);
+        // The parameter blocks are guaranteed unique.
+        break;
+      }
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
new file mode 100644
index 0000000..a4689c3
--- /dev/null
+++ b/internal/ceres/problem_impl.h
@@ -0,0 +1,228 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// This is the implementation of the public Problem API. The pointer to
+// implementation (PIMPL) idiom makes it possible for Ceres internal code to
+// refer to the private data members without needing to exposing it to the
+// world. An alternative to PIMPL is to have a factory which returns instances
+// of a virtual base class; while that approach would work, it requires clients
+// to always put a Problem object into a scoped pointer; this needlessly muddies
+// client code for little benefit. Therefore, the PIMPL comprise was chosen.
+
+#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_
+#define CERES_PUBLIC_PROBLEM_IMPL_H_
+
+#include <map>
+#include <vector>
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/collections_port.h"
+#include "ceres/problem.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class CostFunction;
+class LossFunction;
+class LocalParameterization;
+struct CRSMatrix;
+
+namespace internal {
+
+class Program;
+class ResidualBlock;
+
+class ProblemImpl {
+ public:
+  typedef std::map<double*, ParameterBlock*> ParameterMap;
+  typedef HashSet<ResidualBlock*> ResidualBlockSet;
+
+  ProblemImpl();
+  explicit ProblemImpl(const Problem::Options& options);
+
+  ~ProblemImpl();
+
+  // See the public problem.h file for description of these methods.
+  ResidualBlockId AddResidualBlock(
+      CostFunction* cost_function,
+      LossFunction* loss_function,
+      const std::vector<double*>& parameter_blocks);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6, double* x7);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6, double* x7, double* x8);
+  ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+                                   LossFunction* loss_function,
+                                   double* x0, double* x1, double* x2,
+                                   double* x3, double* x4, double* x5,
+                                   double* x6, double* x7, double* x8,
+                                   double* x9);
+  void AddParameterBlock(double* values, int size);
+  void AddParameterBlock(double* values,
+                         int size,
+                         LocalParameterization* local_parameterization);
+
+  void RemoveResidualBlock(ResidualBlock* residual_block);
+  void RemoveParameterBlock(double* values);
+
+  void SetParameterBlockConstant(double* values);
+  void SetParameterBlockVariable(double* values);
+  bool IsParameterBlockConstant(double* values) const;
+
+  void SetParameterization(double* values,
+                           LocalParameterization* local_parameterization);
+  const LocalParameterization* GetParameterization(double* values) const;
+
+  void SetParameterLowerBound(double* values, int index, double lower_bound);
+  void SetParameterUpperBound(double* values, int index, double upper_bound);
+
+  bool Evaluate(const Problem::EvaluateOptions& options,
+                double* cost,
+                std::vector<double>* residuals,
+                std::vector<double>* gradient,
+                CRSMatrix* jacobian);
+
+  int NumParameterBlocks() const;
+  int NumParameters() const;
+  int NumResidualBlocks() const;
+  int NumResiduals() const;
+
+  int ParameterBlockSize(const double* parameter_block) const;
+  int ParameterBlockLocalSize(const double* parameter_block) const;
+
+  bool HasParameterBlock(const double* parameter_block) const;
+
+  void GetParameterBlocks(std::vector<double*>* parameter_blocks) const;
+  void GetResidualBlocks(std::vector<ResidualBlockId>* residual_blocks) const;
+
+  void GetParameterBlocksForResidualBlock(
+      const ResidualBlockId residual_block,
+      std::vector<double*>* parameter_blocks) const;
+
+  const CostFunction* GetCostFunctionForResidualBlock(
+      const ResidualBlockId residual_block) const;
+  const LossFunction* GetLossFunctionForResidualBlock(
+      const ResidualBlockId residual_block) const;
+
+  void GetResidualBlocksForParameterBlock(
+      const double* values,
+      std::vector<ResidualBlockId>* residual_blocks) const;
+
+  const Program& program() const { return *program_; }
+  Program* mutable_program() { return program_.get(); }
+
+  const ParameterMap& parameter_map() const { return parameter_block_map_; }
+  const ResidualBlockSet& residual_block_set() const {
+    CHECK(options_.enable_fast_removal)
+        << "Fast removal not enabled, residual_block_set is not maintained.";
+    return residual_block_set_;
+  }
+
+ private:
+  ParameterBlock* InternalAddParameterBlock(double* values, int size);
+  void InternalRemoveResidualBlock(ResidualBlock* residual_block);
+
+  bool InternalEvaluate(Program* program,
+                        double* cost,
+                        std::vector<double>* residuals,
+                        std::vector<double>* gradient,
+                        CRSMatrix* jacobian);
+
+  // Delete the arguments in question. These differ from the Remove* functions
+  // in that they do not clean up references to the block to delete; they
+  // merely delete them.
+  template<typename Block>
+  void DeleteBlockInVector(std::vector<Block*>* mutable_blocks,
+                           Block* block_to_remove);
+  void DeleteBlock(ResidualBlock* residual_block);
+  void DeleteBlock(ParameterBlock* parameter_block);
+
+  const Problem::Options options_;
+
+  // The mapping from user pointers to parameter blocks.
+  std::map<double*, ParameterBlock*> parameter_block_map_;
+
+  // Iff enable_fast_removal is enabled, contains the current residual blocks.
+  ResidualBlockSet residual_block_set_;
+
+  // The actual parameter and residual blocks.
+  internal::scoped_ptr<internal::Program> program_;
+
+  // When removing residual and parameter blocks, cost/loss functions and
+  // parameterizations have ambiguous ownership. Instead of scanning the entire
+  // problem to see if the cost/loss/parameterization is shared with other
+  // residual or parameter blocks, buffer them until destruction.
+  //
+  // TODO(keir): See if it makes sense to use sets instead.
+  std::vector<CostFunction*> cost_functions_to_delete_;
+  std::vector<LossFunction*> loss_functions_to_delete_;
+  std::vector<LocalParameterization*> local_parameterizations_to_delete_;
+
+  CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_PROBLEM_IMPL_H_
diff --git a/internal/ceres/problem_test.cc b/internal/ceres/problem_test.cc
new file mode 100644
index 0000000..08d4b04
--- /dev/null
+++ b/internal/ceres/problem_test.cc
@@ -0,0 +1,1532 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         keir@google.com (Keir Mierle)
+
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+
+#include "ceres/casts.h"
+#include "ceres/cost_function.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/evaluator_test_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// The following three classes are for the purposes of defining
+// function signatures. They have dummy Evaluate functions.
+
+// Trivial cost function that accepts a single argument.
+class UnaryCostFunction : public CostFunction {
+ public:
+  UnaryCostFunction(int num_residuals, int32 parameter_block_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block_size);
+  }
+  virtual ~UnaryCostFunction() {}
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 1;
+    }
+    return true;
+  }
+};
+
+// Trivial cost function that accepts two arguments.
+class BinaryCostFunction: public CostFunction {
+ public:
+  BinaryCostFunction(int num_residuals,
+                     int32 parameter_block1_size,
+                     int32 parameter_block2_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 2;
+    }
+    return true;
+  }
+};
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+  TernaryCostFunction(int num_residuals,
+                      int32 parameter_block1_size,
+                      int32 parameter_block2_size,
+                      int32 parameter_block3_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = 3;
+    }
+    return true;
+  }
+};
+
+TEST(Problem, AddResidualWithNullCostFunctionDies) {
+  double x[3], y[4], z[5];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  problem.AddParameterBlock(y, 4);
+  problem.AddParameterBlock(z, 5);
+
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(NULL, NULL, x),
+                            "'cost_function' Must be non NULL");
+}
+
+TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) {
+  double x[3], y[4], z[5];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  problem.AddParameterBlock(y, 4);
+  problem.AddParameterBlock(z, 5);
+
+  // UnaryCostFunction takes only one parameter, but two are passed.
+  EXPECT_DEATH_IF_SUPPORTED(
+      problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y),
+      "parameter_blocks.size");
+}
+
+TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) {
+  double x[3];
+
+  Problem problem;
+  problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+                                new UnaryCostFunction(
+                                    2, 4 /* 4 != 3 */), NULL, x),
+                            "different block sizes");
+}
+
+TEST(Problem, AddResidualWithDuplicateParametersDies) {
+  double x[3], z[5];
+
+  Problem problem;
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+                                new BinaryCostFunction(2, 3, 3), NULL, x, x),
+                            "Duplicate parameter blocks");
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+                                new TernaryCostFunction(1, 5, 3, 5),
+                                NULL, z, x, z),
+                            "Duplicate parameter blocks");
+}
+
+TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) {
+  double x[3], y[4], z[5];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  problem.AddParameterBlock(y, 4);
+  problem.AddParameterBlock(z, 5);
+
+  // The cost function expects the size of the second parameter, z, to be 4
+  // instead of 5 as declared above. This is fatal.
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+      new BinaryCostFunction(2, 3, 4), NULL, x, z),
+               "different block sizes");
+}
+
+TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) {
+  double x[3], y[4], z[5];
+
+  Problem problem;
+  problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+  problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+  problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+  problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z);
+
+  EXPECT_EQ(3, problem.NumParameterBlocks());
+  EXPECT_EQ(12, problem.NumParameters());
+}
+
+TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) {
+  double x[3], y[4];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  problem.AddParameterBlock(y, 4);
+
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(x, 4),
+                            "different block sizes");
+}
+
+static double *IntToPtr(int i) {
+  return reinterpret_cast<double*>(sizeof(double) * i);  // NOLINT
+}
+
+TEST(Problem, AddParameterWithAliasedParametersDies) {
+  // Layout is
+  //
+  //   0  1  2  3  4  5  6  7  8  9 10 11 12 13 14 15 16 17
+  //                 [x] x  x  x  x          [y] y  y
+  //         o==o==o                 o==o==o           o==o
+  //               o--o--o     o--o--o     o--o  o--o--o
+  //
+  // Parameter block additions are tested as listed above; expected successful
+  // ones marked with o==o and aliasing ones marked with o--o.
+
+  Problem problem;
+  problem.AddParameterBlock(IntToPtr(5),  5);  // x
+  problem.AddParameterBlock(IntToPtr(13), 3);  // y
+
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 2),
+                            "Aliasing detected");
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 3),
+                            "Aliasing detected");
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 9),
+                            "Aliasing detected");
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 8), 3),
+                            "Aliasing detected");
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(12), 2),
+                            "Aliasing detected");
+  EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(14), 3),
+                            "Aliasing detected");
+
+  // These ones should work.
+  problem.AddParameterBlock(IntToPtr( 2), 3);
+  problem.AddParameterBlock(IntToPtr(10), 3);
+  problem.AddParameterBlock(IntToPtr(16), 2);
+
+  ASSERT_EQ(5, problem.NumParameterBlocks());
+}
+
+TEST(Problem, AddParameterIgnoresDuplicateCalls) {
+  double x[3], y[4];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  problem.AddParameterBlock(y, 4);
+
+  // Creating parameter blocks multiple times is ignored.
+  problem.AddParameterBlock(x, 3);
+  problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+  // ... even repeatedly.
+  problem.AddParameterBlock(x, 3);
+  problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+  // More parameters are fine.
+  problem.AddParameterBlock(y, 4);
+  problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+
+  EXPECT_EQ(2, problem.NumParameterBlocks());
+  EXPECT_EQ(7, problem.NumParameters());
+}
+
+TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) {
+  double x[3], y[4], z[5], w[4];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  EXPECT_EQ(1, problem.NumParameterBlocks());
+  EXPECT_EQ(3, problem.NumParameters());
+
+  problem.AddParameterBlock(y, 4);
+  EXPECT_EQ(2, problem.NumParameterBlocks());
+  EXPECT_EQ(7, problem.NumParameters());
+
+  problem.AddParameterBlock(z, 5);
+  EXPECT_EQ(3,  problem.NumParameterBlocks());
+  EXPECT_EQ(12, problem.NumParameters());
+
+  // Add a parameter that has a local parameterization.
+  w[0] = 1.0; w[1] = 0.0; w[2] = 0.0; w[3] = 0.0;
+  problem.AddParameterBlock(w, 4, new QuaternionParameterization);
+  EXPECT_EQ(4,  problem.NumParameterBlocks());
+  EXPECT_EQ(16, problem.NumParameters());
+
+  problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+  problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y);
+  problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z);
+  problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x);
+  problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y);
+
+  const int total_residuals = 2 + 6 + 3 + 7 + 1;
+  EXPECT_EQ(problem.NumResidualBlocks(), 5);
+  EXPECT_EQ(problem.NumResiduals(), total_residuals);
+}
+
+class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> {
+ public:
+  explicit DestructorCountingCostFunction(int *num_destructions)
+      : num_destructions_(num_destructions) {}
+
+  virtual ~DestructorCountingCostFunction() {
+    *num_destructions_ += 1;
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    return true;
+  }
+
+ private:
+  int* num_destructions_;
+};
+
+TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) {
+  double y[4], z[5];
+  int num_destructions = 0;
+
+  // Add a cost function multiple times and check to make sure that
+  // the destructor on the cost function is only called once.
+  {
+    Problem problem;
+    problem.AddParameterBlock(y, 4);
+    problem.AddParameterBlock(z, 5);
+
+    CostFunction* cost = new DestructorCountingCostFunction(&num_destructions);
+    problem.AddResidualBlock(cost, NULL, y, z);
+    problem.AddResidualBlock(cost, NULL, y, z);
+    problem.AddResidualBlock(cost, NULL, y, z);
+    EXPECT_EQ(3, problem.NumResidualBlocks());
+  }
+
+  // Check that the destructor was called only once.
+  CHECK_EQ(num_destructions, 1);
+}
+
+TEST(Problem, GetCostFunctionForResidualBlock) {
+  double x[3];
+  Problem problem;
+  CostFunction* cost_function = new UnaryCostFunction(2, 3);
+  const ResidualBlockId residual_block =
+      problem.AddResidualBlock(cost_function, NULL, x);
+  EXPECT_EQ(problem.GetCostFunctionForResidualBlock(residual_block),
+            cost_function);
+  EXPECT_TRUE(problem.GetLossFunctionForResidualBlock(residual_block) == NULL);
+}
+
+TEST(Problem, GetLossFunctionForResidualBlock) {
+  double x[3];
+  Problem problem;
+  CostFunction* cost_function = new UnaryCostFunction(2, 3);
+  LossFunction* loss_function = new TrivialLoss();
+  const ResidualBlockId residual_block =
+      problem.AddResidualBlock(cost_function, loss_function, x);
+  EXPECT_EQ(problem.GetCostFunctionForResidualBlock(residual_block),
+            cost_function);
+  EXPECT_EQ(problem.GetLossFunctionForResidualBlock(residual_block),
+            loss_function);
+}
+
+TEST(Problem, CostFunctionsAreDeletedEvenWithRemovals) {
+  double y[4], z[5], w[4];
+  int num_destructions = 0;
+  {
+    Problem problem;
+    problem.AddParameterBlock(y, 4);
+    problem.AddParameterBlock(z, 5);
+
+    CostFunction* cost_yz =
+        new DestructorCountingCostFunction(&num_destructions);
+    CostFunction* cost_wz =
+        new DestructorCountingCostFunction(&num_destructions);
+    ResidualBlock* r_yz = problem.AddResidualBlock(cost_yz, NULL, y, z);
+    ResidualBlock* r_wz = problem.AddResidualBlock(cost_wz, NULL, w, z);
+    EXPECT_EQ(2, problem.NumResidualBlocks());
+
+    // In the current implementation, the destructor shouldn't get run yet.
+    problem.RemoveResidualBlock(r_yz);
+    CHECK_EQ(num_destructions, 0);
+    problem.RemoveResidualBlock(r_wz);
+    CHECK_EQ(num_destructions, 0);
+
+    EXPECT_EQ(0, problem.NumResidualBlocks());
+  }
+  CHECK_EQ(num_destructions, 2);
+}
+
+// Make the dynamic problem tests (e.g. for removing residual blocks)
+// parameterized on whether the low-latency mode is enabled or not.
+//
+// This tests against ProblemImpl instead of Problem in order to inspect the
+// state of the resulting Program; this is difficult with only the thin Problem
+// interface.
+struct DynamicProblem : public ::testing::TestWithParam<bool> {
+  DynamicProblem() {
+    Problem::Options options;
+    options.enable_fast_removal = GetParam();
+    problem.reset(new ProblemImpl(options));
+  }
+
+  ParameterBlock* GetParameterBlock(int block) {
+    return problem->program().parameter_blocks()[block];
+  }
+  ResidualBlock* GetResidualBlock(int block) {
+    return problem->program().residual_blocks()[block];
+  }
+
+  bool HasResidualBlock(ResidualBlock* residual_block) {
+    bool have_residual_block = true;
+    if (GetParam()) {
+      have_residual_block &=
+          (problem->residual_block_set().find(residual_block) !=
+           problem->residual_block_set().end());
+    }
+    have_residual_block &=
+        find(problem->program().residual_blocks().begin(),
+             problem->program().residual_blocks().end(),
+             residual_block) != problem->program().residual_blocks().end();
+    return have_residual_block;
+  }
+
+  int NumResidualBlocks() {
+    // Verify that the hash set of residuals is maintained consistently.
+    if (GetParam()) {
+      EXPECT_EQ(problem->residual_block_set().size(),
+                problem->NumResidualBlocks());
+    }
+    return problem->NumResidualBlocks();
+  }
+
+  // The next block of functions until the end are only for testing the
+  // residual block removals.
+  void ExpectParameterBlockContainsResidualBlock(
+      double* values,
+      ResidualBlock* residual_block) {
+    ParameterBlock* parameter_block =
+        FindOrDie(problem->parameter_map(), values);
+    EXPECT_TRUE(ContainsKey(*(parameter_block->mutable_residual_blocks()),
+                            residual_block));
+  }
+
+  void ExpectSize(double* values, int size) {
+    ParameterBlock* parameter_block =
+        FindOrDie(problem->parameter_map(), values);
+    EXPECT_EQ(size, parameter_block->mutable_residual_blocks()->size());
+  }
+
+  // Degenerate case.
+  void ExpectParameterBlockContains(double* values) {
+    ExpectSize(values, 0);
+  }
+
+  void ExpectParameterBlockContains(double* values,
+                                    ResidualBlock* r1) {
+    ExpectSize(values, 1);
+    ExpectParameterBlockContainsResidualBlock(values, r1);
+  }
+
+  void ExpectParameterBlockContains(double* values,
+                                    ResidualBlock* r1,
+                                    ResidualBlock* r2) {
+    ExpectSize(values, 2);
+    ExpectParameterBlockContainsResidualBlock(values, r1);
+    ExpectParameterBlockContainsResidualBlock(values, r2);
+  }
+
+  void ExpectParameterBlockContains(double* values,
+                                    ResidualBlock* r1,
+                                    ResidualBlock* r2,
+                                    ResidualBlock* r3) {
+    ExpectSize(values, 3);
+    ExpectParameterBlockContainsResidualBlock(values, r1);
+    ExpectParameterBlockContainsResidualBlock(values, r2);
+    ExpectParameterBlockContainsResidualBlock(values, r3);
+  }
+
+  void ExpectParameterBlockContains(double* values,
+                                    ResidualBlock* r1,
+                                    ResidualBlock* r2,
+                                    ResidualBlock* r3,
+                                    ResidualBlock* r4) {
+    ExpectSize(values, 4);
+    ExpectParameterBlockContainsResidualBlock(values, r1);
+    ExpectParameterBlockContainsResidualBlock(values, r2);
+    ExpectParameterBlockContainsResidualBlock(values, r3);
+    ExpectParameterBlockContainsResidualBlock(values, r4);
+  }
+
+  scoped_ptr<ProblemImpl> problem;
+  double y[4], z[5], w[3];
+};
+
+TEST(Problem, SetParameterBlockConstantWithUnknownPtrDies) {
+  double x[3];
+  double y[2];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+
+  EXPECT_DEATH_IF_SUPPORTED(problem.SetParameterBlockConstant(y),
+                            "Parameter block not found:");
+}
+
+TEST(Problem, SetParameterBlockVariableWithUnknownPtrDies) {
+  double x[3];
+  double y[2];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+
+  EXPECT_DEATH_IF_SUPPORTED(problem.SetParameterBlockVariable(y),
+                            "Parameter block not found:");
+}
+
+TEST(Problem, IsParameterBlockConstant) {
+  double x1[3];
+  double x2[3];
+
+  Problem problem;
+  problem.AddParameterBlock(x1, 3);
+  problem.AddParameterBlock(x2, 3);
+
+  EXPECT_FALSE(problem.IsParameterBlockConstant(x1));
+  EXPECT_FALSE(problem.IsParameterBlockConstant(x2));
+
+  problem.SetParameterBlockConstant(x1);
+  EXPECT_TRUE(problem.IsParameterBlockConstant(x1));
+  EXPECT_FALSE(problem.IsParameterBlockConstant(x2));
+
+  problem.SetParameterBlockConstant(x2);
+  EXPECT_TRUE(problem.IsParameterBlockConstant(x1));
+  EXPECT_TRUE(problem.IsParameterBlockConstant(x2));
+
+  problem.SetParameterBlockVariable(x1);
+  EXPECT_FALSE(problem.IsParameterBlockConstant(x1));
+  EXPECT_TRUE(problem.IsParameterBlockConstant(x2));
+}
+
+TEST(Problem, IsParameterBlockConstantWithUnknownPtrDies) {
+  double x[3];
+  double y[2];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+
+  EXPECT_DEATH_IF_SUPPORTED(problem.IsParameterBlockConstant(y),
+                            "Parameter block not found:");
+}
+
+TEST(Problem, SetLocalParameterizationWithUnknownPtrDies) {
+  double x[3];
+  double y[2];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+
+  EXPECT_DEATH_IF_SUPPORTED(
+      problem.SetParameterization(y, new IdentityParameterization(3)),
+      "Parameter block not found:");
+}
+
+TEST(Problem, RemoveParameterBlockWithUnknownPtrDies) {
+  double x[3];
+  double y[2];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+
+  EXPECT_DEATH_IF_SUPPORTED(
+      problem.RemoveParameterBlock(y), "Parameter block not found:");
+}
+
+TEST(Problem, GetParameterization) {
+  double x[3];
+  double y[2];
+
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  problem.AddParameterBlock(y, 2);
+
+  LocalParameterization* parameterization =  new IdentityParameterization(3);
+  problem.SetParameterization(x, parameterization);
+  EXPECT_EQ(problem.GetParameterization(x), parameterization);
+  EXPECT_TRUE(problem.GetParameterization(y) == NULL);
+}
+
+TEST(Problem, ParameterBlockQueryTest) {
+  double x[3];
+  double y[4];
+  Problem problem;
+  problem.AddParameterBlock(x, 3);
+  problem.AddParameterBlock(y, 4);
+
+  vector<int> constant_parameters;
+  constant_parameters.push_back(0);
+  problem.SetParameterization(
+      x,
+      new SubsetParameterization(3, constant_parameters));
+  EXPECT_EQ(problem.ParameterBlockSize(x), 3);
+  EXPECT_EQ(problem.ParameterBlockLocalSize(x), 2);
+  EXPECT_EQ(problem.ParameterBlockLocalSize(y), 4);
+
+  vector<double*> parameter_blocks;
+  problem.GetParameterBlocks(&parameter_blocks);
+  EXPECT_EQ(parameter_blocks.size(), 2);
+  EXPECT_NE(parameter_blocks[0], parameter_blocks[1]);
+  EXPECT_TRUE(parameter_blocks[0] == x || parameter_blocks[0] == y);
+  EXPECT_TRUE(parameter_blocks[1] == x || parameter_blocks[1] == y);
+
+  EXPECT_TRUE(problem.HasParameterBlock(x));
+  problem.RemoveParameterBlock(x);
+  EXPECT_FALSE(problem.HasParameterBlock(x));
+  problem.GetParameterBlocks(&parameter_blocks);
+  EXPECT_EQ(parameter_blocks.size(), 1);
+  EXPECT_TRUE(parameter_blocks[0] == y);
+}
+
+TEST_P(DynamicProblem, RemoveParameterBlockWithNoResiduals) {
+  problem->AddParameterBlock(y, 4);
+  problem->AddParameterBlock(z, 5);
+  problem->AddParameterBlock(w, 3);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+  EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+  EXPECT_EQ(w, GetParameterBlock(2)->user_state());
+
+  // w is at the end, which might break the swapping logic so try adding and
+  // removing it.
+  problem->RemoveParameterBlock(w);
+  ASSERT_EQ(2, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+  EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+  problem->AddParameterBlock(w, 3);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+  EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+  EXPECT_EQ(w, GetParameterBlock(2)->user_state());
+
+  // Now remove z, which is in the middle, and add it back.
+  problem->RemoveParameterBlock(z);
+  ASSERT_EQ(2, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+  EXPECT_EQ(w, GetParameterBlock(1)->user_state());
+  problem->AddParameterBlock(z, 5);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+  EXPECT_EQ(w, GetParameterBlock(1)->user_state());
+  EXPECT_EQ(z, GetParameterBlock(2)->user_state());
+
+  // Now remove everything.
+  // y
+  problem->RemoveParameterBlock(y);
+  ASSERT_EQ(2, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(z, GetParameterBlock(0)->user_state());
+  EXPECT_EQ(w, GetParameterBlock(1)->user_state());
+
+  // z
+  problem->RemoveParameterBlock(z);
+  ASSERT_EQ(1, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(w, GetParameterBlock(0)->user_state());
+
+  // w
+  problem->RemoveParameterBlock(w);
+  EXPECT_EQ(0, problem->NumParameterBlocks());
+  EXPECT_EQ(0, NumResidualBlocks());
+}
+
+TEST_P(DynamicProblem, RemoveParameterBlockWithResiduals) {
+  problem->AddParameterBlock(y, 4);
+  problem->AddParameterBlock(z, 5);
+  problem->AddParameterBlock(w, 3);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  EXPECT_EQ(y, GetParameterBlock(0)->user_state());
+  EXPECT_EQ(z, GetParameterBlock(1)->user_state());
+  EXPECT_EQ(w, GetParameterBlock(2)->user_state());
+
+  // Add all combinations of cost functions.
+  CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+  CostFunction* cost_yz  = new BinaryCostFunction (1, 4, 5);
+  CostFunction* cost_yw  = new BinaryCostFunction (1, 4, 3);
+  CostFunction* cost_zw  = new BinaryCostFunction (1, 5, 3);
+  CostFunction* cost_y   = new UnaryCostFunction  (1, 4);
+  CostFunction* cost_z   = new UnaryCostFunction  (1, 5);
+  CostFunction* cost_w   = new UnaryCostFunction  (1, 3);
+
+  ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+  ResidualBlock* r_yz  = problem->AddResidualBlock(cost_yz,  NULL, y, z);
+  ResidualBlock* r_yw  = problem->AddResidualBlock(cost_yw,  NULL, y, w);
+  ResidualBlock* r_zw  = problem->AddResidualBlock(cost_zw,  NULL, z, w);
+  ResidualBlock* r_y   = problem->AddResidualBlock(cost_y,   NULL, y);
+  ResidualBlock* r_z   = problem->AddResidualBlock(cost_z,   NULL, z);
+  ResidualBlock* r_w   = problem->AddResidualBlock(cost_w,   NULL, w);
+
+  EXPECT_EQ(3, problem->NumParameterBlocks());
+  EXPECT_EQ(7, NumResidualBlocks());
+
+  // Remove w, which should remove r_yzw, r_yw, r_zw, r_w.
+  problem->RemoveParameterBlock(w);
+  ASSERT_EQ(2, problem->NumParameterBlocks());
+  ASSERT_EQ(3, NumResidualBlocks());
+
+  ASSERT_FALSE(HasResidualBlock(r_yzw));
+  ASSERT_TRUE (HasResidualBlock(r_yz ));
+  ASSERT_FALSE(HasResidualBlock(r_yw ));
+  ASSERT_FALSE(HasResidualBlock(r_zw ));
+  ASSERT_TRUE (HasResidualBlock(r_y  ));
+  ASSERT_TRUE (HasResidualBlock(r_z  ));
+  ASSERT_FALSE(HasResidualBlock(r_w  ));
+
+  // Remove z, which will remove almost everything else.
+  problem->RemoveParameterBlock(z);
+  ASSERT_EQ(1, problem->NumParameterBlocks());
+  ASSERT_EQ(1, NumResidualBlocks());
+
+  ASSERT_FALSE(HasResidualBlock(r_yzw));
+  ASSERT_FALSE(HasResidualBlock(r_yz ));
+  ASSERT_FALSE(HasResidualBlock(r_yw ));
+  ASSERT_FALSE(HasResidualBlock(r_zw ));
+  ASSERT_TRUE (HasResidualBlock(r_y  ));
+  ASSERT_FALSE(HasResidualBlock(r_z  ));
+  ASSERT_FALSE(HasResidualBlock(r_w  ));
+
+  // Remove y; all gone.
+  problem->RemoveParameterBlock(y);
+  EXPECT_EQ(0, problem->NumParameterBlocks());
+  EXPECT_EQ(0, NumResidualBlocks());
+}
+
+TEST_P(DynamicProblem, RemoveResidualBlock) {
+  problem->AddParameterBlock(y, 4);
+  problem->AddParameterBlock(z, 5);
+  problem->AddParameterBlock(w, 3);
+
+  // Add all combinations of cost functions.
+  CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+  CostFunction* cost_yz  = new BinaryCostFunction (1, 4, 5);
+  CostFunction* cost_yw  = new BinaryCostFunction (1, 4, 3);
+  CostFunction* cost_zw  = new BinaryCostFunction (1, 5, 3);
+  CostFunction* cost_y   = new UnaryCostFunction  (1, 4);
+  CostFunction* cost_z   = new UnaryCostFunction  (1, 5);
+  CostFunction* cost_w   = new UnaryCostFunction  (1, 3);
+
+  ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+  ResidualBlock* r_yz  = problem->AddResidualBlock(cost_yz,  NULL, y, z);
+  ResidualBlock* r_yw  = problem->AddResidualBlock(cost_yw,  NULL, y, w);
+  ResidualBlock* r_zw  = problem->AddResidualBlock(cost_zw,  NULL, z, w);
+  ResidualBlock* r_y   = problem->AddResidualBlock(cost_y,   NULL, y);
+  ResidualBlock* r_z   = problem->AddResidualBlock(cost_z,   NULL, z);
+  ResidualBlock* r_w   = problem->AddResidualBlock(cost_w,   NULL, w);
+
+  if (GetParam()) {
+    // In this test parameterization, there should be back-pointers from the
+    // parameter blocks to the residual blocks.
+    ExpectParameterBlockContains(y, r_yzw, r_yz, r_yw, r_y);
+    ExpectParameterBlockContains(z, r_yzw, r_yz, r_zw, r_z);
+    ExpectParameterBlockContains(w, r_yzw, r_yw, r_zw, r_w);
+  } else {
+    // Otherwise, nothing.
+    EXPECT_TRUE(GetParameterBlock(0)->mutable_residual_blocks() == NULL);
+    EXPECT_TRUE(GetParameterBlock(1)->mutable_residual_blocks() == NULL);
+    EXPECT_TRUE(GetParameterBlock(2)->mutable_residual_blocks() == NULL);
+  }
+  EXPECT_EQ(3, problem->NumParameterBlocks());
+  EXPECT_EQ(7, NumResidualBlocks());
+
+  // Remove each residual and check the state after each removal.
+
+  // Remove r_yzw.
+  problem->RemoveResidualBlock(r_yzw);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(6, NumResidualBlocks());
+  if (GetParam()) {
+    ExpectParameterBlockContains(y, r_yz, r_yw, r_y);
+    ExpectParameterBlockContains(z, r_yz, r_zw, r_z);
+    ExpectParameterBlockContains(w, r_yw, r_zw, r_w);
+  }
+  ASSERT_TRUE (HasResidualBlock(r_yz ));
+  ASSERT_TRUE (HasResidualBlock(r_yw ));
+  ASSERT_TRUE (HasResidualBlock(r_zw ));
+  ASSERT_TRUE (HasResidualBlock(r_y  ));
+  ASSERT_TRUE (HasResidualBlock(r_z  ));
+  ASSERT_TRUE (HasResidualBlock(r_w  ));
+
+  // Remove r_yw.
+  problem->RemoveResidualBlock(r_yw);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(5, NumResidualBlocks());
+  if (GetParam()) {
+    ExpectParameterBlockContains(y, r_yz, r_y);
+    ExpectParameterBlockContains(z, r_yz, r_zw, r_z);
+    ExpectParameterBlockContains(w, r_zw, r_w);
+  }
+  ASSERT_TRUE (HasResidualBlock(r_yz ));
+  ASSERT_TRUE (HasResidualBlock(r_zw ));
+  ASSERT_TRUE (HasResidualBlock(r_y  ));
+  ASSERT_TRUE (HasResidualBlock(r_z  ));
+  ASSERT_TRUE (HasResidualBlock(r_w  ));
+
+  // Remove r_zw.
+  problem->RemoveResidualBlock(r_zw);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(4, NumResidualBlocks());
+  if (GetParam()) {
+    ExpectParameterBlockContains(y, r_yz, r_y);
+    ExpectParameterBlockContains(z, r_yz, r_z);
+    ExpectParameterBlockContains(w, r_w);
+  }
+  ASSERT_TRUE (HasResidualBlock(r_yz ));
+  ASSERT_TRUE (HasResidualBlock(r_y  ));
+  ASSERT_TRUE (HasResidualBlock(r_z  ));
+  ASSERT_TRUE (HasResidualBlock(r_w  ));
+
+  // Remove r_w.
+  problem->RemoveResidualBlock(r_w);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(3, NumResidualBlocks());
+  if (GetParam()) {
+    ExpectParameterBlockContains(y, r_yz, r_y);
+    ExpectParameterBlockContains(z, r_yz, r_z);
+    ExpectParameterBlockContains(w);
+  }
+  ASSERT_TRUE (HasResidualBlock(r_yz ));
+  ASSERT_TRUE (HasResidualBlock(r_y  ));
+  ASSERT_TRUE (HasResidualBlock(r_z  ));
+
+  // Remove r_yz.
+  problem->RemoveResidualBlock(r_yz);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(2, NumResidualBlocks());
+  if (GetParam()) {
+    ExpectParameterBlockContains(y, r_y);
+    ExpectParameterBlockContains(z, r_z);
+    ExpectParameterBlockContains(w);
+  }
+  ASSERT_TRUE (HasResidualBlock(r_y  ));
+  ASSERT_TRUE (HasResidualBlock(r_z  ));
+
+  // Remove the last two.
+  problem->RemoveResidualBlock(r_z);
+  problem->RemoveResidualBlock(r_y);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(0, NumResidualBlocks());
+  if (GetParam()) {
+    ExpectParameterBlockContains(y);
+    ExpectParameterBlockContains(z);
+    ExpectParameterBlockContains(w);
+  }
+}
+
+TEST_P(DynamicProblem, RemoveInvalidResidualBlockDies) {
+  problem->AddParameterBlock(y, 4);
+  problem->AddParameterBlock(z, 5);
+  problem->AddParameterBlock(w, 3);
+
+  // Add all combinations of cost functions.
+  CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+  CostFunction* cost_yz  = new BinaryCostFunction (1, 4, 5);
+  CostFunction* cost_yw  = new BinaryCostFunction (1, 4, 3);
+  CostFunction* cost_zw  = new BinaryCostFunction (1, 5, 3);
+  CostFunction* cost_y   = new UnaryCostFunction  (1, 4);
+  CostFunction* cost_z   = new UnaryCostFunction  (1, 5);
+  CostFunction* cost_w   = new UnaryCostFunction  (1, 3);
+
+  ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+  ResidualBlock* r_yz  = problem->AddResidualBlock(cost_yz,  NULL, y, z);
+  ResidualBlock* r_yw  = problem->AddResidualBlock(cost_yw,  NULL, y, w);
+  ResidualBlock* r_zw  = problem->AddResidualBlock(cost_zw,  NULL, z, w);
+  ResidualBlock* r_y   = problem->AddResidualBlock(cost_y,   NULL, y);
+  ResidualBlock* r_z   = problem->AddResidualBlock(cost_z,   NULL, z);
+  ResidualBlock* r_w   = problem->AddResidualBlock(cost_w,   NULL, w);
+
+  // Remove r_yzw.
+  problem->RemoveResidualBlock(r_yzw);
+  ASSERT_EQ(3, problem->NumParameterBlocks());
+  ASSERT_EQ(6, NumResidualBlocks());
+  // Attempt to remove r_yzw again.
+  EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_yzw), "not found");
+
+  // Attempt to remove a cast pointer never added as a residual.
+  int trash_memory = 1234;
+  ResidualBlock* invalid_residual =
+      reinterpret_cast<ResidualBlock*>(&trash_memory);
+  EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(invalid_residual),
+                            "not found");
+
+  // Remove a parameter block, which in turn removes the dependent residuals
+  // then attempt to remove them directly.
+  problem->RemoveParameterBlock(z);
+  ASSERT_EQ(2, problem->NumParameterBlocks());
+  ASSERT_EQ(3, NumResidualBlocks());
+  EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_yz), "not found");
+  EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_zw), "not found");
+  EXPECT_DEATH_IF_SUPPORTED(problem->RemoveResidualBlock(r_z), "not found");
+
+  problem->RemoveResidualBlock(r_yw);
+  problem->RemoveResidualBlock(r_w);
+  problem->RemoveResidualBlock(r_y);
+}
+
+// Check that a null-terminated array, a, has the same elements as b.
+template<typename T>
+void ExpectVectorContainsUnordered(const T* a, const vector<T>& b) {
+  // Compute the size of a.
+  int size = 0;
+  while (a[size]) {
+    ++size;
+  }
+  ASSERT_EQ(size, b.size());
+
+  // Sort a.
+  vector<T> a_sorted(size);
+  copy(a, a + size, a_sorted.begin());
+  sort(a_sorted.begin(), a_sorted.end());
+
+  // Sort b.
+  vector<T> b_sorted(b);
+  sort(b_sorted.begin(), b_sorted.end());
+
+  // Compare.
+  for (int i = 0; i < size; ++i) {
+    EXPECT_EQ(a_sorted[i], b_sorted[i]);
+  }
+}
+
+void ExpectProblemHasResidualBlocks(
+    const ProblemImpl &problem,
+    const ResidualBlockId *expected_residual_blocks) {
+  vector<ResidualBlockId> residual_blocks;
+  problem.GetResidualBlocks(&residual_blocks);
+  ExpectVectorContainsUnordered(expected_residual_blocks, residual_blocks);
+}
+
+TEST_P(DynamicProblem, GetXXXBlocksForYYYBlock) {
+  problem->AddParameterBlock(y, 4);
+  problem->AddParameterBlock(z, 5);
+  problem->AddParameterBlock(w, 3);
+
+  // Add all combinations of cost functions.
+  CostFunction* cost_yzw = new TernaryCostFunction(1, 4, 5, 3);
+  CostFunction* cost_yz  = new BinaryCostFunction (1, 4, 5);
+  CostFunction* cost_yw  = new BinaryCostFunction (1, 4, 3);
+  CostFunction* cost_zw  = new BinaryCostFunction (1, 5, 3);
+  CostFunction* cost_y   = new UnaryCostFunction  (1, 4);
+  CostFunction* cost_z   = new UnaryCostFunction  (1, 5);
+  CostFunction* cost_w   = new UnaryCostFunction  (1, 3);
+
+  ResidualBlock* r_yzw = problem->AddResidualBlock(cost_yzw, NULL, y, z, w);
+  {
+    ResidualBlockId expected_residuals[] = {r_yzw, 0};
+    ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+  }
+  ResidualBlock* r_yz  = problem->AddResidualBlock(cost_yz,  NULL, y, z);
+  {
+    ResidualBlockId expected_residuals[] = {r_yzw, r_yz, 0};
+    ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+  }
+  ResidualBlock* r_yw  = problem->AddResidualBlock(cost_yw,  NULL, y, w);
+  {
+    ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, 0};
+    ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+  }
+  ResidualBlock* r_zw  = problem->AddResidualBlock(cost_zw,  NULL, z, w);
+  {
+    ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, r_zw, 0};
+    ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+  }
+  ResidualBlock* r_y   = problem->AddResidualBlock(cost_y,   NULL, y);
+  {
+    ResidualBlock *expected_residuals[] = {r_yzw, r_yz, r_yw, r_zw, r_y, 0};
+    ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+  }
+  ResidualBlock* r_z   = problem->AddResidualBlock(cost_z,   NULL, z);
+  {
+    ResidualBlock *expected_residuals[] = {
+      r_yzw, r_yz, r_yw, r_zw, r_y, r_z, 0
+    };
+    ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+  }
+  ResidualBlock* r_w   = problem->AddResidualBlock(cost_w,   NULL, w);
+  {
+    ResidualBlock *expected_residuals[] = {
+      r_yzw, r_yz, r_yw, r_zw, r_y, r_z, r_w, 0
+    };
+    ExpectProblemHasResidualBlocks(*problem, expected_residuals);
+  }
+
+  vector<double*> parameter_blocks;
+  vector<ResidualBlockId> residual_blocks;
+
+  // Check GetResidualBlocksForParameterBlock() for all parameter blocks.
+  struct GetResidualBlocksForParameterBlockTestCase {
+    double* parameter_block;
+    ResidualBlockId expected_residual_blocks[10];
+  };
+  GetResidualBlocksForParameterBlockTestCase get_residual_blocks_cases[] = {
+    { y, { r_yzw, r_yz, r_yw, r_y, NULL} },
+    { z, { r_yzw, r_yz, r_zw, r_z, NULL} },
+    { w, { r_yzw, r_yw, r_zw, r_w, NULL} },
+    { NULL }
+  };
+  for (int i = 0; get_residual_blocks_cases[i].parameter_block; ++i) {
+    problem->GetResidualBlocksForParameterBlock(
+        get_residual_blocks_cases[i].parameter_block,
+        &residual_blocks);
+    ExpectVectorContainsUnordered(
+        get_residual_blocks_cases[i].expected_residual_blocks,
+        residual_blocks);
+  }
+
+  // Check GetParameterBlocksForResidualBlock() for all residual blocks.
+  struct GetParameterBlocksForResidualBlockTestCase {
+    ResidualBlockId residual_block;
+    double* expected_parameter_blocks[10];
+  };
+  GetParameterBlocksForResidualBlockTestCase get_parameter_blocks_cases[] = {
+    { r_yzw, { y, z, w, NULL } },
+    { r_yz , { y, z, NULL } },
+    { r_yw , { y, w, NULL } },
+    { r_zw , { z, w, NULL } },
+    { r_y  , { y, NULL } },
+    { r_z  , { z, NULL } },
+    { r_w  , { w, NULL } },
+    { NULL }
+  };
+  for (int i = 0; get_parameter_blocks_cases[i].residual_block; ++i) {
+    problem->GetParameterBlocksForResidualBlock(
+        get_parameter_blocks_cases[i].residual_block,
+        &parameter_blocks);
+    ExpectVectorContainsUnordered(
+        get_parameter_blocks_cases[i].expected_parameter_blocks,
+        parameter_blocks);
+  }
+}
+
+INSTANTIATE_TEST_CASE_P(OptionsInstantiation,
+                        DynamicProblem,
+                        ::testing::Values(true, false));
+
+// Test for Problem::Evaluate
+
+// r_i = i - (j + 1) * x_ij^2
+template <int kNumResiduals, int kNumParameterBlocks>
+class QuadraticCostFunction : public CostFunction {
+ public:
+  QuadraticCostFunction() {
+    CHECK_GT(kNumResiduals, 0);
+    CHECK_GT(kNumParameterBlocks, 0);
+    set_num_residuals(kNumResiduals);
+    for (int i = 0; i < kNumParameterBlocks; ++i) {
+      mutable_parameter_block_sizes()->push_back(kNumResiduals);
+    }
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < kNumResiduals; ++i) {
+      residuals[i] = i;
+      for (int j = 0; j < kNumParameterBlocks; ++j) {
+        residuals[i] -= (j + 1.0) * parameters[j][i] * parameters[j][i];
+      }
+    }
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    for (int j = 0; j < kNumParameterBlocks; ++j) {
+      if (jacobians[j] != NULL) {
+        MatrixRef(jacobians[j], kNumResiduals, kNumResiduals) =
+            (-2.0 * (j + 1.0) *
+             ConstVectorRef(parameters[j], kNumResiduals)).asDiagonal();
+      }
+    }
+
+    return true;
+  }
+};
+
+// Convert a CRSMatrix to a dense Eigen matrix.
+void CRSToDenseMatrix(const CRSMatrix& input, Matrix* output) {
+  Matrix& m = *CHECK_NOTNULL(output);
+  m.resize(input.num_rows, input.num_cols);
+  m.setZero();
+  for (int row = 0; row < input.num_rows; ++row) {
+    for (int j = input.rows[row]; j < input.rows[row + 1]; ++j) {
+      const int col = input.cols[j];
+      m(row, col) = input.values[j];
+    }
+  }
+}
+
+class ProblemEvaluateTest : public ::testing::Test {
+ protected:
+  void SetUp() {
+    for (int i = 0; i < 6; ++i) {
+      parameters_[i] = static_cast<double>(i + 1);
+    }
+
+    parameter_blocks_.push_back(parameters_);
+    parameter_blocks_.push_back(parameters_ + 2);
+    parameter_blocks_.push_back(parameters_ + 4);
+
+
+    CostFunction* cost_function = new QuadraticCostFunction<2, 2>;
+
+    // f(x, y)
+    residual_blocks_.push_back(
+        problem_.AddResidualBlock(cost_function,
+                                  NULL,
+                                  parameters_,
+                                  parameters_ + 2));
+    // g(y, z)
+    residual_blocks_.push_back(
+        problem_.AddResidualBlock(cost_function,
+                                  NULL, parameters_ + 2,
+                                  parameters_ + 4));
+    // h(z, x)
+    residual_blocks_.push_back(
+        problem_.AddResidualBlock(cost_function,
+                                  NULL,
+                                  parameters_ + 4,
+                                  parameters_));
+  }
+
+  void TearDown() {
+    EXPECT_TRUE(problem_.program().IsValid());
+  }
+
+  void EvaluateAndCompare(const Problem::EvaluateOptions& options,
+                          const int expected_num_rows,
+                          const int expected_num_cols,
+                          const double expected_cost,
+                          const double* expected_residuals,
+                          const double* expected_gradient,
+                          const double* expected_jacobian) {
+    double cost;
+    vector<double> residuals;
+    vector<double> gradient;
+    CRSMatrix jacobian;
+
+    EXPECT_TRUE(
+        problem_.Evaluate(options,
+                          &cost,
+                          expected_residuals != NULL ? &residuals : NULL,
+                          expected_gradient != NULL ? &gradient : NULL,
+                          expected_jacobian != NULL ? &jacobian : NULL));
+
+    if (expected_residuals != NULL) {
+      EXPECT_EQ(residuals.size(), expected_num_rows);
+    }
+
+    if (expected_gradient != NULL) {
+      EXPECT_EQ(gradient.size(), expected_num_cols);
+    }
+
+    if (expected_jacobian != NULL) {
+      EXPECT_EQ(jacobian.num_rows, expected_num_rows);
+      EXPECT_EQ(jacobian.num_cols, expected_num_cols);
+    }
+
+    Matrix dense_jacobian;
+    if (expected_jacobian != NULL) {
+      CRSToDenseMatrix(jacobian, &dense_jacobian);
+    }
+
+    CompareEvaluations(expected_num_rows,
+                       expected_num_cols,
+                       expected_cost,
+                       expected_residuals,
+                       expected_gradient,
+                       expected_jacobian,
+                       cost,
+                       residuals.size() > 0 ? &residuals[0] : NULL,
+                       gradient.size() > 0 ? &gradient[0] : NULL,
+                       dense_jacobian.data());
+  }
+
+  void CheckAllEvaluationCombinations(const Problem::EvaluateOptions& options,
+                                      const ExpectedEvaluation& expected) {
+    for (int i = 0; i < 8; ++i) {
+      EvaluateAndCompare(options,
+                         expected.num_rows,
+                         expected.num_cols,
+                         expected.cost,
+                         (i & 1) ? expected.residuals : NULL,
+                         (i & 2) ? expected.gradient  : NULL,
+                         (i & 4) ? expected.jacobian  : NULL);
+    }
+  }
+
+  ProblemImpl problem_;
+  double parameters_[6];
+  vector<double*> parameter_blocks_;
+  vector<ResidualBlockId> residual_blocks_;
+};
+
+
+TEST_F(ProblemEvaluateTest, MultipleParameterAndResidualBlocks) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    6, 6,
+    // Cost
+    7607.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -59.0, -87.0,  // g
+      -27.0, -43.0   // h
+    },
+    // Gradient
+    {  146.0,  484.0,   // x
+       582.0, 1256.0,   // y
+      1450.0, 2604.0,   // z
+    },
+    // Jacobian
+    //                       x             y             z
+    { /* f(x, y) */ -2.0,  0.0, -12.0,   0.0,   0.0,   0.0,
+                     0.0, -4.0,   0.0, -16.0,   0.0,   0.0,
+      /* g(y, z) */  0.0,  0.0,  -6.0,   0.0, -20.0,   0.0,
+                     0.0,  0.0,   0.0,  -8.0,   0.0, -24.0,
+      /* h(z, x) */ -4.0,  0.0,   0.0,   0.0, -10.0,   0.0,
+                     0.0, -8.0,   0.0,   0.0,   0.0, -12.0
+    }
+  };
+
+  CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected);
+}
+
+TEST_F(ProblemEvaluateTest, ParameterAndResidualBlocksPassedInOptions) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    6, 6,
+    // Cost
+    7607.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -59.0, -87.0,  // g
+      -27.0, -43.0   // h
+    },
+    // Gradient
+    {  146.0,  484.0,   // x
+       582.0, 1256.0,   // y
+      1450.0, 2604.0,   // z
+    },
+    // Jacobian
+    //                       x             y             z
+    { /* f(x, y) */ -2.0,  0.0, -12.0,   0.0,   0.0,   0.0,
+                     0.0, -4.0,   0.0, -16.0,   0.0,   0.0,
+      /* g(y, z) */  0.0,  0.0,  -6.0,   0.0, -20.0,   0.0,
+                     0.0,  0.0,   0.0,  -8.0,   0.0, -24.0,
+      /* h(z, x) */ -4.0,  0.0,   0.0,   0.0, -10.0,   0.0,
+                     0.0, -8.0,   0.0,   0.0,   0.0, -12.0
+    }
+  };
+
+  Problem::EvaluateOptions evaluate_options;
+  evaluate_options.parameter_blocks = parameter_blocks_;
+  evaluate_options.residual_blocks = residual_blocks_;
+  CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ReorderedResidualBlocks) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    6, 6,
+    // Cost
+    7607.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -27.0, -43.0,  // h
+      -59.0, -87.0   // g
+    },
+    // Gradient
+    {  146.0,  484.0,   // x
+       582.0, 1256.0,   // y
+      1450.0, 2604.0,   // z
+    },
+    // Jacobian
+    //                       x             y             z
+    { /* f(x, y) */ -2.0,  0.0, -12.0,   0.0,   0.0,   0.0,
+                     0.0, -4.0,   0.0, -16.0,   0.0,   0.0,
+      /* h(z, x) */ -4.0,  0.0,   0.0,   0.0, -10.0,   0.0,
+                     0.0, -8.0,   0.0,   0.0,   0.0, -12.0,
+      /* g(y, z) */  0.0,  0.0,  -6.0,   0.0, -20.0,   0.0,
+                     0.0,  0.0,   0.0,  -8.0,   0.0, -24.0
+    }
+  };
+
+  Problem::EvaluateOptions evaluate_options;
+  evaluate_options.parameter_blocks = parameter_blocks_;
+
+  // f, h, g
+  evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+  evaluate_options.residual_blocks.push_back(residual_blocks_[2]);
+  evaluate_options.residual_blocks.push_back(residual_blocks_[1]);
+
+  CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ReorderedResidualBlocksAndReorderedParameterBlocks) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    6, 6,
+    // Cost
+    7607.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -27.0, -43.0,  // h
+      -59.0, -87.0   // g
+    },
+    // Gradient
+    {  1450.0, 2604.0,   // z
+        582.0, 1256.0,   // y
+        146.0,  484.0,   // x
+    },
+     // Jacobian
+    //                       z             y             x
+    { /* f(x, y) */   0.0,   0.0, -12.0,   0.0,  -2.0,   0.0,
+                      0.0,   0.0,   0.0, -16.0,   0.0,  -4.0,
+      /* h(z, x) */ -10.0,   0.0,   0.0,   0.0,  -4.0,   0.0,
+                      0.0, -12.0,   0.0,   0.0,   0.0,  -8.0,
+      /* g(y, z) */ -20.0,   0.0,  -6.0,   0.0,   0.0,   0.0,
+                      0.0, -24.0,   0.0,  -8.0,   0.0,   0.0
+    }
+  };
+
+  Problem::EvaluateOptions evaluate_options;
+  // z, y, x
+  evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]);
+  evaluate_options.parameter_blocks.push_back(parameter_blocks_[1]);
+  evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]);
+
+  // f, h, g
+  evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+  evaluate_options.residual_blocks.push_back(residual_blocks_[2]);
+  evaluate_options.residual_blocks.push_back(residual_blocks_[1]);
+
+  CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ConstantParameterBlock) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    6, 6,
+    // Cost
+    7607.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -59.0, -87.0,  // g
+      -27.0, -43.0   // h
+    },
+
+    // Gradient
+    {  146.0,  484.0,  // x
+         0.0,    0.0,  // y
+      1450.0, 2604.0,  // z
+    },
+
+    // Jacobian
+    //                       x             y             z
+    { /* f(x, y) */ -2.0,  0.0,   0.0,   0.0,   0.0,   0.0,
+                     0.0, -4.0,   0.0,   0.0,   0.0,   0.0,
+      /* g(y, z) */  0.0,  0.0,   0.0,   0.0, -20.0,   0.0,
+                     0.0,  0.0,   0.0,   0.0,   0.0, -24.0,
+      /* h(z, x) */ -4.0,  0.0,   0.0,   0.0, -10.0,   0.0,
+                     0.0, -8.0,   0.0,   0.0,   0.0, -12.0
+    }
+  };
+
+  problem_.SetParameterBlockConstant(parameters_ + 2);
+  CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected);
+}
+
+TEST_F(ProblemEvaluateTest, ExcludedAResidualBlock) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    4, 6,
+    // Cost
+    2082.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -27.0, -43.0   // h
+    },
+    // Gradient
+    {  146.0,  484.0,   // x
+       228.0,  560.0,   // y
+       270.0,  516.0,   // z
+    },
+    // Jacobian
+    //                       x             y             z
+    { /* f(x, y) */ -2.0,  0.0, -12.0,   0.0,   0.0,   0.0,
+                     0.0, -4.0,   0.0, -16.0,   0.0,   0.0,
+      /* h(z, x) */ -4.0,  0.0,   0.0,   0.0, -10.0,   0.0,
+                     0.0, -8.0,   0.0,   0.0,   0.0, -12.0
+    }
+  };
+
+  Problem::EvaluateOptions evaluate_options;
+  evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+  evaluate_options.residual_blocks.push_back(residual_blocks_[2]);
+
+  CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ExcludedParameterBlock) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    6, 4,
+    // Cost
+    7607.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -59.0, -87.0,  // g
+      -27.0, -43.0   // h
+    },
+
+    // Gradient
+    {  146.0,  484.0,  // x
+      1450.0, 2604.0,  // z
+    },
+
+    // Jacobian
+    //                       x             z
+    { /* f(x, y) */ -2.0,  0.0,   0.0,   0.0,
+                     0.0, -4.0,   0.0,   0.0,
+      /* g(y, z) */  0.0,  0.0, -20.0,   0.0,
+                     0.0,  0.0,   0.0, -24.0,
+      /* h(z, x) */ -4.0,  0.0, -10.0,   0.0,
+                     0.0, -8.0,   0.0, -12.0
+    }
+  };
+
+  Problem::EvaluateOptions evaluate_options;
+  // x, z
+  evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]);
+  evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]);
+  evaluate_options.residual_blocks = residual_blocks_;
+  CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, ExcludedParameterBlockAndExcludedResidualBlock) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    4, 4,
+    // Cost
+    6318.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -59.0, -87.0,  // g
+    },
+
+    // Gradient
+    {   38.0,  140.0,  // x
+      1180.0, 2088.0,  // z
+    },
+
+    // Jacobian
+    //                       x             z
+    { /* f(x, y) */ -2.0,  0.0,   0.0,   0.0,
+                     0.0, -4.0,   0.0,   0.0,
+      /* g(y, z) */  0.0,  0.0, -20.0,   0.0,
+                     0.0,  0.0,   0.0, -24.0,
+    }
+  };
+
+  Problem::EvaluateOptions evaluate_options;
+  // x, z
+  evaluate_options.parameter_blocks.push_back(parameter_blocks_[0]);
+  evaluate_options.parameter_blocks.push_back(parameter_blocks_[2]);
+  evaluate_options.residual_blocks.push_back(residual_blocks_[0]);
+  evaluate_options.residual_blocks.push_back(residual_blocks_[1]);
+
+  CheckAllEvaluationCombinations(evaluate_options, expected);
+}
+
+TEST_F(ProblemEvaluateTest, LocalParameterization) {
+  ExpectedEvaluation expected = {
+    // Rows/columns
+    6, 5,
+    // Cost
+    7607.0,
+    // Residuals
+    { -19.0, -35.0,  // f
+      -59.0, -87.0,  // g
+      -27.0, -43.0   // h
+    },
+    // Gradient
+    {  146.0,  484.0,  // x
+      1256.0,          // y with SubsetParameterization
+      1450.0, 2604.0,  // z
+    },
+    // Jacobian
+    //                       x      y             z
+    { /* f(x, y) */ -2.0,  0.0,   0.0,   0.0,   0.0,
+                     0.0, -4.0, -16.0,   0.0,   0.0,
+      /* g(y, z) */  0.0,  0.0,   0.0, -20.0,   0.0,
+                     0.0,  0.0,  -8.0,   0.0, -24.0,
+      /* h(z, x) */ -4.0,  0.0,   0.0, -10.0,   0.0,
+                     0.0, -8.0,   0.0,   0.0, -12.0
+    }
+  };
+
+  vector<int> constant_parameters;
+  constant_parameters.push_back(0);
+  problem_.SetParameterization(parameters_ + 2,
+                               new SubsetParameterization(2,
+                                                          constant_parameters));
+
+  CheckAllEvaluationCombinations(Problem::EvaluateOptions(), expected);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/program.cc b/internal/ceres/program.cc
new file mode 100644
index 0000000..8e97f07
--- /dev/null
+++ b/internal/ceres/program.cc
@@ -0,0 +1,524 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/program.h"
+
+#include <map>
+#include <vector>
+#include "ceres/array_utils.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem.h"
+#include "ceres/residual_block.h"
+#include "ceres/stl_util.h"
+#include "ceres/triplet_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+using std::max;
+using std::set;
+using std::string;
+using std::vector;
+
+Program::Program() {}
+
+Program::Program(const Program& program)
+    : parameter_blocks_(program.parameter_blocks_),
+      residual_blocks_(program.residual_blocks_) {
+}
+
+const vector<ParameterBlock*>& Program::parameter_blocks() const {
+  return parameter_blocks_;
+}
+
+const vector<ResidualBlock*>& Program::residual_blocks() const {
+  return residual_blocks_;
+}
+
+vector<ParameterBlock*>* Program::mutable_parameter_blocks() {
+  return &parameter_blocks_;
+}
+
+vector<ResidualBlock*>* Program::mutable_residual_blocks() {
+  return &residual_blocks_;
+}
+
+bool Program::StateVectorToParameterBlocks(const double *state) {
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    if (!parameter_blocks_[i]->IsConstant() &&
+        !parameter_blocks_[i]->SetState(state)) {
+      return false;
+    }
+    state += parameter_blocks_[i]->Size();
+  }
+  return true;
+}
+
+void Program::ParameterBlocksToStateVector(double *state) const {
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    parameter_blocks_[i]->GetState(state);
+    state += parameter_blocks_[i]->Size();
+  }
+}
+
+void Program::CopyParameterBlockStateToUserState() {
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    parameter_blocks_[i]->GetState(parameter_blocks_[i]->mutable_user_state());
+  }
+}
+
+bool Program::SetParameterBlockStatePtrsToUserStatePtrs() {
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    if (!parameter_blocks_[i]->IsConstant() &&
+        !parameter_blocks_[i]->SetState(parameter_blocks_[i]->user_state())) {
+      return false;
+    }
+  }
+  return true;
+}
+
+bool Program::Plus(const double* state,
+                   const double* delta,
+                   double* state_plus_delta) const {
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    if (!parameter_blocks_[i]->Plus(state, delta, state_plus_delta)) {
+      return false;
+    }
+    state += parameter_blocks_[i]->Size();
+    delta += parameter_blocks_[i]->LocalSize();
+    state_plus_delta += parameter_blocks_[i]->Size();
+  }
+  return true;
+}
+
+void Program::SetParameterOffsetsAndIndex() {
+  // Set positions for all parameters appearing as arguments to residuals to one
+  // past the end of the parameter block array.
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    ResidualBlock* residual_block = residual_blocks_[i];
+    for (int j = 0; j < residual_block->NumParameterBlocks(); ++j) {
+      residual_block->parameter_blocks()[j]->set_index(-1);
+    }
+  }
+  // For parameters that appear in the program, set their position and offset.
+  int state_offset = 0;
+  int delta_offset = 0;
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    parameter_blocks_[i]->set_index(i);
+    parameter_blocks_[i]->set_state_offset(state_offset);
+    parameter_blocks_[i]->set_delta_offset(delta_offset);
+    state_offset += parameter_blocks_[i]->Size();
+    delta_offset += parameter_blocks_[i]->LocalSize();
+  }
+}
+
+bool Program::IsValid() const {
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    const ResidualBlock* residual_block = residual_blocks_[i];
+    if (residual_block->index() != i) {
+      LOG(WARNING) << "Residual block: " << i
+                   << " has incorrect index: " << residual_block->index();
+      return false;
+    }
+  }
+
+  int state_offset = 0;
+  int delta_offset = 0;
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    const ParameterBlock* parameter_block = parameter_blocks_[i];
+    if (parameter_block->index() != i ||
+        parameter_block->state_offset() != state_offset ||
+        parameter_block->delta_offset() != delta_offset) {
+      LOG(WARNING) << "Parameter block: " << i
+                   << "has incorrect indexing information: "
+                   << parameter_block->ToString();
+      return false;
+    }
+
+    state_offset += parameter_blocks_[i]->Size();
+    delta_offset += parameter_blocks_[i]->LocalSize();
+  }
+
+  return true;
+}
+
+bool Program::ParameterBlocksAreFinite(string* message) const {
+  CHECK_NOTNULL(message);
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    const ParameterBlock* parameter_block = parameter_blocks_[i];
+    const double* array = parameter_block->user_state();
+    const int size = parameter_block->Size();
+    const int invalid_index = FindInvalidValue(size, array);
+    if (invalid_index != size) {
+      *message = StringPrintf(
+          "ParameterBlock: %p with size %d has at least one invalid value.\n"
+          "First invalid value is at index: %d.\n"
+          "Parameter block values: ",
+          array, size, invalid_index);
+      AppendArrayToString(size, array, message);
+      return false;
+    }
+  }
+  return true;
+}
+
+bool Program::IsBoundsConstrained() const {
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    const ParameterBlock* parameter_block = parameter_blocks_[i];
+    if (parameter_block->IsConstant()) {
+      continue;
+    }
+    const int size = parameter_block->Size();
+    for (int j = 0; j < size; ++j) {
+      const double lower_bound = parameter_block->LowerBoundForParameter(j);
+      const double upper_bound = parameter_block->UpperBoundForParameter(j);
+      if (lower_bound > -std::numeric_limits<double>::max() ||
+          upper_bound < std::numeric_limits<double>::max()) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
+bool Program::IsFeasible(string* message) const {
+  CHECK_NOTNULL(message);
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    const ParameterBlock* parameter_block = parameter_blocks_[i];
+    const double* parameters = parameter_block->user_state();
+    const int size = parameter_block->Size();
+    if (parameter_block->IsConstant()) {
+      // Constant parameter blocks must start in the feasible region
+      // to ultimately produce a feasible solution, since Ceres cannot
+      // change them.
+      for (int j = 0; j < size; ++j) {
+        const double lower_bound = parameter_block->LowerBoundForParameter(j);
+        const double upper_bound = parameter_block->UpperBoundForParameter(j);
+        if (parameters[j] < lower_bound || parameters[j] > upper_bound) {
+          *message = StringPrintf(
+              "ParameterBlock: %p with size %d has at least one infeasible "
+              "value."
+              "\nFirst infeasible value is at index: %d."
+              "\nLower bound: %e, value: %e, upper bound: %e"
+              "\nParameter block values: ",
+              parameters, size, j, lower_bound, parameters[j], upper_bound);
+          AppendArrayToString(size, parameters, message);
+          return false;
+        }
+      }
+    } else {
+      // Variable parameter blocks must have non-empty feasible
+      // regions, otherwise there is no way to produce a feasible
+      // solution.
+      for (int j = 0; j < size; ++j) {
+        const double lower_bound = parameter_block->LowerBoundForParameter(j);
+        const double upper_bound = parameter_block->UpperBoundForParameter(j);
+        if (lower_bound >= upper_bound) {
+          *message = StringPrintf(
+              "ParameterBlock: %p with size %d has at least one infeasible "
+              "bound."
+              "\nFirst infeasible bound is at index: %d."
+              "\nLower bound: %e, upper bound: %e"
+              "\nParameter block values: ",
+              parameters, size, j, lower_bound, upper_bound);
+          AppendArrayToString(size, parameters, message);
+          return false;
+        }
+      }
+    }
+  }
+
+  return true;
+}
+
+Program* Program::CreateReducedProgram(
+    vector<double*>* removed_parameter_blocks,
+    double* fixed_cost,
+    string* error) const {
+  CHECK_NOTNULL(removed_parameter_blocks);
+  CHECK_NOTNULL(fixed_cost);
+  CHECK_NOTNULL(error);
+
+  scoped_ptr<Program> reduced_program(new Program(*this));
+  if (!reduced_program->RemoveFixedBlocks(removed_parameter_blocks,
+                                          fixed_cost,
+                                          error)) {
+    return NULL;
+  }
+
+  reduced_program->SetParameterOffsetsAndIndex();
+  return reduced_program.release();
+}
+
+bool Program::RemoveFixedBlocks(vector<double*>* removed_parameter_blocks,
+                                double* fixed_cost,
+                                string* error) {
+  CHECK_NOTNULL(removed_parameter_blocks);
+  CHECK_NOTNULL(fixed_cost);
+  CHECK_NOTNULL(error);
+
+  scoped_array<double> residual_block_evaluate_scratch;
+  residual_block_evaluate_scratch.reset(
+      new double[MaxScratchDoublesNeededForEvaluate()]);
+  *fixed_cost = 0.0;
+
+  // Mark all the parameters as unused. Abuse the index member of the
+  // parameter blocks for the marking.
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    parameter_blocks_[i]->set_index(-1);
+  }
+
+  // Filter out residual that have all-constant parameters, and mark
+  // all the parameter blocks that appear in residuals.
+  int num_active_residual_blocks = 0;
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    ResidualBlock* residual_block = residual_blocks_[i];
+    int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+    // Determine if the residual block is fixed, and also mark varying
+    // parameters that appear in the residual block.
+    bool all_constant = true;
+    for (int k = 0; k < num_parameter_blocks; k++) {
+      ParameterBlock* parameter_block = residual_block->parameter_blocks()[k];
+      if (!parameter_block->IsConstant()) {
+        all_constant = false;
+        parameter_block->set_index(1);
+      }
+    }
+
+    if (!all_constant) {
+      residual_blocks_[num_active_residual_blocks++] = residual_block;
+      continue;
+    }
+
+    // The residual is constant and will be removed, so its cost is
+    // added to the variable fixed_cost.
+    double cost = 0.0;
+    if (!residual_block->Evaluate(true,
+                                  &cost,
+                                  NULL,
+                                  NULL,
+                                  residual_block_evaluate_scratch.get())) {
+      *error = StringPrintf("Evaluation of the residual %d failed during "
+                            "removal of fixed residual blocks.", i);
+      return false;
+    }
+    *fixed_cost += cost;
+  }
+  residual_blocks_.resize(num_active_residual_blocks);
+
+  // Filter out unused or fixed parameter blocks.
+  int num_active_parameter_blocks = 0;
+  removed_parameter_blocks->clear();
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    ParameterBlock* parameter_block = parameter_blocks_[i];
+    if (parameter_block->index() == -1) {
+      removed_parameter_blocks->push_back(
+          parameter_block->mutable_user_state());
+    } else {
+      parameter_blocks_[num_active_parameter_blocks++] = parameter_block;
+    }
+  }
+  parameter_blocks_.resize(num_active_parameter_blocks);
+
+  if (!(((NumResidualBlocks() == 0) &&
+         (NumParameterBlocks() == 0)) ||
+        ((NumResidualBlocks() != 0) &&
+         (NumParameterBlocks() != 0)))) {
+    *error =  "Congratulations, you found a bug in Ceres. Please report it.";
+    return false;
+  }
+
+  return true;
+}
+
+bool Program::IsParameterBlockSetIndependent(
+    const set<double*>& independent_set) const {
+  // Loop over each residual block and ensure that no two parameter
+  // blocks in the same residual block are part of
+  // parameter_block_ptrs as that would violate the assumption that it
+  // is an independent set in the Hessian matrix.
+  for (vector<ResidualBlock*>::const_iterator it = residual_blocks_.begin();
+       it != residual_blocks_.end();
+       ++it) {
+    ParameterBlock* const* parameter_blocks = (*it)->parameter_blocks();
+    const int num_parameter_blocks = (*it)->NumParameterBlocks();
+    int count = 0;
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      count += independent_set.count(
+          parameter_blocks[i]->mutable_user_state());
+    }
+    if (count > 1) {
+      return false;
+    }
+  }
+  return true;
+}
+
+TripletSparseMatrix* Program::CreateJacobianBlockSparsityTranspose() const {
+  // Matrix to store the block sparsity structure of the Jacobian.
+  TripletSparseMatrix* tsm =
+      new TripletSparseMatrix(NumParameterBlocks(),
+                              NumResidualBlocks(),
+                              10 * NumResidualBlocks());
+  int num_nonzeros = 0;
+  int* rows = tsm->mutable_rows();
+  int* cols = tsm->mutable_cols();
+  double* values = tsm->mutable_values();
+
+  for (int c = 0; c < residual_blocks_.size(); ++c) {
+    const ResidualBlock* residual_block = residual_blocks_[c];
+    const int num_parameter_blocks = residual_block->NumParameterBlocks();
+    ParameterBlock* const* parameter_blocks =
+        residual_block->parameter_blocks();
+
+    for (int j = 0; j < num_parameter_blocks; ++j) {
+      if (parameter_blocks[j]->IsConstant()) {
+        continue;
+      }
+
+      // Re-size the matrix if needed.
+      if (num_nonzeros >= tsm->max_num_nonzeros()) {
+        tsm->set_num_nonzeros(num_nonzeros);
+        tsm->Reserve(2 * num_nonzeros);
+        rows = tsm->mutable_rows();
+        cols = tsm->mutable_cols();
+        values = tsm->mutable_values();
+      }
+
+      const int r = parameter_blocks[j]->index();
+      rows[num_nonzeros] = r;
+      cols[num_nonzeros] = c;
+      values[num_nonzeros] = 1.0;
+      ++num_nonzeros;
+    }
+  }
+
+  tsm->set_num_nonzeros(num_nonzeros);
+  return tsm;
+}
+
+int Program::NumResidualBlocks() const {
+  return residual_blocks_.size();
+}
+
+int Program::NumParameterBlocks() const {
+  return parameter_blocks_.size();
+}
+
+int Program::NumResiduals() const {
+  int num_residuals = 0;
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    num_residuals += residual_blocks_[i]->NumResiduals();
+  }
+  return num_residuals;
+}
+
+int Program::NumParameters() const {
+  int num_parameters = 0;
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    num_parameters += parameter_blocks_[i]->Size();
+  }
+  return num_parameters;
+}
+
+int Program::NumEffectiveParameters() const {
+  int num_parameters = 0;
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    num_parameters += parameter_blocks_[i]->LocalSize();
+  }
+  return num_parameters;
+}
+
+int Program::MaxScratchDoublesNeededForEvaluate() const {
+  // Compute the scratch space needed for evaluate.
+  int max_scratch_bytes_for_evaluate = 0;
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    max_scratch_bytes_for_evaluate =
+        max(max_scratch_bytes_for_evaluate,
+            residual_blocks_[i]->NumScratchDoublesForEvaluate());
+  }
+  return max_scratch_bytes_for_evaluate;
+}
+
+int Program::MaxDerivativesPerResidualBlock() const {
+  int max_derivatives = 0;
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    int derivatives = 0;
+    ResidualBlock* residual_block = residual_blocks_[i];
+    int num_parameters = residual_block->NumParameterBlocks();
+    for (int j = 0; j < num_parameters; ++j) {
+      derivatives += residual_block->NumResiduals() *
+                     residual_block->parameter_blocks()[j]->LocalSize();
+    }
+    max_derivatives = max(max_derivatives, derivatives);
+  }
+  return max_derivatives;
+}
+
+int Program::MaxParametersPerResidualBlock() const {
+  int max_parameters = 0;
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    max_parameters = max(max_parameters,
+                         residual_blocks_[i]->NumParameterBlocks());
+  }
+  return max_parameters;
+}
+
+int Program::MaxResidualsPerResidualBlock() const {
+  int max_residuals = 0;
+  for (int i = 0; i < residual_blocks_.size(); ++i) {
+    max_residuals = max(max_residuals, residual_blocks_[i]->NumResiduals());
+  }
+  return max_residuals;
+}
+
+string Program::ToString() const {
+  string ret = "Program dump\n";
+  ret += StringPrintf("Number of parameter blocks: %d\n", NumParameterBlocks());
+  ret += StringPrintf("Number of parameters: %d\n", NumParameters());
+  ret += "Parameters:\n";
+  for (int i = 0; i < parameter_blocks_.size(); ++i) {
+    ret += StringPrintf("%d: %s\n",
+                        i, parameter_blocks_[i]->ToString().c_str());
+  }
+  return ret;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/program.h b/internal/ceres/program.h
new file mode 100644
index 0000000..38c958f
--- /dev/null
+++ b/internal/ceres/program.h
@@ -0,0 +1,192 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_PROGRAM_H_
+#define CERES_INTERNAL_PROGRAM_H_
+
+#include <set>
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class ParameterBlock;
+class ProblemImpl;
+class ResidualBlock;
+class TripletSparseMatrix;
+
+// A nonlinear least squares optimization problem. This is different from the
+// similarly-named "Problem" object, which offers a mutation interface for
+// adding and modifying parameters and residuals. The Program contains the core
+// part of the Problem, which is the parameters and the residuals, stored in a
+// particular ordering. The ordering is critical, since it defines the mapping
+// between (residual, parameter) pairs and a position in the jacobian of the
+// objective function. Various parts of Ceres transform one Program into
+// another; for example, the first stage of solving involves stripping all
+// constant parameters and residuals. This is in contrast with Problem, which is
+// not built for transformation.
+class Program {
+ public:
+  Program();
+  explicit Program(const Program& program);
+
+  // The ordered parameter and residual blocks for the program.
+  const std::vector<ParameterBlock*>& parameter_blocks() const;
+  const std::vector<ResidualBlock*>& residual_blocks() const;
+  std::vector<ParameterBlock*>* mutable_parameter_blocks();
+  std::vector<ResidualBlock*>* mutable_residual_blocks();
+
+  // Serialize to/from the program and update states.
+  //
+  // NOTE: Setting the state of a parameter block can trigger the
+  // computation of the Jacobian of its local parameterization. If
+  // this computation fails for some reason, then this method returns
+  // false and the state of the parameter blocks cannot be trusted.
+  bool StateVectorToParameterBlocks(const double *state);
+  void ParameterBlocksToStateVector(double *state) const;
+
+  // Copy internal state to the user's parameters.
+  void CopyParameterBlockStateToUserState();
+
+  // Set the parameter block pointers to the user pointers. Since this
+  // runs parameter block set state internally, which may call local
+  // parameterizations, this can fail. False is returned on failure.
+  bool SetParameterBlockStatePtrsToUserStatePtrs();
+
+  // Update a state vector for the program given a delta.
+  bool Plus(const double* state,
+            const double* delta,
+            double* state_plus_delta) const;
+
+  // Set the parameter indices and offsets. This permits mapping backward
+  // from a ParameterBlock* to an index in the parameter_blocks() vector. For
+  // any parameter block p, after calling SetParameterOffsetsAndIndex(), it
+  // is true that
+  //
+  //   parameter_blocks()[p->index()] == p
+  //
+  // If a parameter appears in a residual but not in the parameter block, then
+  // it will have an index of -1.
+  //
+  // This also updates p->state_offset() and p->delta_offset(), which are the
+  // position of the parameter in the state and delta vector respectively.
+  void SetParameterOffsetsAndIndex();
+
+  // Check if the internal state of the program (the indexing and the
+  // offsets) are correct.
+  bool IsValid() const;
+
+  bool ParameterBlocksAreFinite(std::string* message) const;
+
+  // Returns true if the program has any non-constant parameter blocks
+  // which have non-trivial bounds constraints.
+  bool IsBoundsConstrained() const;
+
+  // Returns false, if the program has any constant parameter blocks
+  // which are not feasible, or any variable parameter blocks which
+  // have a lower bound greater than or equal to the upper bound.
+  bool IsFeasible(std::string* message) const;
+
+  // Loop over each residual block and ensure that no two parameter
+  // blocks in the same residual block are part of
+  // parameter_blocks as that would violate the assumption that it
+  // is an independent set in the Hessian matrix.
+  bool IsParameterBlockSetIndependent(
+      const std::set<double*>& independent_set) const;
+
+  // Create a TripletSparseMatrix which contains the zero-one
+  // structure corresponding to the block sparsity of the transpose of
+  // the Jacobian matrix.
+  //
+  // Caller owns the result.
+  TripletSparseMatrix* CreateJacobianBlockSparsityTranspose() const;
+
+  // Create a copy of this program and removes constant parameter
+  // blocks and residual blocks with no varying parameter blocks while
+  // preserving their relative order.
+  //
+  // removed_parameter_blocks on exit will contain the list of
+  // parameter blocks that were removed.
+  //
+  // fixed_cost will be equal to the sum of the costs of the residual
+  // blocks that were removed.
+  //
+  // If there was a problem, then the function will return a NULL
+  // pointer and error will contain a human readable description of
+  // the problem.
+  Program* CreateReducedProgram(std::vector<double*>* removed_parameter_blocks,
+                                double* fixed_cost,
+                                std::string* error) const;
+
+  // See problem.h for what these do.
+  int NumParameterBlocks() const;
+  int NumParameters() const;
+  int NumEffectiveParameters() const;
+  int NumResidualBlocks() const;
+  int NumResiduals() const;
+
+  int MaxScratchDoublesNeededForEvaluate() const;
+  int MaxDerivativesPerResidualBlock() const;
+  int MaxParametersPerResidualBlock() const;
+  int MaxResidualsPerResidualBlock() const;
+
+  // A human-readable dump of the parameter blocks for debugging.
+  // TODO(keir): If necessary, also dump the residual blocks.
+  std::string ToString() const;
+
+ private:
+  // Remove constant parameter blocks and residual blocks with no
+  // varying parameter blocks while preserving their relative order.
+  //
+  // removed_parameter_blocks on exit will contain the list of
+  // parameter blocks that were removed.
+  //
+  // fixed_cost will be equal to the sum of the costs of the residual
+  // blocks that were removed.
+  //
+  // If there was a problem, then the function will return false and
+  // error will contain a human readable description of the problem.
+  bool RemoveFixedBlocks(std::vector<double*>* removed_parameter_blocks,
+                         double* fixed_cost,
+                         std::string* message);
+
+  // The Program does not own the ParameterBlock or ResidualBlock objects.
+  std::vector<ParameterBlock*> parameter_blocks_;
+  std::vector<ResidualBlock*> residual_blocks_;
+
+  friend class ProblemImpl;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_PROGRAM_H_
diff --git a/internal/ceres/program_evaluator.h b/internal/ceres/program_evaluator.h
new file mode 100644
index 0000000..74a812a
--- /dev/null
+++ b/internal/ceres/program_evaluator.h
@@ -0,0 +1,384 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// The ProgramEvaluator runs the cost functions contained in each residual block
+// and stores the result into a jacobian. The particular type of jacobian is
+// abstracted out using two template parameters:
+//
+//   - An "EvaluatePreparer" that is responsible for creating the array with
+//     pointers to the jacobian blocks where the cost function evaluates to.
+//   - A "JacobianWriter" that is responsible for storing the resulting
+//     jacobian blocks in the passed sparse matrix.
+//
+// This abstraction affords an efficient evaluator implementation while still
+// supporting writing to multiple sparse matrix formats. For example, when the
+// ProgramEvaluator is parameterized for writing to block sparse matrices, the
+// residual jacobians are written directly into their final position in the
+// block sparse matrix by the user's CostFunction; there is no copying.
+//
+// The evaluation is threaded with OpenMP.
+//
+// The EvaluatePreparer and JacobianWriter interfaces are as follows:
+//
+//   class EvaluatePreparer {
+//     // Prepare the jacobians array for use as the destination of a call to
+//     // a cost function's evaluate method.
+//     void Prepare(const ResidualBlock* residual_block,
+//                  int residual_block_index,
+//                  SparseMatrix* jacobian,
+//                  double** jacobians);
+//   }
+//
+//   class JacobianWriter {
+//     // Create a jacobian that this writer can write. Same as
+//     // Evaluator::CreateJacobian.
+//     SparseMatrix* CreateJacobian() const;
+//
+//     // Create num_threads evaluate preparers. Caller owns result which must
+//     // be freed with delete[]. Resulting preparers are valid while *this is.
+//     EvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+//
+//     // Write the block jacobians from a residual block evaluation to the
+//     // larger sparse jacobian.
+//     void Write(int residual_id,
+//                int residual_offset,
+//                double** jacobians,
+//                SparseMatrix* jacobian);
+//   }
+//
+// Note: The ProgramEvaluator is not thread safe, since internally it maintains
+// some per-thread scratch space.
+
+#ifndef CERES_INTERNAL_PROGRAM_EVALUATOR_H_
+#define CERES_INTERNAL_PROGRAM_EVALUATOR_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <map>
+#include <string>
+#include <vector>
+#include "ceres/execution_summary.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/small_blas.h"
+
+namespace ceres {
+namespace internal {
+
+struct NullJacobianFinalizer {
+  void operator()(SparseMatrix* jacobian, int num_parameters) {}
+};
+
+template<typename EvaluatePreparer,
+         typename JacobianWriter,
+         typename JacobianFinalizer = NullJacobianFinalizer>
+class ProgramEvaluator : public Evaluator {
+ public:
+  ProgramEvaluator(const Evaluator::Options &options, Program* program)
+      : options_(options),
+        program_(program),
+        jacobian_writer_(options, program),
+        evaluate_preparers_(
+            jacobian_writer_.CreateEvaluatePreparers(options.num_threads)) {
+#ifndef CERES_USE_OPENMP
+    if (options_.num_threads > 1) {
+      LOG(WARNING)
+          << "OpenMP support is not compiled into this binary; "
+          << "only options.num_threads = 1 is supported. Switching "
+          << "to single threaded mode.";
+      options_.num_threads = 1;
+    }
+#endif
+
+    BuildResidualLayout(*program, &residual_layout_);
+    evaluate_scratch_.reset(CreateEvaluatorScratch(*program,
+                                                   options.num_threads));
+  }
+
+  // Implementation of Evaluator interface.
+  SparseMatrix* CreateJacobian() const {
+    return jacobian_writer_.CreateJacobian();
+  }
+
+  bool Evaluate(const Evaluator::EvaluateOptions& evaluate_options,
+                const double* state,
+                double* cost,
+                double* residuals,
+                double* gradient,
+                SparseMatrix* jacobian) {
+    ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
+    ScopedExecutionTimer call_type_timer(gradient == NULL && jacobian == NULL
+                                         ? "Evaluator::Residual"
+                                         : "Evaluator::Jacobian",
+                                         &execution_summary_);
+
+    // The parameters are stateful, so set the state before evaluating.
+    if (!program_->StateVectorToParameterBlocks(state)) {
+      return false;
+    }
+
+    if (residuals != NULL) {
+      VectorRef(residuals, program_->NumResiduals()).setZero();
+    }
+
+    if (jacobian != NULL) {
+      jacobian->SetZero();
+    }
+
+    // Each thread gets it's own cost and evaluate scratch space.
+    for (int i = 0; i < options_.num_threads; ++i) {
+      evaluate_scratch_[i].cost = 0.0;
+      if (gradient != NULL) {
+        VectorRef(evaluate_scratch_[i].gradient.get(),
+                  program_->NumEffectiveParameters()).setZero();
+      }
+    }
+
+    // This bool is used to disable the loop if an error is encountered
+    // without breaking out of it. The remaining loop iterations are still run,
+    // but with an empty body, and so will finish quickly.
+    bool abort = false;
+    int num_residual_blocks = program_->NumResidualBlocks();
+#pragma omp parallel for num_threads(options_.num_threads)
+    for (int i = 0; i < num_residual_blocks; ++i) {
+// Disable the loop instead of breaking, as required by OpenMP.
+#pragma omp flush(abort)
+      if (abort) {
+        continue;
+      }
+
+#ifdef CERES_USE_OPENMP
+      int thread_id = omp_get_thread_num();
+#else
+      int thread_id = 0;
+#endif
+      EvaluatePreparer* preparer = &evaluate_preparers_[thread_id];
+      EvaluateScratch* scratch = &evaluate_scratch_[thread_id];
+
+      // Prepare block residuals if requested.
+      const ResidualBlock* residual_block = program_->residual_blocks()[i];
+      double* block_residuals = NULL;
+      if (residuals != NULL) {
+        block_residuals = residuals + residual_layout_[i];
+      } else if (gradient != NULL) {
+        block_residuals = scratch->residual_block_residuals.get();
+      }
+
+      // Prepare block jacobians if requested.
+      double** block_jacobians = NULL;
+      if (jacobian != NULL || gradient != NULL) {
+        preparer->Prepare(residual_block,
+                          i,
+                          jacobian,
+                          scratch->jacobian_block_ptrs.get());
+        block_jacobians = scratch->jacobian_block_ptrs.get();
+      }
+
+      // Evaluate the cost, residuals, and jacobians.
+      double block_cost;
+      if (!residual_block->Evaluate(
+              evaluate_options.apply_loss_function,
+              &block_cost,
+              block_residuals,
+              block_jacobians,
+              scratch->residual_block_evaluate_scratch.get())) {
+        abort = true;
+// This ensures that the OpenMP threads have a consistent view of 'abort'. Do
+// the flush inside the failure case so that there is usually only one
+// synchronization point per loop iteration instead of two.
+#pragma omp flush(abort)
+        continue;
+      }
+
+      scratch->cost += block_cost;
+
+      // Store the jacobians, if they were requested.
+      if (jacobian != NULL) {
+        jacobian_writer_.Write(i,
+                               residual_layout_[i],
+                               block_jacobians,
+                               jacobian);
+      }
+
+      // Compute and store the gradient, if it was requested.
+      if (gradient != NULL) {
+        int num_residuals = residual_block->NumResiduals();
+        int num_parameter_blocks = residual_block->NumParameterBlocks();
+        for (int j = 0; j < num_parameter_blocks; ++j) {
+          const ParameterBlock* parameter_block =
+              residual_block->parameter_blocks()[j];
+          if (parameter_block->IsConstant()) {
+            continue;
+          }
+
+          MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+              block_jacobians[j],
+              num_residuals,
+              parameter_block->LocalSize(),
+              block_residuals,
+              scratch->gradient.get() + parameter_block->delta_offset());
+        }
+      }
+    }
+
+    if (!abort) {
+      const int num_parameters = program_->NumEffectiveParameters();
+
+      // Sum the cost and gradient (if requested) from each thread.
+      (*cost) = 0.0;
+      if (gradient != NULL) {
+        VectorRef(gradient, num_parameters).setZero();
+      }
+      for (int i = 0; i < options_.num_threads; ++i) {
+        (*cost) += evaluate_scratch_[i].cost;
+        if (gradient != NULL) {
+          VectorRef(gradient, num_parameters) +=
+              VectorRef(evaluate_scratch_[i].gradient.get(), num_parameters);
+        }
+      }
+
+      // Finalize the Jacobian if it is available.
+      // `num_parameters` is passed to the finalizer so that additional
+      // storage can be reserved for additional diagonal elements if
+      // necessary.
+      if (jacobian != NULL) {
+        JacobianFinalizer f;
+        f(jacobian, num_parameters);
+      }
+    }
+    return !abort;
+  }
+
+  bool Plus(const double* state,
+            const double* delta,
+            double* state_plus_delta) const {
+    return program_->Plus(state, delta, state_plus_delta);
+  }
+
+  int NumParameters() const {
+    return program_->NumParameters();
+  }
+  int NumEffectiveParameters() const {
+    return program_->NumEffectiveParameters();
+  }
+
+  int NumResiduals() const {
+    return program_->NumResiduals();
+  }
+
+  virtual std::map<std::string, int> CallStatistics() const {
+    return execution_summary_.calls();
+  }
+
+  virtual std::map<std::string, double> TimeStatistics() const {
+    return execution_summary_.times();
+  }
+
+ private:
+  // Per-thread scratch space needed to evaluate and store each residual block.
+  struct EvaluateScratch {
+    void Init(int max_parameters_per_residual_block,
+              int max_scratch_doubles_needed_for_evaluate,
+              int max_residuals_per_residual_block,
+              int num_parameters) {
+      residual_block_evaluate_scratch.reset(
+          new double[max_scratch_doubles_needed_for_evaluate]);
+      gradient.reset(new double[num_parameters]);
+      VectorRef(gradient.get(), num_parameters).setZero();
+      residual_block_residuals.reset(
+          new double[max_residuals_per_residual_block]);
+      jacobian_block_ptrs.reset(
+          new double*[max_parameters_per_residual_block]);
+    }
+
+    double cost;
+    scoped_array<double> residual_block_evaluate_scratch;
+    // The gradient in the local parameterization.
+    scoped_array<double> gradient;
+    // Enough space to store the residual for the largest residual block.
+    scoped_array<double> residual_block_residuals;
+    scoped_array<double*> jacobian_block_ptrs;
+  };
+
+  static void BuildResidualLayout(const Program& program,
+                                  std::vector<int>* residual_layout) {
+    const std::vector<ResidualBlock*>& residual_blocks =
+        program.residual_blocks();
+    residual_layout->resize(program.NumResidualBlocks());
+    int residual_pos = 0;
+    for (int i = 0; i < residual_blocks.size(); ++i) {
+      const int num_residuals = residual_blocks[i]->NumResiduals();
+      (*residual_layout)[i] = residual_pos;
+      residual_pos += num_residuals;
+    }
+  }
+
+  // Create scratch space for each thread evaluating the program.
+  static EvaluateScratch* CreateEvaluatorScratch(const Program& program,
+                                                 int num_threads) {
+    int max_parameters_per_residual_block =
+        program.MaxParametersPerResidualBlock();
+    int max_scratch_doubles_needed_for_evaluate =
+        program.MaxScratchDoublesNeededForEvaluate();
+    int max_residuals_per_residual_block =
+        program.MaxResidualsPerResidualBlock();
+    int num_parameters = program.NumEffectiveParameters();
+
+    EvaluateScratch* evaluate_scratch = new EvaluateScratch[num_threads];
+    for (int i = 0; i < num_threads; i++) {
+      evaluate_scratch[i].Init(max_parameters_per_residual_block,
+                               max_scratch_doubles_needed_for_evaluate,
+                               max_residuals_per_residual_block,
+                               num_parameters);
+    }
+    return evaluate_scratch;
+  }
+
+  Evaluator::Options options_;
+  Program* program_;
+  JacobianWriter jacobian_writer_;
+  scoped_array<EvaluatePreparer> evaluate_preparers_;
+  scoped_array<EvaluateScratch> evaluate_scratch_;
+  std::vector<int> residual_layout_;
+  ::ceres::internal::ExecutionSummary execution_summary_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_PROGRAM_EVALUATOR_H_
diff --git a/internal/ceres/program_test.cc b/internal/ceres/program_test.cc
new file mode 100644
index 0000000..7bf512f
--- /dev/null
+++ b/internal/ceres/program_test.cc
@@ -0,0 +1,435 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/program.h"
+
+#include <limits>
+#include <cmath>
+#include <vector>
+#include "ceres/sized_cost_function.h"
+#include "ceres/problem_impl.h"
+#include "ceres/residual_block.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+// A cost function that simply returns its argument.
+class UnaryIdentityCostFunction : public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = parameters[0][0];
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 1.0;
+    }
+    return true;
+  }
+};
+
+// Templated base class for the CostFunction signatures.
+template <int kNumResiduals, int N0, int N1, int N2>
+class MockCostFunctionBase : public
+SizedCostFunction<kNumResiduals, N0, N1, N2> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < kNumResiduals; ++i) {
+      residuals[i] = kNumResiduals +  N0 + N1 + N2;
+    }
+    return true;
+  }
+};
+
+class UnaryCostFunction : public MockCostFunctionBase<2, 1, 0, 0> {};
+class BinaryCostFunction : public MockCostFunctionBase<2, 1, 1, 0> {};
+class TernaryCostFunction : public MockCostFunctionBase<2, 1, 1, 1> {};
+
+TEST(Program, RemoveFixedBlocksNothingConstant) {
+  ProblemImpl problem;
+  double x;
+  double y;
+  double z;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+  problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+
+  vector<double*> removed_parameter_blocks;
+  double fixed_cost = 0.0;
+  string message;
+  scoped_ptr<Program> reduced_program(
+      CHECK_NOTNULL(problem
+                    .program()
+                    .CreateReducedProgram(&removed_parameter_blocks,
+                                          &fixed_cost,
+                                          &message)));
+
+  EXPECT_EQ(reduced_program->NumParameterBlocks(), 3);
+  EXPECT_EQ(reduced_program->NumResidualBlocks(), 3);
+  EXPECT_EQ(removed_parameter_blocks.size(), 0);
+  EXPECT_EQ(fixed_cost, 0.0);
+}
+
+TEST(Program, RemoveFixedBlocksAllParameterBlocksConstant) {
+  ProblemImpl problem;
+  double x = 1.0;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+  problem.SetParameterBlockConstant(&x);
+
+  vector<double*> removed_parameter_blocks;
+  double fixed_cost = 0.0;
+  string message;
+  scoped_ptr<Program> reduced_program(
+      CHECK_NOTNULL(problem
+                    .program()
+                    .CreateReducedProgram(&removed_parameter_blocks,
+                                          &fixed_cost,
+                                          &message)));
+  EXPECT_EQ(reduced_program->NumParameterBlocks(), 0);
+  EXPECT_EQ(reduced_program->NumResidualBlocks(), 0);
+  EXPECT_EQ(removed_parameter_blocks.size(), 1);
+  EXPECT_EQ(removed_parameter_blocks[0], &x);
+  EXPECT_EQ(fixed_cost, 9.0);
+}
+
+
+TEST(Program, RemoveFixedBlocksNoResidualBlocks) {
+  ProblemImpl problem;
+  double x;
+  double y;
+  double z;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+
+  vector<double*> removed_parameter_blocks;
+  double fixed_cost = 0.0;
+  string message;
+  scoped_ptr<Program> reduced_program(
+      CHECK_NOTNULL(problem
+                    .program()
+                    .CreateReducedProgram(&removed_parameter_blocks,
+                                          &fixed_cost,
+                                          &message)));
+  EXPECT_EQ(reduced_program->NumParameterBlocks(), 0);
+  EXPECT_EQ(reduced_program->NumResidualBlocks(), 0);
+  EXPECT_EQ(removed_parameter_blocks.size(), 3);
+  EXPECT_EQ(fixed_cost, 0.0);
+}
+
+TEST(Program, RemoveFixedBlocksOneParameterBlockConstant) {
+  ProblemImpl problem;
+  double x;
+  double y;
+  double z;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+
+  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+  problem.SetParameterBlockConstant(&x);
+
+  vector<double*> removed_parameter_blocks;
+  double fixed_cost = 0.0;
+  string message;
+  scoped_ptr<Program> reduced_program(
+      CHECK_NOTNULL(problem
+                    .program()
+                    .CreateReducedProgram(&removed_parameter_blocks,
+                                          &fixed_cost,
+                                          &message)));
+  EXPECT_EQ(reduced_program->NumParameterBlocks(), 1);
+  EXPECT_EQ(reduced_program->NumResidualBlocks(), 1);
+}
+
+TEST(Program, RemoveFixedBlocksNumEliminateBlocks) {
+  ProblemImpl problem;
+  double x;
+  double y;
+  double z;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+  problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+  problem.SetParameterBlockConstant(&x);
+
+  vector<double*> removed_parameter_blocks;
+  double fixed_cost = 0.0;
+  string message;
+  scoped_ptr<Program> reduced_program(
+      CHECK_NOTNULL(problem
+                    .program()
+                    .CreateReducedProgram(&removed_parameter_blocks,
+                                          &fixed_cost,
+                                          &message)));
+  EXPECT_EQ(reduced_program->NumParameterBlocks(), 2);
+  EXPECT_EQ(reduced_program->NumResidualBlocks(), 2);
+}
+
+TEST(Program, RemoveFixedBlocksFixedCost) {
+  ProblemImpl problem;
+  double x = 1.23;
+  double y = 4.56;
+  double z = 7.89;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+  problem.AddResidualBlock(new UnaryIdentityCostFunction(), NULL, &x);
+  problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+  problem.SetParameterBlockConstant(&x);
+
+  ResidualBlock *expected_removed_block =
+      problem.program().residual_blocks()[0];
+  scoped_array<double> scratch(
+      new double[expected_removed_block->NumScratchDoublesForEvaluate()]);
+  double expected_fixed_cost;
+  expected_removed_block->Evaluate(true,
+                                   &expected_fixed_cost,
+                                   NULL,
+                                   NULL,
+                                   scratch.get());
+
+
+  vector<double*> removed_parameter_blocks;
+  double fixed_cost = 0.0;
+  string message;
+  scoped_ptr<Program> reduced_program(
+      CHECK_NOTNULL(problem
+                    .program()
+                    .CreateReducedProgram(&removed_parameter_blocks,
+                                          &fixed_cost,
+                                          &message)));
+
+  EXPECT_EQ(reduced_program->NumParameterBlocks(), 2);
+  EXPECT_EQ(reduced_program->NumResidualBlocks(), 2);
+  EXPECT_DOUBLE_EQ(fixed_cost, expected_fixed_cost);
+}
+
+TEST(Program, CreateJacobianBlockSparsityTranspose) {
+  ProblemImpl problem;
+  double x[2];
+  double y[3];
+  double z;
+
+  problem.AddParameterBlock(x, 2);
+  problem.AddParameterBlock(y, 3);
+  problem.AddParameterBlock(&z, 1);
+
+  problem.AddResidualBlock(new MockCostFunctionBase<2, 2, 0, 0>(), NULL, x);
+  problem.AddResidualBlock(new MockCostFunctionBase<3, 1, 2, 0>(), NULL, &z, x);
+  problem.AddResidualBlock(new MockCostFunctionBase<4, 1, 3, 0>(), NULL, &z, y);
+  problem.AddResidualBlock(new MockCostFunctionBase<5, 1, 3, 0>(), NULL, &z, y);
+  problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 1, 0>(), NULL, x, &z);
+  problem.AddResidualBlock(new MockCostFunctionBase<2, 1, 3, 0>(), NULL, &z, y);
+  problem.AddResidualBlock(new MockCostFunctionBase<2, 2, 1, 0>(), NULL, x, &z);
+  problem.AddResidualBlock(new MockCostFunctionBase<1, 3, 0, 0>(), NULL, y);
+
+  TripletSparseMatrix expected_block_sparse_jacobian(3, 8, 14);
+  {
+    int* rows = expected_block_sparse_jacobian.mutable_rows();
+    int* cols = expected_block_sparse_jacobian.mutable_cols();
+    double* values = expected_block_sparse_jacobian.mutable_values();
+    rows[0] = 0;
+    cols[0] = 0;
+
+    rows[1] = 2;
+    cols[1] = 1;
+    rows[2] = 0;
+    cols[2] = 1;
+
+    rows[3] = 2;
+    cols[3] = 2;
+    rows[4] = 1;
+    cols[4] = 2;
+
+    rows[5] = 2;
+    cols[5] = 3;
+    rows[6] = 1;
+    cols[6] = 3;
+
+    rows[7] = 0;
+    cols[7] = 4;
+    rows[8] = 2;
+    cols[8] = 4;
+
+    rows[9] = 2;
+    cols[9] = 5;
+    rows[10] = 1;
+    cols[10] = 5;
+
+    rows[11] = 0;
+    cols[11] = 6;
+    rows[12] = 2;
+    cols[12] = 6;
+
+    rows[13] = 1;
+    cols[13] = 7;
+    std::fill(values, values + 14, 1.0);
+    expected_block_sparse_jacobian.set_num_nonzeros(14);
+  }
+
+  Program* program = problem.mutable_program();
+  program->SetParameterOffsetsAndIndex();
+
+  scoped_ptr<TripletSparseMatrix> actual_block_sparse_jacobian(
+      program->CreateJacobianBlockSparsityTranspose());
+
+  Matrix expected_dense_jacobian;
+  expected_block_sparse_jacobian.ToDenseMatrix(&expected_dense_jacobian);
+
+  Matrix actual_dense_jacobian;
+  actual_block_sparse_jacobian->ToDenseMatrix(&actual_dense_jacobian);
+  EXPECT_EQ((expected_dense_jacobian - actual_dense_jacobian).norm(), 0.0);
+}
+
+template <int kNumResiduals, int kNumParameterBlocks>
+class NumParameterBlocksCostFunction : public CostFunction {
+ public:
+  NumParameterBlocksCostFunction() {
+    set_num_residuals(kNumResiduals);
+    for (int i = 0; i < kNumParameterBlocks; ++i) {
+      mutable_parameter_block_sizes()->push_back(1);
+    }
+  }
+
+  virtual ~NumParameterBlocksCostFunction() {
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    return true;
+  }
+};
+
+TEST(Program, ReallocationInCreateJacobianBlockSparsityTranspose) {
+  // CreateJacobianBlockSparsityTranspose starts with a conservative
+  // estimate of the size of the sparsity pattern. This test ensures
+  // that when those estimates are violated, the reallocation/resizing
+  // logic works correctly.
+
+  ProblemImpl problem;
+  double x[20];
+
+  vector<double*> parameter_blocks;
+  for (int i = 0; i < 20; ++i) {
+    problem.AddParameterBlock(x + i, 1);
+    parameter_blocks.push_back(x + i);
+  }
+
+  problem.AddResidualBlock(new NumParameterBlocksCostFunction<1, 20>(),
+                           NULL,
+                           parameter_blocks);
+
+  TripletSparseMatrix expected_block_sparse_jacobian(20, 1, 20);
+  {
+    int* rows = expected_block_sparse_jacobian.mutable_rows();
+    int* cols = expected_block_sparse_jacobian.mutable_cols();
+    for (int i = 0; i < 20; ++i) {
+      rows[i] = i;
+      cols[i] = 0;
+    }
+
+    double* values = expected_block_sparse_jacobian.mutable_values();
+    std::fill(values, values + 20, 1.0);
+    expected_block_sparse_jacobian.set_num_nonzeros(20);
+  }
+
+  Program* program = problem.mutable_program();
+  program->SetParameterOffsetsAndIndex();
+
+  scoped_ptr<TripletSparseMatrix> actual_block_sparse_jacobian(
+      program->CreateJacobianBlockSparsityTranspose());
+
+  Matrix expected_dense_jacobian;
+  expected_block_sparse_jacobian.ToDenseMatrix(&expected_dense_jacobian);
+
+  Matrix actual_dense_jacobian;
+  actual_block_sparse_jacobian->ToDenseMatrix(&actual_dense_jacobian);
+  EXPECT_EQ((expected_dense_jacobian - actual_dense_jacobian).norm(), 0.0);
+}
+
+TEST(Program, ProblemHasNanParameterBlocks) {
+  ProblemImpl problem;
+  double x[2];
+  x[0] = 1.0;
+  x[1] = std::numeric_limits<double>::quiet_NaN();
+  problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 0, 0>(), NULL, x);
+  string error;
+  EXPECT_FALSE(problem.program().ParameterBlocksAreFinite(&error));
+  EXPECT_NE(error.find("has at least one invalid value"),
+            string::npos) << error;
+}
+
+TEST(Program, InfeasibleParameterBlock) {
+  ProblemImpl problem;
+  double x[] = {0.0, 0.0};
+  problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 0, 0>(), NULL, x);
+  problem.SetParameterLowerBound(x, 0, 2.0);
+  problem.SetParameterUpperBound(x, 0, 1.0);
+  string error;
+  EXPECT_FALSE(problem.program().IsFeasible(&error));
+  EXPECT_NE(error.find("infeasible bound"), string::npos) << error;
+}
+
+TEST(Program, InfeasibleConstantParameterBlock) {
+  ProblemImpl problem;
+  double x[] = {0.0, 0.0};
+  problem.AddResidualBlock(new MockCostFunctionBase<1, 2, 0, 0>(), NULL, x);
+  problem.SetParameterLowerBound(x, 0, 1.0);
+  problem.SetParameterUpperBound(x, 0, 2.0);
+  problem.SetParameterBlockConstant(x);
+  string error;
+  EXPECT_FALSE(problem.program().IsFeasible(&error));
+  EXPECT_NE(error.find("infeasible value"), string::npos) << error;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/random.h b/internal/ceres/random.h
new file mode 100644
index 0000000..87d9d77
--- /dev/null
+++ b/internal/ceres/random.h
@@ -0,0 +1,74 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_RANDOM_H_
+#define CERES_INTERNAL_RANDOM_H_
+
+#include <cmath>
+#include <cstdlib>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+inline void SetRandomState(int state) {
+  srand(state);
+}
+
+inline int Uniform(int n) {
+  if (n) {
+    return rand() % n;
+  } else {
+    return 0;
+  }
+}
+
+inline double RandDouble() {
+  double r = static_cast<double>(rand());
+  return r / RAND_MAX;
+}
+
+// Box-Muller algorithm for normal random number generation.
+// http://en.wikipedia.org/wiki/Box-Muller_transform
+inline double RandNormal() {
+  double x1, x2, w;
+  do {
+    x1 = 2.0 * RandDouble() - 1.0;
+    x2 = 2.0 * RandDouble() - 1.0;
+    w = x1 * x1 + x2 * x2;
+  } while ( w >= 1.0 || w == 0.0 );
+
+  w = sqrt((-2.0 * log(w)) / w);
+  return x1 * w;
+}
+
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_RANDOM_H_
diff --git a/internal/ceres/reorder_program.cc b/internal/ceres/reorder_program.cc
new file mode 100644
index 0000000..a7c3710
--- /dev/null
+++ b/internal/ceres/reorder_program.cc
@@ -0,0 +1,601 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/reorder_program.h"
+
+#include <algorithm>
+#include <numeric>
+#include <vector>
+
+#include "ceres/cxsparse.h"
+#include "ceres/internal/port.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/parameter_block.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/solver.h"
+#include "ceres/suitesparse.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "Eigen/SparseCore"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+#include "Eigen/OrderingMethods"
+#endif
+
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::map;
+using std::set;
+using std::string;
+using std::vector;
+
+namespace {
+
+// Find the minimum index of any parameter block to the given
+// residual.  Parameter blocks that have indices greater than
+// size_of_first_elimination_group are considered to have an index
+// equal to size_of_first_elimination_group.
+static int MinParameterBlock(const ResidualBlock* residual_block,
+                             int size_of_first_elimination_group) {
+  int min_parameter_block_position = size_of_first_elimination_group;
+  for (int i = 0; i < residual_block->NumParameterBlocks(); ++i) {
+    ParameterBlock* parameter_block = residual_block->parameter_blocks()[i];
+    if (!parameter_block->IsConstant()) {
+      CHECK_NE(parameter_block->index(), -1)
+          << "Did you forget to call Program::SetParameterOffsetsAndIndex()? "
+          << "This is a Ceres bug; please contact the developers!";
+      min_parameter_block_position = std::min(parameter_block->index(),
+                                              min_parameter_block_position);
+    }
+  }
+  return min_parameter_block_position;
+}
+
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2) && defined(CERES_USE_EIGEN_SPARSE)
+Eigen::SparseMatrix<int> CreateBlockJacobian(
+    const TripletSparseMatrix& block_jacobian_transpose) {
+  typedef Eigen::SparseMatrix<int> SparseMatrix;
+  typedef Eigen::Triplet<int> Triplet;
+
+  const int* rows = block_jacobian_transpose.rows();
+  const int* cols = block_jacobian_transpose.cols();
+  int num_nonzeros = block_jacobian_transpose.num_nonzeros();
+  vector<Triplet> triplets;
+  triplets.reserve(num_nonzeros);
+  for (int i = 0; i < num_nonzeros; ++i) {
+    triplets.push_back(Triplet(cols[i], rows[i], 1));
+  }
+
+  SparseMatrix block_jacobian(block_jacobian_transpose.num_cols(),
+                              block_jacobian_transpose.num_rows());
+  block_jacobian.setFromTriplets(triplets.begin(), triplets.end());
+  return block_jacobian;
+}
+#endif
+
+void OrderingForSparseNormalCholeskyUsingSuiteSparse(
+    const TripletSparseMatrix& tsm_block_jacobian_transpose,
+    const vector<ParameterBlock*>& parameter_blocks,
+    const ParameterBlockOrdering& parameter_block_ordering,
+    int* ordering) {
+#ifdef CERES_NO_SUITESPARSE
+  LOG(FATAL) << "Congratulations, you found a Ceres bug! "
+             << "Please report this error to the developers.";
+#else
+  SuiteSparse ss;
+  cholmod_sparse* block_jacobian_transpose =
+      ss.CreateSparseMatrix(
+          const_cast<TripletSparseMatrix*>(&tsm_block_jacobian_transpose));
+
+  // No CAMD or the user did not supply a useful ordering, then just
+  // use regular AMD.
+  if (parameter_block_ordering.NumGroups() <= 1 ||
+      !SuiteSparse::IsConstrainedApproximateMinimumDegreeOrderingAvailable()) {
+    ss.ApproximateMinimumDegreeOrdering(block_jacobian_transpose, &ordering[0]);
+  } else {
+    vector<int> constraints;
+    for (int i = 0; i < parameter_blocks.size(); ++i) {
+      constraints.push_back(
+          parameter_block_ordering.GroupId(
+              parameter_blocks[i]->mutable_user_state()));
+    }
+
+    // Renumber the entries of constraints to be contiguous integers
+    // as CAMD requires that the group ids be in the range [0,
+    // parameter_blocks.size() - 1].
+    MapValuesToContiguousRange(constraints.size(), &constraints[0]);
+    ss.ConstrainedApproximateMinimumDegreeOrdering(block_jacobian_transpose,
+                                                   &constraints[0],
+                                                   ordering);
+  }
+
+  VLOG(2) << "Block ordering stats: "
+          << " flops: " << ss.mutable_cc()->fl
+          << " lnz  : " << ss.mutable_cc()->lnz
+          << " anz  : " << ss.mutable_cc()->anz;
+
+  ss.Free(block_jacobian_transpose);
+#endif  // CERES_NO_SUITESPARSE
+}
+
+void OrderingForSparseNormalCholeskyUsingCXSparse(
+    const TripletSparseMatrix& tsm_block_jacobian_transpose,
+    int* ordering) {
+#ifdef CERES_NO_CXSPARSE
+  LOG(FATAL) << "Congratulations, you found a Ceres bug! "
+             << "Please report this error to the developers.";
+#else  // CERES_NO_CXSPARSE
+  // CXSparse works with J'J instead of J'. So compute the block
+  // sparsity for J'J and compute an approximate minimum degree
+  // ordering.
+  CXSparse cxsparse;
+  cs_di* block_jacobian_transpose;
+  block_jacobian_transpose =
+      cxsparse.CreateSparseMatrix(
+            const_cast<TripletSparseMatrix*>(&tsm_block_jacobian_transpose));
+  cs_di* block_jacobian = cxsparse.TransposeMatrix(block_jacobian_transpose);
+  cs_di* block_hessian =
+      cxsparse.MatrixMatrixMultiply(block_jacobian_transpose, block_jacobian);
+  cxsparse.Free(block_jacobian);
+  cxsparse.Free(block_jacobian_transpose);
+
+  cxsparse.ApproximateMinimumDegreeOrdering(block_hessian, ordering);
+  cxsparse.Free(block_hessian);
+#endif  // CERES_NO_CXSPARSE
+}
+
+
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2)
+void OrderingForSparseNormalCholeskyUsingEigenSparse(
+    const TripletSparseMatrix& tsm_block_jacobian_transpose,
+    int* ordering) {
+#ifndef CERES_USE_EIGEN_SPARSE
+  LOG(FATAL) <<
+      "SPARSE_NORMAL_CHOLESKY cannot be used with EIGEN_SPARSE "
+      "because Ceres was not built with support for "
+      "Eigen's SimplicialLDLT decomposition. "
+      "This requires enabling building with -DEIGENSPARSE=ON.";
+#else
+
+  // This conversion from a TripletSparseMatrix to a Eigen::Triplet
+  // matrix is unfortunate, but unavoidable for now. It is not a
+  // significant performance penalty in the grand scheme of
+  // things. The right thing to do here would be to get a compressed
+  // row sparse matrix representation of the jacobian and go from
+  // there. But that is a project for another day.
+  typedef Eigen::SparseMatrix<int> SparseMatrix;
+
+  const SparseMatrix block_jacobian =
+      CreateBlockJacobian(tsm_block_jacobian_transpose);
+  const SparseMatrix block_hessian =
+      block_jacobian.transpose() * block_jacobian;
+
+  Eigen::AMDOrdering<int> amd_ordering;
+  Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> perm;
+  amd_ordering(block_hessian, perm);
+  for (int i = 0; i < block_hessian.rows(); ++i) {
+    ordering[i] = perm.indices()[i];
+  }
+#endif  // CERES_USE_EIGEN_SPARSE
+}
+#endif
+
+}  // namespace
+
+bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map,
+                   const ParameterBlockOrdering& ordering,
+                   Program* program,
+                   string* error) {
+  const int num_parameter_blocks =  program->NumParameterBlocks();
+  if (ordering.NumElements() != num_parameter_blocks) {
+    *error = StringPrintf("User specified ordering does not have the same "
+                          "number of parameters as the problem. The problem"
+                          "has %d blocks while the ordering has %d blocks.",
+                          num_parameter_blocks,
+                          ordering.NumElements());
+    return false;
+  }
+
+  vector<ParameterBlock*>* parameter_blocks =
+      program->mutable_parameter_blocks();
+  parameter_blocks->clear();
+
+  const map<int, set<double*> >& groups = ordering.group_to_elements();
+  for (map<int, set<double*> >::const_iterator group_it = groups.begin();
+       group_it != groups.end();
+       ++group_it) {
+    const set<double*>& group = group_it->second;
+    for (set<double*>::const_iterator parameter_block_ptr_it = group.begin();
+         parameter_block_ptr_it != group.end();
+         ++parameter_block_ptr_it) {
+      ProblemImpl::ParameterMap::const_iterator parameter_block_it =
+          parameter_map.find(*parameter_block_ptr_it);
+      if (parameter_block_it == parameter_map.end()) {
+        *error = StringPrintf("User specified ordering contains a pointer "
+                              "to a double that is not a parameter block in "
+                              "the problem. The invalid double is in group: %d",
+                              group_it->first);
+        return false;
+      }
+      parameter_blocks->push_back(parameter_block_it->second);
+    }
+  }
+  return true;
+}
+
+bool LexicographicallyOrderResidualBlocks(
+    const int size_of_first_elimination_group,
+    Program* program,
+    string* error) {
+  CHECK_GE(size_of_first_elimination_group, 1)
+      << "Congratulations, you found a Ceres bug! Please report this error "
+      << "to the developers.";
+
+  // Create a histogram of the number of residuals for each E block. There is an
+  // extra bucket at the end to catch all non-eliminated F blocks.
+  vector<int> residual_blocks_per_e_block(size_of_first_elimination_group + 1);
+  vector<ResidualBlock*>* residual_blocks = program->mutable_residual_blocks();
+  vector<int> min_position_per_residual(residual_blocks->size());
+  for (int i = 0; i < residual_blocks->size(); ++i) {
+    ResidualBlock* residual_block = (*residual_blocks)[i];
+    int position = MinParameterBlock(residual_block,
+                                     size_of_first_elimination_group);
+    min_position_per_residual[i] = position;
+    DCHECK_LE(position, size_of_first_elimination_group);
+    residual_blocks_per_e_block[position]++;
+  }
+
+  // Run a cumulative sum on the histogram, to obtain offsets to the start of
+  // each histogram bucket (where each bucket is for the residuals for that
+  // E-block).
+  vector<int> offsets(size_of_first_elimination_group + 1);
+  std::partial_sum(residual_blocks_per_e_block.begin(),
+                   residual_blocks_per_e_block.end(),
+                   offsets.begin());
+  CHECK_EQ(offsets.back(), residual_blocks->size())
+      << "Congratulations, you found a Ceres bug! Please report this error "
+      << "to the developers.";
+
+  CHECK(find(residual_blocks_per_e_block.begin(),
+             residual_blocks_per_e_block.end() - 1, 0) !=
+        residual_blocks_per_e_block.end())
+      << "Congratulations, you found a Ceres bug! Please report this error "
+      << "to the developers.";
+
+  // Fill in each bucket with the residual blocks for its corresponding E block.
+  // Each bucket is individually filled from the back of the bucket to the front
+  // of the bucket. The filling order among the buckets is dictated by the
+  // residual blocks. This loop uses the offsets as counters; subtracting one
+  // from each offset as a residual block is placed in the bucket. When the
+  // filling is finished, the offset pointerts should have shifted down one
+  // entry (this is verified below).
+  vector<ResidualBlock*> reordered_residual_blocks(
+      (*residual_blocks).size(), static_cast<ResidualBlock*>(NULL));
+  for (int i = 0; i < residual_blocks->size(); ++i) {
+    int bucket = min_position_per_residual[i];
+
+    // Decrement the cursor, which should now point at the next empty position.
+    offsets[bucket]--;
+
+    // Sanity.
+    CHECK(reordered_residual_blocks[offsets[bucket]] == NULL)
+        << "Congratulations, you found a Ceres bug! Please report this error "
+        << "to the developers.";
+
+    reordered_residual_blocks[offsets[bucket]] = (*residual_blocks)[i];
+  }
+
+  // Sanity check #1: The difference in bucket offsets should match the
+  // histogram sizes.
+  for (int i = 0; i < size_of_first_elimination_group; ++i) {
+    CHECK_EQ(residual_blocks_per_e_block[i], offsets[i + 1] - offsets[i])
+        << "Congratulations, you found a Ceres bug! Please report this error "
+        << "to the developers.";
+  }
+  // Sanity check #2: No NULL's left behind.
+  for (int i = 0; i < reordered_residual_blocks.size(); ++i) {
+    CHECK(reordered_residual_blocks[i] != NULL)
+        << "Congratulations, you found a Ceres bug! Please report this error "
+        << "to the developers.";
+  }
+
+  // Now that the residuals are collected by E block, swap them in place.
+  swap(*program->mutable_residual_blocks(), reordered_residual_blocks);
+  return true;
+}
+
+// Pre-order the columns corresponding to the schur complement if
+// possible.
+void MaybeReorderSchurComplementColumnsUsingSuiteSparse(
+    const ParameterBlockOrdering& parameter_block_ordering,
+    Program* program) {
+#ifndef CERES_NO_SUITESPARSE
+  SuiteSparse ss;
+  if (!SuiteSparse::IsConstrainedApproximateMinimumDegreeOrderingAvailable()) {
+    return;
+  }
+
+  vector<int> constraints;
+  vector<ParameterBlock*>& parameter_blocks =
+      *(program->mutable_parameter_blocks());
+
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    constraints.push_back(
+        parameter_block_ordering.GroupId(
+            parameter_blocks[i]->mutable_user_state()));
+  }
+
+  // Renumber the entries of constraints to be contiguous integers as
+  // CAMD requires that the group ids be in the range [0,
+  // parameter_blocks.size() - 1].
+  MapValuesToContiguousRange(constraints.size(), &constraints[0]);
+
+  // Compute a block sparse presentation of J'.
+  scoped_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose(
+      program->CreateJacobianBlockSparsityTranspose());
+
+  cholmod_sparse* block_jacobian_transpose =
+      ss.CreateSparseMatrix(tsm_block_jacobian_transpose.get());
+
+  vector<int> ordering(parameter_blocks.size(), 0);
+  ss.ConstrainedApproximateMinimumDegreeOrdering(block_jacobian_transpose,
+                                                 &constraints[0],
+                                                 &ordering[0]);
+  ss.Free(block_jacobian_transpose);
+
+  const vector<ParameterBlock*> parameter_blocks_copy(parameter_blocks);
+  for (int i = 0; i < program->NumParameterBlocks(); ++i) {
+    parameter_blocks[i] = parameter_blocks_copy[ordering[i]];
+  }
+
+  program->SetParameterOffsetsAndIndex();
+#endif
+}
+
+void MaybeReorderSchurComplementColumnsUsingEigen(
+    const int size_of_first_elimination_group,
+    const ProblemImpl::ParameterMap& parameter_map,
+    Program* program) {
+#if !EIGEN_VERSION_AT_LEAST(3, 2, 2) || !defined(CERES_USE_EIGEN_SPARSE)
+  return;
+#else
+
+  scoped_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose(
+      program->CreateJacobianBlockSparsityTranspose());
+
+  typedef Eigen::SparseMatrix<int> SparseMatrix;
+  const SparseMatrix block_jacobian =
+      CreateBlockJacobian(*tsm_block_jacobian_transpose);
+  const int num_rows = block_jacobian.rows();
+  const int num_cols = block_jacobian.cols();
+
+  // Vertically partition the jacobian in parameter blocks of type E
+  // and F.
+  const SparseMatrix E =
+      block_jacobian.block(0,
+                           0,
+                           num_rows,
+                           size_of_first_elimination_group);
+  const SparseMatrix F =
+      block_jacobian.block(0,
+                           size_of_first_elimination_group,
+                           num_rows,
+                           num_cols - size_of_first_elimination_group);
+
+  // Block sparsity pattern of the schur complement.
+  const SparseMatrix block_schur_complement =
+      F.transpose() * F - F.transpose() * E * E.transpose() * F;
+
+  Eigen::AMDOrdering<int> amd_ordering;
+  Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> perm;
+  amd_ordering(block_schur_complement, perm);
+
+  const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+  vector<ParameterBlock*> ordering(num_cols);
+
+  // The ordering of the first size_of_first_elimination_group does
+  // not matter, so we preserve the existing ordering.
+  for (int i = 0; i < size_of_first_elimination_group; ++i) {
+    ordering[i] = parameter_blocks[i];
+  }
+
+  // For the rest of the blocks, use the ordering computed using AMD.
+  for (int i = 0; i < block_schur_complement.cols(); ++i) {
+    ordering[size_of_first_elimination_group + i] =
+        parameter_blocks[size_of_first_elimination_group + perm.indices()[i]];
+  }
+
+  swap(*program->mutable_parameter_blocks(), ordering);
+  program->SetParameterOffsetsAndIndex();
+#endif
+}
+
+bool ReorderProgramForSchurTypeLinearSolver(
+    const LinearSolverType linear_solver_type,
+    const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+    const ProblemImpl::ParameterMap& parameter_map,
+    ParameterBlockOrdering* parameter_block_ordering,
+    Program* program,
+    string* error) {
+  if (parameter_block_ordering->NumElements() !=
+      program->NumParameterBlocks()) {
+    *error = StringPrintf(
+        "The program has %d parameter blocks, but the parameter block "
+        "ordering has %d parameter blocks.",
+        program->NumParameterBlocks(),
+        parameter_block_ordering->NumElements());
+    return false;
+  }
+
+  if (parameter_block_ordering->NumGroups() == 1) {
+    // If the user supplied an parameter_block_ordering with just one
+    // group, it is equivalent to the user supplying NULL as an
+    // parameter_block_ordering. Ceres is completely free to choose the
+    // parameter block ordering as it sees fit. For Schur type solvers,
+    // this means that the user wishes for Ceres to identify the
+    // e_blocks, which we do by computing a maximal independent set.
+    vector<ParameterBlock*> schur_ordering;
+    const int size_of_first_elimination_group =
+        ComputeStableSchurOrdering(*program, &schur_ordering);
+
+    CHECK_EQ(schur_ordering.size(), program->NumParameterBlocks())
+        << "Congratulations, you found a Ceres bug! Please report this error "
+        << "to the developers.";
+
+    // Update the parameter_block_ordering object.
+    for (int i = 0; i < schur_ordering.size(); ++i) {
+      double* parameter_block = schur_ordering[i]->mutable_user_state();
+      const int group_id = (i < size_of_first_elimination_group) ? 0 : 1;
+      parameter_block_ordering->AddElementToGroup(parameter_block, group_id);
+    }
+
+    // We could call ApplyOrdering but this is cheaper and
+    // simpler.
+    swap(*program->mutable_parameter_blocks(), schur_ordering);
+  } else {
+    // The user provided an ordering with more than one elimination
+    // group.
+
+    // Verify that the first elimination group is an independent set.
+    const set<double*>& first_elimination_group =
+        parameter_block_ordering
+        ->group_to_elements()
+        .begin()
+        ->second;
+    if (!program->IsParameterBlockSetIndependent(first_elimination_group)) {
+      *error =
+          StringPrintf("The first elimination group in the parameter block "
+                       "ordering of size %zd is not an independent set",
+                       first_elimination_group.size());
+      return false;
+    }
+
+    if (!ApplyOrdering(parameter_map,
+                       *parameter_block_ordering,
+                       program,
+                       error)) {
+      return false;
+    }
+  }
+
+  program->SetParameterOffsetsAndIndex();
+
+  const int size_of_first_elimination_group =
+      parameter_block_ordering->group_to_elements().begin()->second.size();
+
+  if (linear_solver_type == SPARSE_SCHUR) {
+    if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
+      MaybeReorderSchurComplementColumnsUsingSuiteSparse(
+          *parameter_block_ordering,
+          program);
+    } else if (sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+      MaybeReorderSchurComplementColumnsUsingEigen(
+          size_of_first_elimination_group,
+          parameter_map,
+          program);
+    }
+  }
+
+  // Schur type solvers also require that their residual blocks be
+  // lexicographically ordered.
+  if (!LexicographicallyOrderResidualBlocks(size_of_first_elimination_group,
+                                            program,
+                                            error)) {
+    return false;
+  }
+
+  return true;
+}
+
+bool ReorderProgramForSparseNormalCholesky(
+    const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+    const ParameterBlockOrdering& parameter_block_ordering,
+    Program* program,
+    string* error) {
+  if (parameter_block_ordering.NumElements() != program->NumParameterBlocks()) {
+    *error = StringPrintf(
+        "The program has %d parameter blocks, but the parameter block "
+        "ordering has %d parameter blocks.",
+        program->NumParameterBlocks(),
+        parameter_block_ordering.NumElements());
+    return false;
+  }
+
+  // Compute a block sparse presentation of J'.
+  scoped_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose(
+      program->CreateJacobianBlockSparsityTranspose());
+
+  vector<int> ordering(program->NumParameterBlocks(), 0);
+  vector<ParameterBlock*>& parameter_blocks =
+      *(program->mutable_parameter_blocks());
+
+  if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
+    OrderingForSparseNormalCholeskyUsingSuiteSparse(
+        *tsm_block_jacobian_transpose,
+        parameter_blocks,
+        parameter_block_ordering,
+        &ordering[0]);
+  } else if (sparse_linear_algebra_library_type == CX_SPARSE) {
+    OrderingForSparseNormalCholeskyUsingCXSparse(
+        *tsm_block_jacobian_transpose,
+        &ordering[0]);
+  } else if (sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+#if EIGEN_VERSION_AT_LEAST(3, 2, 2)
+       OrderingForSparseNormalCholeskyUsingEigenSparse(
+        *tsm_block_jacobian_transpose,
+        &ordering[0]);
+#else
+    // For Eigen versions less than 3.2.2, there is nothing to do as
+    // older versions of Eigen do not expose a method for doing
+    // symbolic analysis on pre-ordered matrices, so a block
+    // pre-ordering is a bit pointless.
+
+    return true;
+#endif
+  }
+
+  // Apply ordering.
+  const vector<ParameterBlock*> parameter_blocks_copy(parameter_blocks);
+  for (int i = 0; i < program->NumParameterBlocks(); ++i) {
+    parameter_blocks[i] = parameter_blocks_copy[ordering[i]];
+  }
+
+  program->SetParameterOffsetsAndIndex();
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/reorder_program.h b/internal/ceres/reorder_program.h
new file mode 100644
index 0000000..36e5d16
--- /dev/null
+++ b/internal/ceres/reorder_program.h
@@ -0,0 +1,101 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_REORDER_PROGRAM_H_
+#define CERES_INTERNAL_REORDER_PROGRAM_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/problem_impl.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+
+// Reorder the parameter blocks in program using the ordering
+bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map,
+                   const ParameterBlockOrdering& ordering,
+                   Program* program,
+                   std::string* error);
+
+// Reorder the residuals for program, if necessary, so that the residuals
+// involving each E block occur together. This is a necessary condition for the
+// Schur eliminator, which works on these "row blocks" in the jacobian.
+bool LexicographicallyOrderResidualBlocks(int size_of_first_elimination_group,
+                                          Program* program,
+                                          std::string* error);
+
+// Schur type solvers require that all parameter blocks eliminated
+// by the Schur eliminator occur before others and the residuals be
+// sorted in lexicographic order of their parameter blocks.
+//
+// If the parameter_block_ordering only contains one elimination
+// group then a maximal independent set is computed and used as the
+// first elimination group, otherwise the user's ordering is used.
+//
+// If the linear solver type is SPARSE_SCHUR and support for
+// constrained fill-reducing ordering is available in the sparse
+// linear algebra library (SuiteSparse version >= 4.2.0) then
+// columns of the schur complement matrix are ordered to reduce the
+// fill-in the Cholesky factorization.
+//
+// Upon return, ordering contains the parameter block ordering that
+// was used to order the program.
+bool ReorderProgramForSchurTypeLinearSolver(
+    LinearSolverType linear_solver_type,
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+    const ProblemImpl::ParameterMap& parameter_map,
+    ParameterBlockOrdering* parameter_block_ordering,
+    Program* program,
+    std::string* error);
+
+// Sparse cholesky factorization routines when doing the sparse
+// cholesky factorization of the Jacobian matrix, reorders its
+// columns to reduce the fill-in. Compute this permutation and
+// re-order the parameter blocks.
+//
+// When using SuiteSparse, if the parameter_block_ordering contains
+// more than one elimination group and support for constrained
+// fill-reducing ordering is available in the sparse linear algebra
+// library (SuiteSparse version >= 4.2.0) then the fill reducing
+// ordering will take it into account, otherwise it will be ignored.
+bool ReorderProgramForSparseNormalCholesky(
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+    const ParameterBlockOrdering& parameter_block_ordering,
+    Program* program,
+    std::string* error);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_REORDER_PROGRAM_
diff --git a/internal/ceres/reorder_program_test.cc b/internal/ceres/reorder_program_test.cc
new file mode 100644
index 0000000..be548ef
--- /dev/null
+++ b/internal/ceres/reorder_program_test.cc
@@ -0,0 +1,254 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/reorder_program.h"
+
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// Templated base class for the CostFunction signatures.
+template <int kNumResiduals, int N0, int N1, int N2>
+class MockCostFunctionBase : public
+SizedCostFunction<kNumResiduals, N0, N1, N2> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    // Do nothing. This is never called.
+    return true;
+  }
+};
+
+class UnaryCostFunction : public MockCostFunctionBase<2, 1, 0, 0> {};
+class BinaryCostFunction : public MockCostFunctionBase<2, 1, 1, 0> {};
+class TernaryCostFunction : public MockCostFunctionBase<2, 1, 1, 1> {};
+
+TEST(_, ReorderResidualBlockNormalFunction) {
+  ProblemImpl problem;
+  double x;
+  double y;
+  double z;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+
+  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &x);
+  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y);
+  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &z);
+  problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+  problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y);
+
+  ParameterBlockOrdering* linear_solver_ordering = new ParameterBlockOrdering;
+  linear_solver_ordering->AddElementToGroup(&x, 0);
+  linear_solver_ordering->AddElementToGroup(&y, 0);
+  linear_solver_ordering->AddElementToGroup(&z, 1);
+
+  Solver::Options options;
+  options.linear_solver_type = DENSE_SCHUR;
+  options.linear_solver_ordering.reset(linear_solver_ordering);
+
+  const vector<ResidualBlock*>& residual_blocks =
+      problem.program().residual_blocks();
+
+  vector<ResidualBlock*> expected_residual_blocks;
+
+  // This is a bit fragile, but it serves the purpose. We know the
+  // bucketing algorithm that the reordering function uses, so we
+  // expect the order for residual blocks for each e_block to be
+  // filled in reverse.
+  expected_residual_blocks.push_back(residual_blocks[4]);
+  expected_residual_blocks.push_back(residual_blocks[1]);
+  expected_residual_blocks.push_back(residual_blocks[0]);
+  expected_residual_blocks.push_back(residual_blocks[5]);
+  expected_residual_blocks.push_back(residual_blocks[2]);
+  expected_residual_blocks.push_back(residual_blocks[3]);
+
+  Program* program = problem.mutable_program();
+  program->SetParameterOffsetsAndIndex();
+
+  std::string message;
+  EXPECT_TRUE(LexicographicallyOrderResidualBlocks(
+                  2,
+                  problem.mutable_program(),
+                  &message));
+  EXPECT_EQ(residual_blocks.size(), expected_residual_blocks.size());
+  for (int i = 0; i < expected_residual_blocks.size(); ++i) {
+    EXPECT_EQ(residual_blocks[i], expected_residual_blocks[i]);
+  }
+}
+
+TEST(_, ApplyOrderingOrderingTooSmall) {
+  ProblemImpl problem;
+  double x;
+  double y;
+  double z;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+
+  ParameterBlockOrdering linear_solver_ordering;
+  linear_solver_ordering.AddElementToGroup(&x, 0);
+  linear_solver_ordering.AddElementToGroup(&y, 1);
+
+  Program program(problem.program());
+  std::string message;
+  EXPECT_FALSE(ApplyOrdering(problem.parameter_map(),
+                             linear_solver_ordering,
+                             &program,
+                             &message));
+}
+
+TEST(_, ApplyOrderingNormal) {
+  ProblemImpl problem;
+  double x;
+  double y;
+  double z;
+
+  problem.AddParameterBlock(&x, 1);
+  problem.AddParameterBlock(&y, 1);
+  problem.AddParameterBlock(&z, 1);
+
+  ParameterBlockOrdering linear_solver_ordering;
+  linear_solver_ordering.AddElementToGroup(&x, 0);
+  linear_solver_ordering.AddElementToGroup(&y, 2);
+  linear_solver_ordering.AddElementToGroup(&z, 1);
+
+  Program* program = problem.mutable_program();
+  std::string message;
+
+  EXPECT_TRUE(ApplyOrdering(problem.parameter_map(),
+                            linear_solver_ordering,
+                            program,
+                            &message));
+  const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+
+  EXPECT_EQ(parameter_blocks.size(), 3);
+  EXPECT_EQ(parameter_blocks[0]->user_state(), &x);
+  EXPECT_EQ(parameter_blocks[1]->user_state(), &z);
+  EXPECT_EQ(parameter_blocks[2]->user_state(), &y);
+}
+
+#ifndef CERES_NO_SUITESPARSE
+class ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest :
+      public ::testing::Test {
+ protected:
+  void SetUp() {
+    problem_.AddResidualBlock(new UnaryCostFunction(), NULL, &x_);
+    problem_.AddResidualBlock(new BinaryCostFunction(), NULL, &z_, &x_);
+    problem_.AddResidualBlock(new BinaryCostFunction(), NULL, &z_, &y_);
+    problem_.AddResidualBlock(new UnaryCostFunction(), NULL, &z_);
+    problem_.AddResidualBlock(new BinaryCostFunction(), NULL, &x_, &y_);
+    problem_.AddResidualBlock(new UnaryCostFunction(), NULL, &y_);
+  }
+
+  void ComputeAndValidateOrdering(
+      const ParameterBlockOrdering& linear_solver_ordering) {
+    Program* program = problem_.mutable_program();
+    vector<ParameterBlock*> unordered_parameter_blocks =
+        program->parameter_blocks();
+
+    std::string error;
+    EXPECT_TRUE(ReorderProgramForSparseNormalCholesky(
+                    ceres::SUITE_SPARSE,
+                    linear_solver_ordering,
+                    program,
+                    &error));
+    const vector<ParameterBlock*>& ordered_parameter_blocks =
+        program->parameter_blocks();
+    EXPECT_EQ(ordered_parameter_blocks.size(),
+              unordered_parameter_blocks.size());
+
+    EXPECT_THAT(unordered_parameter_blocks,
+                ::testing::UnorderedElementsAreArray(ordered_parameter_blocks));
+  }
+
+  ProblemImpl problem_;
+  double x_;
+  double y_;
+  double z_;
+};
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+       EverythingInGroupZero) {
+  ParameterBlockOrdering linear_solver_ordering;
+  linear_solver_ordering.AddElementToGroup(&x_, 0);
+  linear_solver_ordering.AddElementToGroup(&y_, 0);
+  linear_solver_ordering.AddElementToGroup(&z_, 0);
+
+  ComputeAndValidateOrdering(linear_solver_ordering);
+}
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+       ContiguousGroups) {
+  ParameterBlockOrdering linear_solver_ordering;
+  linear_solver_ordering.AddElementToGroup(&x_, 0);
+  linear_solver_ordering.AddElementToGroup(&y_, 1);
+  linear_solver_ordering.AddElementToGroup(&z_, 2);
+
+  ComputeAndValidateOrdering(linear_solver_ordering);
+}
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+       GroupsWithGaps) {
+  ParameterBlockOrdering linear_solver_ordering;
+  linear_solver_ordering.AddElementToGroup(&x_, 0);
+  linear_solver_ordering.AddElementToGroup(&y_, 2);
+  linear_solver_ordering.AddElementToGroup(&z_, 2);
+
+  ComputeAndValidateOrdering(linear_solver_ordering);
+}
+
+TEST_F(ReorderProgramForSparseNormalCholeskyUsingSuiteSparseTest,
+       NonContiguousStartingAtTwo) {
+  ParameterBlockOrdering linear_solver_ordering;
+  linear_solver_ordering.AddElementToGroup(&x_, 2);
+  linear_solver_ordering.AddElementToGroup(&y_, 4);
+  linear_solver_ordering.AddElementToGroup(&z_, 4);
+
+  ComputeAndValidateOrdering(linear_solver_ordering);
+}
+#endif  // CERES_NO_SUITESPARSE
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/residual_block.cc b/internal/ceres/residual_block.cc
new file mode 100644
index 0000000..9a123cf
--- /dev/null
+++ b/internal/ceres/residual_block.cc
@@ -0,0 +1,219 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/residual_block.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <vector>
+#include "ceres/corrector.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block_utils.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/small_blas.h"
+
+using Eigen::Dynamic;
+
+namespace ceres {
+namespace internal {
+
+ResidualBlock::ResidualBlock(
+    const CostFunction* cost_function,
+    const LossFunction* loss_function,
+    const std::vector<ParameterBlock*>& parameter_blocks,
+    int index)
+    : cost_function_(cost_function),
+      loss_function_(loss_function),
+      parameter_blocks_(
+          new ParameterBlock* [
+              cost_function->parameter_block_sizes().size()]),
+      index_(index) {
+  std::copy(parameter_blocks.begin(),
+            parameter_blocks.end(),
+            parameter_blocks_.get());
+}
+
+bool ResidualBlock::Evaluate(const bool apply_loss_function,
+                             double* cost,
+                             double* residuals,
+                             double** jacobians,
+                             double* scratch) const {
+  const int num_parameter_blocks = NumParameterBlocks();
+  const int num_residuals = cost_function_->num_residuals();
+
+  // Collect the parameters from their blocks. This will rarely allocate, since
+  // residuals taking more than 8 parameter block arguments are rare.
+  FixedArray<const double*, 8> parameters(num_parameter_blocks);
+  for (int i = 0; i < num_parameter_blocks; ++i) {
+    parameters[i] = parameter_blocks_[i]->state();
+  }
+
+  // Put pointers into the scratch space into global_jacobians as appropriate.
+  FixedArray<double*, 8> global_jacobians(num_parameter_blocks);
+  if (jacobians != NULL) {
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      const ParameterBlock* parameter_block = parameter_blocks_[i];
+      if (jacobians[i] != NULL &&
+          parameter_block->LocalParameterizationJacobian() != NULL) {
+        global_jacobians[i] = scratch;
+        scratch += num_residuals * parameter_block->Size();
+      } else {
+        global_jacobians[i] = jacobians[i];
+      }
+    }
+  }
+
+  // If the caller didn't request residuals, use the scratch space for them.
+  bool outputting_residuals = (residuals != NULL);
+  if (!outputting_residuals) {
+    residuals = scratch;
+  }
+
+  // Invalidate the evaluation buffers so that we can check them after
+  // the CostFunction::Evaluate call, to see if all the return values
+  // that were required were written to and that they are finite.
+  double** eval_jacobians = (jacobians != NULL) ? global_jacobians.get() : NULL;
+
+  InvalidateEvaluation(*this, cost, residuals, eval_jacobians);
+
+  if (!cost_function_->Evaluate(parameters.get(), residuals, eval_jacobians)) {
+    return false;
+  }
+
+  if (!IsEvaluationValid(*this,
+                         parameters.get(),
+                         cost,
+                         residuals,
+                         eval_jacobians)) {
+    std::string message =
+        "\n\n"
+        "Error in evaluating the ResidualBlock.\n\n"
+        "There are two possible reasons. Either the CostFunction did not evaluate and fill all    \n"  // NOLINT
+        "residual and jacobians that were requested or there was a non-finite value (nan/infinite)\n"  // NOLINT
+        "generated during the or jacobian computation. \n\n" +
+        EvaluationToString(*this,
+                           parameters.get(),
+                           cost,
+                           residuals,
+                           eval_jacobians);
+    LOG(WARNING) << message;
+    return false;
+  }
+
+  double squared_norm = VectorRef(residuals, num_residuals).squaredNorm();
+
+  // Update the jacobians with the local parameterizations.
+  if (jacobians != NULL) {
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      if (jacobians[i] != NULL) {
+        const ParameterBlock* parameter_block = parameter_blocks_[i];
+
+        // Apply local reparameterization to the jacobians.
+        if (parameter_block->LocalParameterizationJacobian() != NULL) {
+          // jacobians[i] = global_jacobians[i] * global_to_local_jacobian.
+          MatrixMatrixMultiply<Dynamic, Dynamic, Dynamic, Dynamic, 0>(
+              global_jacobians[i],
+              num_residuals,
+              parameter_block->Size(),
+              parameter_block->LocalParameterizationJacobian(),
+              parameter_block->Size(),
+              parameter_block->LocalSize(),
+              jacobians[i], 0, 0,  num_residuals, parameter_block->LocalSize());
+        }
+      }
+    }
+  }
+
+  if (loss_function_ == NULL || !apply_loss_function) {
+    *cost = 0.5 * squared_norm;
+    return true;
+  }
+
+  double rho[3];
+  loss_function_->Evaluate(squared_norm, rho);
+  *cost = 0.5 * rho[0];
+
+  // No jacobians and not outputting residuals? All done. Doing an early exit
+  // here avoids constructing the "Corrector" object below in a common case.
+  if (jacobians == NULL && !outputting_residuals) {
+    return true;
+  }
+
+  // Correct for the effects of the loss function. The jacobians need to be
+  // corrected before the residuals, since they use the uncorrected residuals.
+  Corrector correct(squared_norm, rho);
+  if (jacobians != NULL) {
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      if (jacobians[i] != NULL) {
+        const ParameterBlock* parameter_block = parameter_blocks_[i];
+
+        // Correct the jacobians for the loss function.
+        correct.CorrectJacobian(num_residuals,
+                                parameter_block->LocalSize(),
+                                residuals,
+                                jacobians[i]);
+      }
+    }
+  }
+
+  // Correct the residuals with the loss function.
+  if (outputting_residuals) {
+    correct.CorrectResiduals(num_residuals, residuals);
+  }
+  return true;
+}
+
+int ResidualBlock::NumScratchDoublesForEvaluate() const {
+  // Compute the amount of scratch space needed to store the full-sized
+  // jacobians. For parameters that have no local parameterization  no storage
+  // is needed and the passed-in jacobian array is used directly. Also include
+  // space to store the residuals, which is needed for cost-only evaluations.
+  // This is slightly pessimistic, since both won't be needed all the time, but
+  // the amount of excess should not cause problems for the caller.
+  int num_parameters = NumParameterBlocks();
+  int scratch_doubles = 1;
+  for (int i = 0; i < num_parameters; ++i) {
+    const ParameterBlock* parameter_block = parameter_blocks_[i];
+    if (!parameter_block->IsConstant() &&
+        parameter_block->LocalParameterizationJacobian() != NULL) {
+      scratch_doubles += parameter_block->Size();
+    }
+  }
+  scratch_doubles *= NumResiduals();
+  return scratch_doubles;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/residual_block.h b/internal/ceres/residual_block.h
new file mode 100644
index 0000000..a32f1c3
--- /dev/null
+++ b/internal/ceres/residual_block.h
@@ -0,0 +1,148 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         keir@google.com (Keir Mierle)
+//
+// Purpose : Class and struct definitions for parameter and residual blocks.
+
+#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_H_
+#define CERES_INTERNAL_RESIDUAL_BLOCK_H_
+
+#include <string>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class LossFunction;
+
+namespace internal {
+
+class ParameterBlock;
+
+// A term in the least squares problem. The mathematical form of each term in
+// the overall least-squares cost function is:
+//
+//    1
+//   --- loss_function( || cost_function(block1, block2, ...) ||^2  ),
+//    2
+//
+// Storing the cost function and the loss function separately permits optimizing
+// the problem with standard non-linear least techniques, without requiring a
+// more general non-linear solver.
+//
+// The residual block stores pointers to but does not own the cost functions,
+// loss functions, and parameter blocks.
+class ResidualBlock {
+ public:
+  // Construct the residual block with the given cost/loss functions. Loss may
+  // be null. The index is the index of the residual block in the Program's
+  // residual_blocks array.
+  ResidualBlock(const CostFunction* cost_function,
+                const LossFunction* loss_function,
+                const std::vector<ParameterBlock*>& parameter_blocks,
+                int index);
+
+  // Evaluates the residual term, storing the scalar cost in *cost, the residual
+  // components in *residuals, and the jacobians between the parameters and
+  // residuals in jacobians[i], in row-major order. If residuals is NULL, the
+  // residuals are not computed. If jacobians is NULL, no jacobians are
+  // computed. If jacobians[i] is NULL, then the jacobian for that parameter is
+  // not computed.
+  //
+  // Evaluate needs scratch space which must be supplied by the caller via
+  // scratch. The array should have at least NumScratchDoublesForEvaluate()
+  // space available.
+  //
+  // The return value indicates the success or failure. If the function returns
+  // false, the caller should expect the the output memory locations to have
+  // been modified.
+  //
+  // The returned cost and jacobians have had robustification and local
+  // parameterizations applied already; for example, the jacobian for a
+  // 4-dimensional quaternion parameter using the "QuaternionParameterization"
+  // is num_residuals by 3 instead of num_residuals by 4.
+  //
+  // apply_loss_function as the name implies allows the user to switch
+  // the application of the loss function on and off.
+  bool Evaluate(bool apply_loss_function,
+                double* cost,
+                double* residuals,
+                double** jacobians,
+                double* scratch) const;
+
+
+  const CostFunction* cost_function() const { return cost_function_; }
+  const LossFunction* loss_function() const { return loss_function_; }
+
+  // Access the parameter blocks for this residual. The array has size
+  // NumParameterBlocks().
+  ParameterBlock* const* parameter_blocks() const {
+    return parameter_blocks_.get();
+  }
+
+  // Number of variable blocks that this residual term depends on.
+  int NumParameterBlocks() const {
+    return cost_function_->parameter_block_sizes().size();
+  }
+
+  // The size of the residual vector returned by this residual function.
+  int NumResiduals() const { return cost_function_->num_residuals(); }
+
+  // The minimum amount of scratch space needed to pass to Evaluate().
+  int NumScratchDoublesForEvaluate() const;
+
+  // This residual block's index in an array.
+  int index() const { return index_; }
+  void set_index(int index) { index_ = index; }
+
+  std::string ToString() const {
+    return StringPrintf("{residual block; index=%d}", index_);
+  }
+
+ private:
+  const CostFunction* cost_function_;
+  const LossFunction* loss_function_;
+  scoped_array<ParameterBlock*> parameter_blocks_;
+
+  // The index of the residual, typically in a Program. This is only to permit
+  // switching from a ResidualBlock* to an index in the Program's array, needed
+  // to do efficient removals.
+  int32 index_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_RESIDUAL_BLOCK_H_
diff --git a/internal/ceres/residual_block_test.cc b/internal/ceres/residual_block_test.cc
new file mode 100644
index 0000000..673744b
--- /dev/null
+++ b/internal/ceres/residual_block_test.cc
@@ -0,0 +1,328 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/residual_block.h"
+
+#include "gtest/gtest.h"
+#include "ceres/parameter_block.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/local_parameterization.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+  TernaryCostFunction(int num_residuals,
+                      int32 parameter_block1_size,
+                      int32 parameter_block2_size,
+                      int32 parameter_block3_size) {
+    set_num_residuals(num_residuals);
+    mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+    mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+  }
+
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = i;
+    }
+    if (jacobians) {
+      for (int k = 0; k < 3; ++k) {
+        if (jacobians[k] != NULL) {
+          MatrixRef jacobian(jacobians[k],
+                             num_residuals(),
+                             parameter_block_sizes()[k]);
+          jacobian.setConstant(k);
+        }
+      }
+    }
+    return true;
+  }
+};
+
+TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) {
+  double scratch[64];
+
+  // Prepare the parameter blocks.
+  double values_x[2];
+  ParameterBlock x(values_x, 2, -1);
+
+  double values_y[3];
+  ParameterBlock y(values_y, 3, -1);
+
+  double values_z[4];
+  ParameterBlock z(values_z, 4, -1);
+
+  vector<ParameterBlock*> parameters;
+  parameters.push_back(&x);
+  parameters.push_back(&y);
+  parameters.push_back(&z);
+
+  TernaryCostFunction cost_function(3, 2, 3, 4);
+
+  // Create the object under tests.
+  ResidualBlock residual_block(&cost_function, NULL, parameters, -1);
+
+  // Verify getters.
+  EXPECT_EQ(&cost_function, residual_block.cost_function());
+  EXPECT_EQ(NULL, residual_block.loss_function());
+  EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
+  EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
+  EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
+  EXPECT_EQ(3, residual_block.NumScratchDoublesForEvaluate());
+
+  // Verify cost-only evaluation.
+  double cost;
+  residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+
+  // Verify cost and residual evaluation.
+  double residuals[3];
+  residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+  EXPECT_EQ(0.0, residuals[0]);
+  EXPECT_EQ(1.0, residuals[1]);
+  EXPECT_EQ(2.0, residuals[2]);
+
+  // Verify cost, residual, and jacobian evaluation.
+  cost = 0.0;
+  VectorRef(residuals, 3).setConstant(0.0);
+
+  Matrix jacobian_rx(3, 2);
+  Matrix jacobian_ry(3, 3);
+  Matrix jacobian_rz(3, 4);
+
+  jacobian_rx.setConstant(-1.0);
+  jacobian_ry.setConstant(-1.0);
+  jacobian_rz.setConstant(-1.0);
+
+  double *jacobian_ptrs[3] = {
+    jacobian_rx.data(),
+    jacobian_ry.data(),
+    jacobian_rz.data()
+  };
+
+  residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+  EXPECT_EQ(0.0, residuals[0]);
+  EXPECT_EQ(1.0, residuals[1]);
+  EXPECT_EQ(2.0, residuals[2]);
+
+  EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx;
+  EXPECT_TRUE((jacobian_ry.array() == 1.0).all()) << "\n" << jacobian_ry;
+  EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz;
+
+  // Verify cost, residual, and partial jacobian evaluation.
+  cost = 0.0;
+  VectorRef(residuals, 3).setConstant(0.0);
+  jacobian_rx.setConstant(-1.0);
+  jacobian_ry.setConstant(-1.0);
+  jacobian_rz.setConstant(-1.0);
+
+  jacobian_ptrs[1] = NULL;  // Don't compute the jacobian for y.
+
+  residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+  EXPECT_EQ(0.0, residuals[0]);
+  EXPECT_EQ(1.0, residuals[1]);
+  EXPECT_EQ(2.0, residuals[2]);
+
+  EXPECT_TRUE((jacobian_rx.array() ==  0.0).all()) << "\n" << jacobian_rx;
+  EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
+  EXPECT_TRUE((jacobian_rz.array() ==  2.0).all()) << "\n" << jacobian_rz;
+}
+
+// Trivial cost function that accepts three arguments.
+class LocallyParameterizedCostFunction: public SizedCostFunction<3, 2, 3, 4> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    for (int i = 0; i < num_residuals(); ++i) {
+      residuals[i] = i;
+    }
+    if (jacobians) {
+      for (int k = 0; k < 3; ++k) {
+        // The jacobians here are full sized, but they are transformed in the
+        // evaluator into the "local" jacobian. In the tests, the "subset
+        // constant" parameterization is used, which should pick out columns
+        // from these jacobians. Put values in the jacobian that make this
+        // obvious; in particular, make the jacobians like this:
+        //
+        //   0 1 2 3 4 ...
+        //   0 1 2 3 4 ...
+        //   0 1 2 3 4 ...
+        //
+        if (jacobians[k] != NULL) {
+          MatrixRef jacobian(jacobians[k],
+                             num_residuals(),
+                             parameter_block_sizes()[k]);
+          for (int j = 0; j < k + 2; ++j) {
+            jacobian.col(j).setConstant(j);
+          }
+        }
+      }
+    }
+    return true;
+  }
+};
+
+TEST(ResidualBlock, EvaluteWithLocalParameterizations) {
+  double scratch[64];
+
+  // Prepare the parameter blocks.
+  double values_x[2];
+  ParameterBlock x(values_x, 2, -1);
+
+  double values_y[3];
+  ParameterBlock y(values_y, 3, -1);
+
+  double values_z[4];
+  ParameterBlock z(values_z, 4, -1);
+
+  vector<ParameterBlock*> parameters;
+  parameters.push_back(&x);
+  parameters.push_back(&y);
+  parameters.push_back(&z);
+
+  // Make x have the first component fixed.
+  vector<int> x_fixed;
+  x_fixed.push_back(0);
+  SubsetParameterization x_parameterization(2, x_fixed);
+  x.SetParameterization(&x_parameterization);
+
+  // Make z have the last and last component fixed.
+  vector<int> z_fixed;
+  z_fixed.push_back(2);
+  SubsetParameterization z_parameterization(4, z_fixed);
+  z.SetParameterization(&z_parameterization);
+
+  LocallyParameterizedCostFunction cost_function;
+
+  // Create the object under tests.
+  ResidualBlock residual_block(&cost_function, NULL, parameters, -1);
+
+  // Verify getters.
+  EXPECT_EQ(&cost_function, residual_block.cost_function());
+  EXPECT_EQ(NULL, residual_block.loss_function());
+  EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
+  EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
+  EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
+  EXPECT_EQ(3*(2 + 4) + 3, residual_block.NumScratchDoublesForEvaluate());
+
+  // Verify cost-only evaluation.
+  double cost;
+  residual_block.Evaluate(true, &cost, NULL, NULL, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+
+  // Verify cost and residual evaluation.
+  double residuals[3];
+  residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+  EXPECT_EQ(0.0, residuals[0]);
+  EXPECT_EQ(1.0, residuals[1]);
+  EXPECT_EQ(2.0, residuals[2]);
+
+  // Verify cost, residual, and jacobian evaluation.
+  cost = 0.0;
+  VectorRef(residuals, 3).setConstant(0.0);
+
+  Matrix jacobian_rx(3, 1);  // Since the first element is fixed.
+  Matrix jacobian_ry(3, 3);
+  Matrix jacobian_rz(3, 3);  // Since the third element is fixed.
+
+  jacobian_rx.setConstant(-1.0);
+  jacobian_ry.setConstant(-1.0);
+  jacobian_rz.setConstant(-1.0);
+
+  double *jacobian_ptrs[3] = {
+    jacobian_rx.data(),
+    jacobian_ry.data(),
+    jacobian_rz.data()
+  };
+
+  residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+  EXPECT_EQ(0.0, residuals[0]);
+  EXPECT_EQ(1.0, residuals[1]);
+  EXPECT_EQ(2.0, residuals[2]);
+
+  Matrix expected_jacobian_rx(3, 1);
+  expected_jacobian_rx << 1.0, 1.0, 1.0;
+
+  Matrix expected_jacobian_ry(3, 3);
+  expected_jacobian_ry << 0.0, 1.0, 2.0,
+                          0.0, 1.0, 2.0,
+                          0.0, 1.0, 2.0;
+
+  Matrix expected_jacobian_rz(3, 3);
+  expected_jacobian_rz << 0.0, 1.0, /* 2.0, */ 3.0,  // 3rd parameter constant.
+                          0.0, 1.0, /* 2.0, */ 3.0,
+                          0.0, 1.0, /* 2.0, */ 3.0;
+
+  EXPECT_EQ(expected_jacobian_rx, jacobian_rx)
+      << "\nExpected:\n" << expected_jacobian_rx
+      << "\nActual:\n"   << jacobian_rx;
+  EXPECT_EQ(expected_jacobian_ry, jacobian_ry)
+      << "\nExpected:\n" << expected_jacobian_ry
+      << "\nActual:\n"   << jacobian_ry;
+  EXPECT_EQ(expected_jacobian_rz, jacobian_rz)
+      << "\nExpected:\n " << expected_jacobian_rz
+      << "\nActual:\n"   << jacobian_rz;
+
+  // Verify cost, residual, and partial jacobian evaluation.
+  cost = 0.0;
+  VectorRef(residuals, 3).setConstant(0.0);
+  jacobian_rx.setConstant(-1.0);
+  jacobian_ry.setConstant(-1.0);
+  jacobian_rz.setConstant(-1.0);
+
+  jacobian_ptrs[1] = NULL;  // Don't compute the jacobian for y.
+
+  residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
+  EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+  EXPECT_EQ(0.0, residuals[0]);
+  EXPECT_EQ(1.0, residuals[1]);
+  EXPECT_EQ(2.0, residuals[2]);
+
+  EXPECT_EQ(expected_jacobian_rx, jacobian_rx);
+  EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
+  EXPECT_EQ(expected_jacobian_rz, jacobian_rz);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/residual_block_utils.cc b/internal/ceres/residual_block_utils.cc
new file mode 100644
index 0000000..dd2bd73
--- /dev/null
+++ b/internal/ceres/residual_block_utils.cc
@@ -0,0 +1,142 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/residual_block_utils.h"
+
+#include <cmath>
+#include <cstddef>
+#include <limits>
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+void InvalidateEvaluation(const ResidualBlock& block,
+                          double* cost,
+                          double* residuals,
+                          double** jacobians) {
+  const int num_parameter_blocks = block.NumParameterBlocks();
+  const int num_residuals = block.NumResiduals();
+
+  InvalidateArray(1, cost);
+  InvalidateArray(num_residuals, residuals);
+  if (jacobians != NULL) {
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      const int parameter_block_size = block.parameter_blocks()[i]->Size();
+      InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);
+    }
+  }
+}
+
+string EvaluationToString(const ResidualBlock& block,
+                          double const* const* parameters,
+                          double* cost,
+                          double* residuals,
+                          double** jacobians) {
+  CHECK_NOTNULL(cost);
+  CHECK_NOTNULL(residuals);
+
+  const int num_parameter_blocks = block.NumParameterBlocks();
+  const int num_residuals = block.NumResiduals();
+  string result = "";
+
+  StringAppendF(&result,
+                "Residual Block size: %d parameter blocks x %d residuals\n\n",
+                num_parameter_blocks, num_residuals);
+  result +=
+      "For each parameter block, the value of the parameters are printed in the first column   \n"  // NOLINT
+      "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n"  // NOLINT
+      "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n"  // NOLINT
+      "of the Jacobian/residual array was requested but was not written to by user code, it is \n"  // NOLINT
+      "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n"  // NOLINT
+      "to Inf or NaN is also an error.  \n\n"; // NOLINT
+
+  string space = "Residuals:     ";
+  result += space;
+  AppendArrayToString(num_residuals, residuals, &result);
+  StringAppendF(&result, "\n\n");
+
+  for (int i = 0; i < num_parameter_blocks; ++i) {
+    const int parameter_block_size = block.parameter_blocks()[i]->Size();
+    StringAppendF(
+        &result, "Parameter Block %d, size: %d\n", i, parameter_block_size);
+    StringAppendF(&result, "\n");
+    for (int j = 0; j < parameter_block_size; ++j) {
+      AppendArrayToString(1, parameters[i] + j, &result);
+      StringAppendF(&result, "| ");
+      for (int k = 0; k < num_residuals; ++k) {
+        AppendArrayToString(1,
+                            (jacobians != NULL && jacobians[i] != NULL)
+                            ? jacobians[i] + k * parameter_block_size + j
+                            : NULL,
+                            &result);
+      }
+      StringAppendF(&result, "\n");
+    }
+    StringAppendF(&result, "\n");
+  }
+  StringAppendF(&result, "\n");
+  return result;
+}
+
+bool IsEvaluationValid(const ResidualBlock& block,
+                       double const* const* parameters,
+                       double* cost,
+                       double* residuals,
+                       double** jacobians) {
+  const int num_parameter_blocks = block.NumParameterBlocks();
+  const int num_residuals = block.NumResiduals();
+
+  if (!IsArrayValid(num_residuals, residuals)) {
+    return false;
+  }
+
+  if (jacobians != NULL) {
+    for (int i = 0; i < num_parameter_blocks; ++i) {
+      const int parameter_block_size = block.parameter_blocks()[i]->Size();
+      if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/residual_block_utils.h b/internal/ceres/residual_block_utils.h
new file mode 100644
index 0000000..627337f
--- /dev/null
+++ b/internal/ceres/residual_block_utils.h
@@ -0,0 +1,80 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Utility routines for ResidualBlock evaluation.
+//
+// These are useful for detecting two common class of errors.
+//
+// 1. Uninitialized memory - where the user for some reason did not
+// compute part of a cost/residual/jacobian.
+//
+// 2. Numerical failure while computing the cost/residual/jacobian,
+// e.g. NaN, infinities etc. This is particularly useful since the
+// automatic differentiation code does computations that are not
+// evident to the user and can silently generate hard to debug errors.
+
+#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
+#define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class ResidualBlock;
+
+// Invalidate cost, resdual and jacobian arrays (if not NULL).
+void InvalidateEvaluation(const ResidualBlock& block,
+                          double* cost,
+                          double* residuals,
+                          double** jacobians);
+
+// Check if any of the arrays cost, residuals or jacobians contains an
+// NaN, return true if it does.
+bool IsEvaluationValid(const ResidualBlock& block,
+                       double const* const* parameters,
+                       double* cost,
+                       double* residuals,
+                       double** jacobians);
+
+// Create a string representation of the Residual block containing the
+// value of the parameters, residuals and jacobians if present.
+// Useful for debugging output.
+std::string EvaluationToString(const ResidualBlock& block,
+                               double const* const* parameters,
+                               double* cost,
+                               double* residuals,
+                               double** jacobians);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
diff --git a/internal/ceres/residual_block_utils_test.cc b/internal/ceres/residual_block_utils_test.cc
new file mode 100644
index 0000000..3a7e9c3
--- /dev/null
+++ b/internal/ceres/residual_block_utils_test.cc
@@ -0,0 +1,167 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include <limits>
+#include "gtest/gtest.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/residual_block_utils.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+// Routine to check if ResidualBlock::Evaluate for unary CostFunction
+// with one residual succeeds with true or dies.
+void CheckEvaluation(const CostFunction& cost_function, bool is_good) {
+  double x = 1.0;
+  ParameterBlock parameter_block(&x, 1, -1);
+  std::vector<ParameterBlock*> parameter_blocks;
+  parameter_blocks.push_back(&parameter_block);
+
+  ResidualBlock residual_block(&cost_function,
+                               NULL,
+                               parameter_blocks,
+                               -1);
+
+  scoped_array<double> scratch(
+      new double[residual_block.NumScratchDoublesForEvaluate()]);
+
+  double cost;
+  double residuals;
+  double jacobian;
+  double* jacobians[] = { &jacobian };
+
+  EXPECT_EQ(residual_block.Evaluate(true,
+                                    &cost,
+                                    &residuals,
+                                    jacobians,
+                                    scratch.get()), is_good);
+}
+
+// A CostFunction that behaves normaly, i.e., it computes numerically
+// valid residuals and jacobians.
+class GoodCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = 1;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+// The following four CostFunctions simulate the different ways in
+// which user code can cause ResidualBlock::Evaluate to fail.
+class NoResidualUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    // Forget to update the residuals.
+    // residuals[0] = 1;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+class NoJacobianUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = 1;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      // Forget to update the jacobians.
+      // jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+class BadResidualCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = std::numeric_limits<double>::infinity();
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 0.0;
+    }
+    return true;
+  }
+};
+
+class BadJacobianCostFunction: public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = 1.0;
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = std::numeric_limits<double>::quiet_NaN();
+    }
+    return true;
+  }
+};
+
+// Note: It is preferable to write the below test as:
+//
+//  CheckEvaluation(GoodCostFunction(), true);
+//  CheckEvaluation(NoResidualUpdateCostFunction(), false);
+//  CheckEvaluation(NoJacobianUpdateCostFunction(), false);
+//  ...
+//
+// however, there is a bug in the version of GCC on Mac OS X we tested, which
+// requires the objects get put into local variables instead of getting
+// instantiated on the stack.
+TEST(ResidualBlockUtils, CheckAllCombinationsOfBadness) {
+  GoodCostFunction good_fun;
+  CheckEvaluation(good_fun, true);
+  NoResidualUpdateCostFunction no_residual;
+  CheckEvaluation(no_residual, false);
+  NoJacobianUpdateCostFunction no_jacobian;
+  CheckEvaluation(no_jacobian, false);
+  BadResidualCostFunction bad_residual;
+  CheckEvaluation(bad_residual, false);
+  BadJacobianCostFunction bad_jacobian;
+  CheckEvaluation(bad_jacobian, false);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
new file mode 100644
index 0000000..d980ba2
--- /dev/null
+++ b/internal/ceres/rotation_test.cc
@@ -0,0 +1,1132 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include <limits>
+#include <string>
+#include "ceres/internal/eigen.h"
+#include "ceres/is_close.h"
+#include "ceres/internal/port.h"
+#include "ceres/jet.h"
+#include "ceres/rotation.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::min;
+using std::max;
+using std::numeric_limits;
+using std::string;
+using std::swap;
+
+const double kPi = 3.14159265358979323846;
+const double kHalfSqrt2 = 0.707106781186547524401;
+
+double RandDouble() {
+  double r = rand();
+  return r / RAND_MAX;
+}
+
+// A tolerance value for floating-point comparisons.
+static double const kTolerance = numeric_limits<double>::epsilon() * 10;
+
+// Looser tolerance used for numerically unstable conversions.
+static double const kLooseTolerance = 1e-9;
+
+// Use as:
+// double quaternion[4];
+// EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+MATCHER(IsNormalizedQuaternion, "") {
+  if (arg == NULL) {
+    *result_listener << "Null quaternion";
+    return false;
+  }
+
+  double norm2 = arg[0] * arg[0] + arg[1] * arg[1] +
+      arg[2] * arg[2] + arg[3] * arg[3];
+  if (fabs(norm2 - 1.0) > kTolerance) {
+    *result_listener << "squared norm is " << norm2;
+    return false;
+  }
+
+  return true;
+}
+
+// Use as:
+// double expected_quaternion[4];
+// double actual_quaternion[4];
+// EXPECT_THAT(actual_quaternion, IsNearQuaternion(expected_quaternion));
+MATCHER_P(IsNearQuaternion, expected, "") {
+  if (arg == NULL) {
+    *result_listener << "Null quaternion";
+    return false;
+  }
+
+  // Quaternions are equivalent upto a sign change. So we will compare
+  // both signs before declaring failure.
+  bool near = true;
+  for (int i = 0; i < 4; i++) {
+    if (fabs(arg[i] - expected[i]) > kTolerance) {
+      near = false;
+      break;
+    }
+  }
+
+  if (near) {
+    return true;
+  }
+
+  near = true;
+  for (int i = 0; i < 4; i++) {
+    if (fabs(arg[i] + expected[i]) > kTolerance) {
+      near = false;
+      break;
+    }
+  }
+
+  if (near) {
+    return true;
+  }
+
+  *result_listener << "expected : "
+                   << expected[0] << " "
+                   << expected[1] << " "
+                   << expected[2] << " "
+                   << expected[3] << " "
+                   << "actual : "
+                   << arg[0] << " "
+                   << arg[1] << " "
+                   << arg[2] << " "
+                   << arg[3];
+  return false;
+}
+
+// Use as:
+// double expected_axis_angle[3];
+// double actual_axis_angle[3];
+// EXPECT_THAT(actual_axis_angle, IsNearAngleAxis(expected_axis_angle));
+MATCHER_P(IsNearAngleAxis, expected, "") {
+  if (arg == NULL) {
+    *result_listener << "Null axis/angle";
+    return false;
+  }
+
+  Eigen::Vector3d a(arg[0], arg[1], arg[2]);
+  Eigen::Vector3d e(expected[0], expected[1], expected[2]);
+  const double e_norm = e.norm();
+
+  double delta_norm = numeric_limits<double>::max();
+  if (e_norm > 0) {
+    // Deal with the sign ambiguity near PI. Since the sign can flip,
+    // we take the smaller of the two differences.
+    if (fabs(e_norm - kPi) < kLooseTolerance) {
+      delta_norm = min((a - e).norm(), (a + e).norm()) / e_norm;
+    } else {
+      delta_norm = (a - e).norm() / e_norm;
+    }
+  } else {
+    delta_norm = a.norm();
+  }
+
+  if (delta_norm <= kLooseTolerance) {
+    return true;
+  }
+
+  *result_listener << " arg:"
+                   << " " << arg[0]
+                   << " " << arg[1]
+                   << " " << arg[2]
+                   << " was expected to be:"
+                   << " " << expected[0]
+                   << " " << expected[1]
+                   << " " << expected[2];
+  return false;
+}
+
+// Use as:
+// double matrix[9];
+// EXPECT_THAT(matrix, IsOrthonormal());
+MATCHER(IsOrthonormal, "") {
+  if (arg == NULL) {
+    *result_listener << "Null matrix";
+    return false;
+  }
+
+  for (int c1 = 0; c1 < 3; c1++) {
+    for (int c2 = 0; c2 < 3; c2++) {
+      double v = 0;
+      for (int i = 0; i < 3; i++) {
+        v += arg[i + 3 * c1] * arg[i + 3 * c2];
+      }
+      double expected = (c1 == c2) ? 1 : 0;
+      if (fabs(expected - v) > kTolerance) {
+        *result_listener << "Columns " << c1 << " and " << c2
+                         << " should have dot product " << expected
+                         << " but have " << v;
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+// Use as:
+// double matrix1[9];
+// double matrix2[9];
+// EXPECT_THAT(matrix1, IsNear3x3Matrix(matrix2));
+MATCHER_P(IsNear3x3Matrix, expected, "") {
+  if (arg == NULL) {
+    *result_listener << "Null matrix";
+    return false;
+  }
+
+  for (int i = 0; i < 9; i++) {
+    if (fabs(arg[i] - expected[i]) > kTolerance) {
+      *result_listener << "component " << i << " should be " << expected[i];
+      return false;
+    }
+  }
+
+  return true;
+}
+
+// Transforms a zero axis/angle to a quaternion.
+TEST(Rotation, ZeroAngleAxisToQuaternion) {
+  double axis_angle[3] = { 0, 0, 0 };
+  double quaternion[4];
+  double expected[4] = { 1, 0, 0, 0 };
+  AngleAxisToQuaternion(axis_angle, quaternion);
+  EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+  EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallAngleAxisToQuaternion) {
+  // Small, finite value to test.
+  double theta = 1.0e-2;
+  double axis_angle[3] = { theta, 0, 0 };
+  double quaternion[4];
+  double expected[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+  AngleAxisToQuaternion(axis_angle, quaternion);
+  EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+  EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Test that approximate conversion works for very small angles.
+TEST(Rotation, TinyAngleAxisToQuaternion) {
+  // Very small value that could potentially cause underflow.
+  double theta = pow(numeric_limits<double>::min(), 0.75);
+  double axis_angle[3] = { theta, 0, 0 };
+  double quaternion[4];
+  double expected[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+  AngleAxisToQuaternion(axis_angle, quaternion);
+  EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+  EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Transforms a rotation by pi/2 around X to a quaternion.
+TEST(Rotation, XRotationToQuaternion) {
+  double axis_angle[3] = { kPi / 2, 0, 0 };
+  double quaternion[4];
+  double expected[4] = { kHalfSqrt2, kHalfSqrt2, 0, 0 };
+  AngleAxisToQuaternion(axis_angle, quaternion);
+  EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+  EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Transforms a unit quaternion to an axis angle.
+TEST(Rotation, UnitQuaternionToAngleAxis) {
+  double quaternion[4] = { 1, 0, 0, 0 };
+  double axis_angle[3];
+  double expected[3] = { 0, 0, 0 };
+  QuaternionToAngleAxis(quaternion, axis_angle);
+  EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Transforms a quaternion that rotates by pi about the Y axis to an axis angle.
+TEST(Rotation, YRotationQuaternionToAngleAxis) {
+  double quaternion[4] = { 0, 0, 1, 0 };
+  double axis_angle[3];
+  double expected[3] = { 0, kPi, 0 };
+  QuaternionToAngleAxis(quaternion, axis_angle);
+  EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Transforms a quaternion that rotates by pi/3 about the Z axis to an axis
+// angle.
+TEST(Rotation, ZRotationQuaternionToAngleAxis) {
+  double quaternion[4] = { sqrt(3) / 2, 0, 0, 0.5 };
+  double axis_angle[3];
+  double expected[3] = { 0, 0, kPi / 3 };
+  QuaternionToAngleAxis(quaternion, axis_angle);
+  EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallQuaternionToAngleAxis) {
+  // Small, finite value to test.
+  double theta = 1.0e-2;
+  double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+  double axis_angle[3];
+  double expected[3] = { theta, 0, 0 };
+  QuaternionToAngleAxis(quaternion, axis_angle);
+  EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Test that approximate conversion works for very small angles.
+TEST(Rotation, TinyQuaternionToAngleAxis) {
+  // Very small value that could potentially cause underflow.
+  double theta = pow(numeric_limits<double>::min(), 0.75);
+  double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+  double axis_angle[3];
+  double expected[3] = { theta, 0, 0 };
+  QuaternionToAngleAxis(quaternion, axis_angle);
+  EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+TEST(Rotation, QuaternionToAngleAxisAngleIsLessThanPi) {
+  double quaternion[4];
+  double angle_axis[3];
+
+  const double half_theta = 0.75 * kPi;
+
+  quaternion[0] = cos(half_theta);
+  quaternion[1] = 1.0 * sin(half_theta);
+  quaternion[2] = 0.0;
+  quaternion[3] = 0.0;
+  QuaternionToAngleAxis(quaternion, angle_axis);
+  const double angle = sqrt(angle_axis[0] * angle_axis[0] +
+                            angle_axis[1] * angle_axis[1] +
+                            angle_axis[2] * angle_axis[2]);
+  EXPECT_LE(angle, kPi);
+}
+
+static const int kNumTrials = 10000;
+
+// Takes a bunch of random axis/angle values, converts them to quaternions,
+// and back again.
+TEST(Rotation, AngleAxisToQuaterionAndBack) {
+  srand(5);
+  for (int i = 0; i < kNumTrials; i++) {
+    double axis_angle[3];
+    // Make an axis by choosing three random numbers in [-1, 1) and
+    // normalizing.
+    double norm = 0;
+    for (int i = 0; i < 3; i++) {
+      axis_angle[i] = RandDouble() * 2 - 1;
+      norm += axis_angle[i] * axis_angle[i];
+    }
+    norm = sqrt(norm);
+
+    // Angle in [-pi, pi).
+    double theta = kPi * 2 * RandDouble() - kPi;
+    for (int i = 0; i < 3; i++) {
+      axis_angle[i] = axis_angle[i] * theta / norm;
+    }
+
+    double quaternion[4];
+    double round_trip[3];
+    // We use ASSERTs here because if there's one failure, there are
+    // probably many and spewing a million failures doesn't make anyone's
+    // day.
+    AngleAxisToQuaternion(axis_angle, quaternion);
+    ASSERT_THAT(quaternion, IsNormalizedQuaternion());
+    QuaternionToAngleAxis(quaternion, round_trip);
+    ASSERT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+  }
+}
+
+// Takes a bunch of random quaternions, converts them to axis/angle,
+// and back again.
+TEST(Rotation, QuaterionToAngleAxisAndBack) {
+  srand(5);
+  for (int i = 0; i < kNumTrials; i++) {
+    double quaternion[4];
+    // Choose four random numbers in [-1, 1) and normalize.
+    double norm = 0;
+    for (int i = 0; i < 4; i++) {
+      quaternion[i] = RandDouble() * 2 - 1;
+      norm += quaternion[i] * quaternion[i];
+    }
+    norm = sqrt(norm);
+
+    for (int i = 0; i < 4; i++) {
+      quaternion[i] = quaternion[i] / norm;
+    }
+
+    double axis_angle[3];
+    double round_trip[4];
+    QuaternionToAngleAxis(quaternion, axis_angle);
+    AngleAxisToQuaternion(axis_angle, round_trip);
+    ASSERT_THAT(round_trip, IsNormalizedQuaternion());
+    ASSERT_THAT(round_trip, IsNearQuaternion(quaternion));
+  }
+}
+
+// Transforms a zero axis/angle to a rotation matrix.
+TEST(Rotation, ZeroAngleAxisToRotationMatrix) {
+  double axis_angle[3] = { 0, 0, 0 };
+  double matrix[9];
+  double expected[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+  AngleAxisToRotationMatrix(axis_angle, matrix);
+  EXPECT_THAT(matrix, IsOrthonormal());
+  EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+}
+
+TEST(Rotation, NearZeroAngleAxisToRotationMatrix) {
+  double axis_angle[3] = { 1e-24, 2e-24, 3e-24 };
+  double matrix[9];
+  double expected[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+  AngleAxisToRotationMatrix(axis_angle, matrix);
+  EXPECT_THAT(matrix, IsOrthonormal());
+  EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+}
+
+// Transforms a rotation by pi/2 around X to a rotation matrix and back.
+TEST(Rotation, XRotationToRotationMatrix) {
+  double axis_angle[3] = { kPi / 2, 0, 0 };
+  double matrix[9];
+  // The rotation matrices are stored column-major.
+  double expected[9] = { 1, 0, 0, 0, 0, 1, 0, -1, 0 };
+  AngleAxisToRotationMatrix(axis_angle, matrix);
+  EXPECT_THAT(matrix, IsOrthonormal());
+  EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+  double round_trip[3];
+  RotationMatrixToAngleAxis(matrix, round_trip);
+  EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+// Transforms an axis angle that rotates by pi about the Y axis to a
+// rotation matrix and back.
+TEST(Rotation, YRotationToRotationMatrix) {
+  double axis_angle[3] = { 0, kPi, 0 };
+  double matrix[9];
+  double expected[9] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };
+  AngleAxisToRotationMatrix(axis_angle, matrix);
+  EXPECT_THAT(matrix, IsOrthonormal());
+  EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+
+  double round_trip[3];
+  RotationMatrixToAngleAxis(matrix, round_trip);
+  EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+TEST(Rotation, NearPiAngleAxisRoundTrip) {
+  double in_axis_angle[3];
+  double matrix[9];
+  double out_axis_angle[3];
+
+  srand(5);
+  for (int i = 0; i < kNumTrials; i++) {
+    // Make an axis by choosing three random numbers in [-1, 1) and
+    // normalizing.
+    double norm = 0;
+    for (int i = 0; i < 3; i++) {
+      in_axis_angle[i] = RandDouble() * 2 - 1;
+      norm += in_axis_angle[i] * in_axis_angle[i];
+    }
+    norm = sqrt(norm);
+
+    // Angle in [pi - kMaxSmallAngle, pi).
+    const double kMaxSmallAngle = 1e-8;
+    double theta = kPi - kMaxSmallAngle * RandDouble();
+
+    for (int i = 0; i < 3; i++) {
+      in_axis_angle[i] *= (theta / norm);
+    }
+    AngleAxisToRotationMatrix(in_axis_angle, matrix);
+    RotationMatrixToAngleAxis(matrix, out_axis_angle);
+    EXPECT_THAT(in_axis_angle, IsNearAngleAxis(out_axis_angle));
+  }
+}
+
+TEST(Rotation, AtPiAngleAxisRoundTrip) {
+  // A rotation of kPi about the X axis;
+  static const double kMatrix[3][3] = {
+    {1.0,  0.0,  0.0},
+    {0.0,  -1.0,  0.0},
+    {0.0,  0.0,  -1.0}
+  };
+
+  double in_matrix[9];
+  // Fill it from kMatrix in col-major order.
+  for (int j = 0, k = 0; j < 3; ++j) {
+     for (int i = 0; i < 3; ++i, ++k) {
+       in_matrix[k] = kMatrix[i][j];
+     }
+  }
+
+  const double expected_axis_angle[3] = { kPi, 0, 0 };
+
+  double out_matrix[9];
+  double axis_angle[3];
+  RotationMatrixToAngleAxis(in_matrix, axis_angle);
+  AngleAxisToRotationMatrix(axis_angle, out_matrix);
+
+  LOG(INFO) << "AngleAxis = " << axis_angle[0] << " " << axis_angle[1]
+            << " " << axis_angle[2];
+  LOG(INFO) << "Expected AngleAxis = " << kPi << " 0 0";
+  double out_rowmajor[3][3];
+  for (int j = 0, k = 0; j < 3; ++j) {
+    for (int i = 0; i < 3; ++i, ++k) {
+      out_rowmajor[i][j] = out_matrix[k];
+    }
+  }
+  LOG(INFO) << "Rotation:";
+  LOG(INFO) << "EXPECTED        |        ACTUAL";
+  for (int i = 0; i < 3; ++i) {
+    string line;
+    for (int j = 0; j < 3; ++j) {
+      StringAppendF(&line, "%g ", kMatrix[i][j]);
+    }
+    line += "         |        ";
+    for (int j = 0; j < 3; ++j) {
+      StringAppendF(&line, "%g ", out_rowmajor[i][j]);
+    }
+    LOG(INFO) << line;
+  }
+
+  EXPECT_THAT(axis_angle, IsNearAngleAxis(expected_axis_angle));
+  EXPECT_THAT(out_matrix, IsNear3x3Matrix(in_matrix));
+}
+
+// Transforms an axis angle that rotates by pi/3 about the Z axis to a
+// rotation matrix.
+TEST(Rotation, ZRotationToRotationMatrix) {
+  double axis_angle[3] =  { 0, 0, kPi / 3 };
+  double matrix[9];
+  // This is laid-out row-major on the screen but is actually stored
+  // column-major.
+  double expected[9] = { 0.5, sqrt(3) / 2, 0,   // Column 1
+                         -sqrt(3) / 2, 0.5, 0,  // Column 2
+                         0, 0, 1 };             // Column 3
+  AngleAxisToRotationMatrix(axis_angle, matrix);
+  EXPECT_THAT(matrix, IsOrthonormal());
+  EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+  double round_trip[3];
+  RotationMatrixToAngleAxis(matrix, round_trip);
+  EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+// Takes a bunch of random axis/angle values, converts them to rotation
+// matrices, and back again.
+TEST(Rotation, AngleAxisToRotationMatrixAndBack) {
+  srand(5);
+  for (int i = 0; i < kNumTrials; i++) {
+    double axis_angle[3];
+    // Make an axis by choosing three random numbers in [-1, 1) and
+    // normalizing.
+    double norm = 0;
+    for (int i = 0; i < 3; i++) {
+      axis_angle[i] = RandDouble() * 2 - 1;
+      norm += axis_angle[i] * axis_angle[i];
+    }
+    norm = sqrt(norm);
+
+    // Angle in [-pi, pi).
+    double theta = kPi * 2 * RandDouble() - kPi;
+    for (int i = 0; i < 3; i++) {
+      axis_angle[i] = axis_angle[i] * theta / norm;
+    }
+
+    double matrix[9];
+    double round_trip[3];
+    AngleAxisToRotationMatrix(axis_angle, matrix);
+    ASSERT_THAT(matrix, IsOrthonormal());
+    RotationMatrixToAngleAxis(matrix, round_trip);
+
+    for (int i = 0; i < 3; ++i) {
+      EXPECT_NEAR(round_trip[i], axis_angle[i], kLooseTolerance);
+    }
+  }
+}
+
+// Takes a bunch of random axis/angle values near zero, converts them
+// to rotation matrices, and back again.
+TEST(Rotation, AngleAxisToRotationMatrixAndBackNearZero) {
+  srand(5);
+  for (int i = 0; i < kNumTrials; i++) {
+    double axis_angle[3];
+    // Make an axis by choosing three random numbers in [-1, 1) and
+    // normalizing.
+    double norm = 0;
+    for (int i = 0; i < 3; i++) {
+      axis_angle[i] = RandDouble() * 2 - 1;
+      norm += axis_angle[i] * axis_angle[i];
+    }
+    norm = sqrt(norm);
+
+    // Tiny theta.
+    double theta = 1e-16 * (kPi * 2 * RandDouble() - kPi);
+    for (int i = 0; i < 3; i++) {
+      axis_angle[i] = axis_angle[i] * theta / norm;
+    }
+
+    double matrix[9];
+    double round_trip[3];
+    AngleAxisToRotationMatrix(axis_angle, matrix);
+    ASSERT_THAT(matrix, IsOrthonormal());
+    RotationMatrixToAngleAxis(matrix, round_trip);
+
+    for (int i = 0; i < 3; ++i) {
+      EXPECT_NEAR(round_trip[i], axis_angle[i],
+                  numeric_limits<double>::epsilon());
+    }
+  }
+}
+
+
+// Transposes a 3x3 matrix.
+static void Transpose3x3(double m[9]) {
+  swap(m[1], m[3]);
+  swap(m[2], m[6]);
+  swap(m[5], m[7]);
+}
+
+// Convert Euler angles from radians to degrees.
+static void ToDegrees(double euler_angles[3]) {
+  for (int i = 0; i < 3; ++i) {
+    euler_angles[i] *= 180.0 / kPi;
+  }
+}
+
+// Compare the 3x3 rotation matrices produced by the axis-angle
+// rotation 'aa' and the Euler angle rotation 'ea' (in radians).
+static void CompareEulerToAngleAxis(double aa[3], double ea[3]) {
+  double aa_matrix[9];
+  AngleAxisToRotationMatrix(aa, aa_matrix);
+  Transpose3x3(aa_matrix);  // Column to row major order.
+
+  double ea_matrix[9];
+  ToDegrees(ea);  // Radians to degrees.
+  const int kRowStride = 3;
+  EulerAnglesToRotationMatrix(ea, kRowStride, ea_matrix);
+
+  EXPECT_THAT(aa_matrix, IsOrthonormal());
+  EXPECT_THAT(ea_matrix, IsOrthonormal());
+  EXPECT_THAT(ea_matrix, IsNear3x3Matrix(aa_matrix));
+}
+
+// Test with rotation axis along the x/y/z axes.
+// Also test zero rotation.
+TEST(EulerAnglesToRotationMatrix, OnAxis) {
+  int n_tests = 0;
+  for (double x = -1.0; x <= 1.0; x += 1.0) {
+    for (double y = -1.0; y <= 1.0; y += 1.0) {
+      for (double z = -1.0; z <= 1.0; z += 1.0) {
+        if ((x != 0) + (y != 0) + (z != 0) > 1)
+          continue;
+        double axis_angle[3] = {x, y, z};
+        double euler_angles[3] = {x, y, z};
+        CompareEulerToAngleAxis(axis_angle, euler_angles);
+        ++n_tests;
+      }
+    }
+  }
+  CHECK_EQ(7, n_tests);
+}
+
+// Test that a random rotation produces an orthonormal rotation
+// matrix.
+TEST(EulerAnglesToRotationMatrix, IsOrthonormal) {
+  srand(5);
+  for (int trial = 0; trial < kNumTrials; ++trial) {
+    double euler_angles_degrees[3];
+    for (int i = 0; i < 3; ++i) {
+      euler_angles_degrees[i] = RandDouble() * 360.0 - 180.0;
+    }
+    double rotation_matrix[9];
+    EulerAnglesToRotationMatrix(euler_angles_degrees, 3, rotation_matrix);
+    EXPECT_THAT(rotation_matrix, IsOrthonormal());
+  }
+}
+
+// Tests using Jets for specific behavior involving auto differentiation
+// near singularity points.
+
+typedef Jet<double, 3> J3;
+typedef Jet<double, 4> J4;
+
+J3 MakeJ3(double a, double v0, double v1, double v2) {
+  J3 j;
+  j.a = a;
+  j.v[0] = v0;
+  j.v[1] = v1;
+  j.v[2] = v2;
+  return j;
+}
+
+J4 MakeJ4(double a, double v0, double v1, double v2, double v3) {
+  J4 j;
+  j.a = a;
+  j.v[0] = v0;
+  j.v[1] = v1;
+  j.v[2] = v2;
+  j.v[3] = v3;
+  return j;
+}
+
+bool IsClose(double x, double y) {
+  EXPECT_FALSE(IsNaN(x));
+  EXPECT_FALSE(IsNaN(y));
+  return internal::IsClose(x, y, kTolerance, NULL, NULL);
+}
+
+template <int N>
+bool IsClose(const Jet<double, N> &x, const Jet<double, N> &y) {
+  if (!IsClose(x.a, y.a)) {
+    return false;
+  }
+  for (int i = 0; i < N; i++) {
+    if (!IsClose(x.v[i], y.v[i])) {
+      return false;
+    }
+  }
+  return true;
+}
+
+template <int M, int N>
+void ExpectJetArraysClose(const Jet<double, N> *x, const Jet<double, N> *y) {
+  for (int i = 0; i < M; i++) {
+    if (!IsClose(x[i], y[i])) {
+      LOG(ERROR) << "Jet " << i << "/" << M << " not equal";
+      LOG(ERROR) << "x[" << i << "]: " << x[i];
+      LOG(ERROR) << "y[" << i << "]: " << y[i];
+      Jet<double, N> d, zero;
+      d.a = y[i].a - x[i].a;
+      for (int j = 0; j < N; j++) {
+        d.v[j] = y[i].v[j] - x[i].v[j];
+      }
+      LOG(ERROR) << "diff: " << d;
+      EXPECT_TRUE(IsClose(x[i], y[i]));
+    }
+  }
+}
+
+// Log-10 of a value well below machine precision.
+static const int kSmallTinyCutoff =
+    static_cast<int>(2 * log(numeric_limits<double>::epsilon())/log(10.0));
+
+// Log-10 of a value just below values representable by double.
+static const int kTinyZeroLimit   =
+    static_cast<int>(1 + log(numeric_limits<double>::min())/log(10.0));
+
+// Test that exact conversion works for small angles when jets are used.
+TEST(Rotation, SmallAngleAxisToQuaternionForJets) {
+  // Examine small x rotations that are still large enough
+  // to be well within the range represented by doubles.
+  for (int i = -2; i >= kSmallTinyCutoff; i--) {
+    double theta = pow(10.0, i);
+    J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) };
+    J3 quaternion[4];
+    J3 expected[4] = {
+        MakeJ3(cos(theta/2), -sin(theta/2)/2, 0, 0),
+        MakeJ3(sin(theta/2), cos(theta/2)/2, 0, 0),
+        MakeJ3(0, 0, sin(theta/2)/theta, 0),
+        MakeJ3(0, 0, 0, sin(theta/2)/theta),
+    };
+    AngleAxisToQuaternion(axis_angle, quaternion);
+    ExpectJetArraysClose<4, 3>(quaternion, expected);
+  }
+}
+
+
+// Test that conversion works for very small angles when jets are used.
+TEST(Rotation, TinyAngleAxisToQuaternionForJets) {
+  // Examine tiny x rotations that extend all the way to where
+  // underflow occurs.
+  for (int i = kSmallTinyCutoff; i >= kTinyZeroLimit; i--) {
+    double theta = pow(10.0, i);
+    J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) };
+    J3 quaternion[4];
+    // To avoid loss of precision in the test itself,
+    // a finite expansion is used here, which will
+    // be exact up to machine precision for the test values used.
+    J3 expected[4] = {
+        MakeJ3(1.0, 0, 0, 0),
+        MakeJ3(0, 0.5, 0, 0),
+        MakeJ3(0, 0, 0.5, 0),
+        MakeJ3(0, 0, 0, 0.5),
+    };
+    AngleAxisToQuaternion(axis_angle, quaternion);
+    ExpectJetArraysClose<4, 3>(quaternion, expected);
+  }
+}
+
+// Test that derivatives are correct for zero rotation.
+TEST(Rotation, ZeroAngleAxisToQuaternionForJets) {
+  J3 axis_angle[3] = { J3(0, 0), J3(0, 1), J3(0, 2) };
+  J3 quaternion[4];
+  J3 expected[4] = {
+      MakeJ3(1.0, 0, 0, 0),
+      MakeJ3(0, 0.5, 0, 0),
+      MakeJ3(0, 0, 0.5, 0),
+      MakeJ3(0, 0, 0, 0.5),
+  };
+  AngleAxisToQuaternion(axis_angle, quaternion);
+  ExpectJetArraysClose<4, 3>(quaternion, expected);
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallQuaternionToAngleAxisForJets) {
+  // Examine small x rotations that are still large enough
+  // to be well within the range represented by doubles.
+  for (int i = -2; i >= kSmallTinyCutoff; i--) {
+    double theta = pow(10.0, i);
+    double s = sin(theta);
+    double c = cos(theta);
+    J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
+    J4 axis_angle[3];
+    J4 expected[3] = {
+        MakeJ4(2*theta, -2*s, 2*c,  0,         0),
+        MakeJ4(0,        0,   0,    2*theta/s, 0),
+        MakeJ4(0,        0,   0,    0,         2*theta/s),
+    };
+    QuaternionToAngleAxis(quaternion, axis_angle);
+    ExpectJetArraysClose<3, 4>(axis_angle, expected);
+  }
+}
+
+// Test that conversion works for very small angles.
+TEST(Rotation, TinyQuaternionToAngleAxisForJets) {
+  // Examine tiny x rotations that extend all the way to where
+  // underflow occurs.
+  for (int i = kSmallTinyCutoff; i >= kTinyZeroLimit; i--) {
+    double theta = pow(10.0, i);
+    double s = sin(theta);
+    double c = cos(theta);
+    J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
+    J4 axis_angle[3];
+    // To avoid loss of precision in the test itself,
+    // a finite expansion is used here, which will
+    // be exact up to machine precision for the test values used.
+    J4 expected[3] = {
+        MakeJ4(2*theta, -2*s, 2.0, 0,   0),
+        MakeJ4(0,        0,   0,   2.0, 0),
+        MakeJ4(0,        0,   0,   0,   2.0),
+    };
+    QuaternionToAngleAxis(quaternion, axis_angle);
+    ExpectJetArraysClose<3, 4>(axis_angle, expected);
+  }
+}
+
+// Test that conversion works for no rotation.
+TEST(Rotation, ZeroQuaternionToAngleAxisForJets) {
+  J4 quaternion[4] = { J4(1, 0), J4(0, 1), J4(0, 2), J4(0, 3) };
+  J4 axis_angle[3];
+  J4 expected[3] = {
+      MakeJ4(0, 0, 2.0, 0, 0),
+      MakeJ4(0, 0, 0, 2.0, 0),
+      MakeJ4(0, 0, 0, 0, 2.0),
+  };
+  QuaternionToAngleAxis(quaternion, axis_angle);
+  ExpectJetArraysClose<3, 4>(axis_angle, expected);
+}
+
+TEST(Quaternion, RotatePointGivesSameAnswerAsRotationByMatrixCanned) {
+  // Canned data generated in octave.
+  double const q[4] = {
+    +0.1956830471754074,
+    -0.0150618562474847,
+    +0.7634572982788086,
+    -0.3019454777240753,
+  };
+  double const Q[3][3] = {  // Scaled rotation matrix.
+    { -0.6355194033477252,  0.0951730541682254,  0.3078870197911186 },
+    { -0.1411693904792992,  0.5297609702153905, -0.4551502574482019 },
+    { -0.2896955822708862, -0.4669396571547050, -0.4536309793389248 },
+  };
+  double const R[3][3] = {  // With unit rows and columns.
+    { -0.8918859164053080,  0.1335655625725649,  0.4320876677394745 },
+    { -0.1981166751680096,  0.7434648665444399, -0.6387564287225856 },
+    { -0.4065578619806013, -0.6553016349046693, -0.6366242786393164 },
+  };
+
+  // Compute R from q and compare to known answer.
+  double Rq[3][3];
+  QuaternionToScaledRotation<double>(q, Rq[0]);
+  ExpectArraysClose(9, Q[0], Rq[0], kTolerance);
+
+  // Now do the same but compute R with normalization.
+  QuaternionToRotation<double>(q, Rq[0]);
+  ExpectArraysClose(9, R[0], Rq[0], kTolerance);
+}
+
+
+TEST(Quaternion, RotatePointGivesSameAnswerAsRotationByMatrix) {
+  // Rotation defined by a unit quaternion.
+  double const q[4] = {
+    0.2318160216097109,
+    -0.0178430356832060,
+    0.9044300776717159,
+    -0.3576998641394597,
+  };
+  double const p[3] = {
+    +0.11,
+    -13.15,
+    1.17,
+  };
+
+  double R[3 * 3];
+  QuaternionToRotation(q, R);
+
+  double result1[3];
+  UnitQuaternionRotatePoint(q, p, result1);
+
+  double result2[3];
+  VectorRef(result2, 3) = ConstMatrixRef(R, 3, 3)* ConstVectorRef(p, 3);
+  ExpectArraysClose(3, result1, result2, kTolerance);
+}
+
+
+// Verify that (a * b) * c == a * (b * c).
+TEST(Quaternion, MultiplicationIsAssociative) {
+  double a[4];
+  double b[4];
+  double c[4];
+  for (int i = 0; i < 4; ++i) {
+    a[i] = 2 * RandDouble() - 1;
+    b[i] = 2 * RandDouble() - 1;
+    c[i] = 2 * RandDouble() - 1;
+  }
+
+  double ab[4];
+  double ab_c[4];
+  QuaternionProduct(a, b, ab);
+  QuaternionProduct(ab, c, ab_c);
+
+  double bc[4];
+  double a_bc[4];
+  QuaternionProduct(b, c, bc);
+  QuaternionProduct(a, bc, a_bc);
+
+  ASSERT_NEAR(ab_c[0], a_bc[0], kTolerance);
+  ASSERT_NEAR(ab_c[1], a_bc[1], kTolerance);
+  ASSERT_NEAR(ab_c[2], a_bc[2], kTolerance);
+  ASSERT_NEAR(ab_c[3], a_bc[3], kTolerance);
+}
+
+
+TEST(AngleAxis, RotatePointGivesSameAnswerAsRotationMatrix) {
+  double angle_axis[3];
+  double R[9];
+  double p[3];
+  double angle_axis_rotated_p[3];
+  double rotation_matrix_rotated_p[3];
+
+  for (int i = 0; i < 10000; ++i) {
+    double theta = (2.0 * i * 0.0011 - 1.0) * kPi;
+    for (int j = 0; j < 50; ++j) {
+      double norm2 = 0.0;
+      for (int k = 0; k < 3; ++k) {
+        angle_axis[k] = 2.0 * RandDouble() - 1.0;
+        p[k] = 2.0 * RandDouble() - 1.0;
+        norm2 = angle_axis[k] * angle_axis[k];
+      }
+
+      const double inv_norm = theta / sqrt(norm2);
+      for (int k = 0; k < 3; ++k) {
+        angle_axis[k] *= inv_norm;
+      }
+
+      AngleAxisToRotationMatrix(angle_axis, R);
+      rotation_matrix_rotated_p[0] = R[0] * p[0] + R[3] * p[1] + R[6] * p[2];
+      rotation_matrix_rotated_p[1] = R[1] * p[0] + R[4] * p[1] + R[7] * p[2];
+      rotation_matrix_rotated_p[2] = R[2] * p[0] + R[5] * p[1] + R[8] * p[2];
+
+      AngleAxisRotatePoint(angle_axis, p, angle_axis_rotated_p);
+      for (int k = 0; k < 3; ++k) {
+        EXPECT_NEAR(rotation_matrix_rotated_p[k],
+                    angle_axis_rotated_p[k],
+                    kTolerance) << "p: " << p[0]
+                                << " " << p[1]
+                                << " " << p[2]
+                                << " angle_axis: " << angle_axis[0]
+                                << " " << angle_axis[1]
+                                << " " << angle_axis[2];
+      }
+    }
+  }
+}
+
+TEST(AngleAxis, NearZeroRotatePointGivesSameAnswerAsRotationMatrix) {
+  double angle_axis[3];
+  double R[9];
+  double p[3];
+  double angle_axis_rotated_p[3];
+  double rotation_matrix_rotated_p[3];
+
+  for (int i = 0; i < 10000; ++i) {
+    double norm2 = 0.0;
+    for (int k = 0; k < 3; ++k) {
+      angle_axis[k] = 2.0 * RandDouble() - 1.0;
+      p[k] = 2.0 * RandDouble() - 1.0;
+      norm2 = angle_axis[k] * angle_axis[k];
+    }
+
+    double theta = (2.0 * i * 0.0001  - 1.0) * 1e-16;
+    const double inv_norm = theta / sqrt(norm2);
+    for (int k = 0; k < 3; ++k) {
+      angle_axis[k] *= inv_norm;
+    }
+
+    AngleAxisToRotationMatrix(angle_axis, R);
+    rotation_matrix_rotated_p[0] = R[0] * p[0] + R[3] * p[1] + R[6] * p[2];
+    rotation_matrix_rotated_p[1] = R[1] * p[0] + R[4] * p[1] + R[7] * p[2];
+    rotation_matrix_rotated_p[2] = R[2] * p[0] + R[5] * p[1] + R[8] * p[2];
+
+    AngleAxisRotatePoint(angle_axis, p, angle_axis_rotated_p);
+    for (int k = 0; k < 3; ++k) {
+      EXPECT_NEAR(rotation_matrix_rotated_p[k],
+                  angle_axis_rotated_p[k],
+                  kTolerance) << "p: " << p[0]
+                              << " " << p[1]
+                              << " " << p[2]
+                              << " angle_axis: " << angle_axis[0]
+                              << " " << angle_axis[1]
+                              << " " << angle_axis[2];
+    }
+  }
+}
+
+TEST(MatrixAdapter, RowMajor3x3ReturnTypeAndAccessIsCorrect) {
+  double array[9] = { 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
+  const float const_array[9] =
+      { 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f };
+  MatrixAdapter<double, 3, 1> A = RowMajorAdapter3x3(array);
+  MatrixAdapter<const float, 3, 1> B = RowMajorAdapter3x3(const_array);
+
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j) {
+      // The values are integers from 1 to 9, so equality tests are appropriate
+      // even for float and double values.
+      EXPECT_EQ(A(i, j), array[3*i+j]);
+      EXPECT_EQ(B(i, j), const_array[3*i+j]);
+    }
+  }
+}
+
+TEST(MatrixAdapter, ColumnMajor3x3ReturnTypeAndAccessIsCorrect) {
+  double array[9] = { 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0 };
+  const float const_array[9] =
+      { 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f };
+  MatrixAdapter<double, 1, 3> A = ColumnMajorAdapter3x3(array);
+  MatrixAdapter<const float, 1, 3> B = ColumnMajorAdapter3x3(const_array);
+
+  for (int i = 0; i < 3; ++i) {
+    for (int j = 0; j < 3; ++j) {
+      // The values are integers from 1 to 9, so equality tests are
+      // appropriate even for float and double values.
+      EXPECT_EQ(A(i, j), array[3*j+i]);
+      EXPECT_EQ(B(i, j), const_array[3*j+i]);
+    }
+  }
+}
+
+TEST(MatrixAdapter, RowMajor2x4IsCorrect) {
+  const int expected[8] = { 1, 2, 3, 4, 5, 6, 7, 8 };
+  int array[8];
+  MatrixAdapter<int, 4, 1> M(array);
+  M(0, 0) = 1; M(0, 1) = 2; M(0, 2) = 3; M(0, 3) = 4;
+  M(1, 0) = 5; M(1, 1) = 6; M(1, 2) = 7; M(1, 3) = 8;
+  for (int k = 0; k < 8; ++k) {
+    EXPECT_EQ(array[k], expected[k]);
+  }
+}
+
+TEST(MatrixAdapter, ColumnMajor2x4IsCorrect) {
+  const int expected[8] = { 1, 5, 2, 6, 3, 7, 4, 8 };
+  int array[8];
+  MatrixAdapter<int, 1, 2> M(array);
+  M(0, 0) = 1; M(0, 1) = 2; M(0, 2) = 3; M(0, 3) = 4;
+  M(1, 0) = 5; M(1, 1) = 6; M(1, 2) = 7; M(1, 3) = 8;
+  for (int k = 0; k < 8; ++k) {
+    EXPECT_EQ(array[k], expected[k]);
+  }
+}
+
+TEST(RotationMatrixToAngleAxis, NearPiExampleOneFromTobiasStrauss) {
+  // Example from Tobias Strauss
+  const double rotation_matrix[] = {
+    -0.999807135425239,    -0.0128154391194470,   -0.0148814136745799,
+    -0.0128154391194470,   -0.148441438622958,     0.988838158557669,
+    -0.0148814136745799,    0.988838158557669,     0.148248574048196
+  };
+
+  double angle_axis[3];
+  RotationMatrixToAngleAxis(RowMajorAdapter3x3(rotation_matrix), angle_axis);
+  double round_trip[9];
+  AngleAxisToRotationMatrix(angle_axis, RowMajorAdapter3x3(round_trip));
+  EXPECT_THAT(rotation_matrix, IsNear3x3Matrix(round_trip));
+}
+
+void CheckRotationMatrixToAngleAxisRoundTrip(const double theta,
+                                             const double phi,
+                                             const double angle) {
+  double angle_axis[3];
+  angle_axis[0] = angle * sin(phi) * cos(theta);
+  angle_axis[1] = angle * sin(phi) * sin(theta);
+  angle_axis[2] = angle * cos(phi);
+
+  double rotation_matrix[9];
+  AngleAxisToRotationMatrix(angle_axis, rotation_matrix);
+
+  double angle_axis_round_trip[3];
+  RotationMatrixToAngleAxis(rotation_matrix, angle_axis_round_trip);
+  EXPECT_THAT(angle_axis_round_trip, IsNearAngleAxis(angle_axis));
+}
+
+TEST(RotationMatrixToAngleAxis, ExhaustiveRoundTrip) {
+  const double kMaxSmallAngle = 1e-8;
+  const int kNumSteps = 1000;
+  for (int i = 0; i < kNumSteps; ++i) {
+    const double theta = static_cast<double>(i) / kNumSteps * 2.0 * kPi;
+    for (int j = 0; j < kNumSteps; ++j) {
+      const double phi = static_cast<double>(j) / kNumSteps * kPi;
+      // Rotations of angle Pi.
+      CheckRotationMatrixToAngleAxisRoundTrip(theta, phi, kPi);
+      // Rotation of angle approximately Pi.
+      CheckRotationMatrixToAngleAxisRoundTrip(
+          theta, phi, kPi - kMaxSmallAngle * RandDouble());
+      // Rotations of angle approximately zero.
+      CheckRotationMatrixToAngleAxisRoundTrip(
+          theta, phi, kMaxSmallAngle * 2.0 * RandDouble() - 1.0);
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/schur_complement_solver.cc b/internal/ceres/schur_complement_solver.cc
new file mode 100644
index 0000000..16470fd
--- /dev/null
+++ b/internal/ceres/schur_complement_solver.cc
@@ -0,0 +1,425 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/schur_complement_solver.h"
+
+#include <algorithm>
+#include <ctime>
+#include <set>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "Eigen/SparseCore"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/lapack.h"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::vector;
+
+namespace {
+
+class BlockRandomAccessSparseMatrixAdapter : public LinearOperator {
+ public:
+  explicit BlockRandomAccessSparseMatrixAdapter(
+      const BlockRandomAccessSparseMatrix& m)
+      : m_(m) {
+  }
+
+  virtual ~BlockRandomAccessSparseMatrixAdapter() {}
+
+  // y = y + Ax;
+  virtual void RightMultiply(const double* x, double* y) const {
+    m_.SymmetricRightMultiply(x, y);
+  }
+
+  // y = y + A'x;
+  virtual void LeftMultiply(const double* x, double* y) const {
+    m_.SymmetricRightMultiply(x, y);
+  }
+
+  virtual int num_rows() const { return m_.num_rows(); }
+  virtual int num_cols() const { return m_.num_rows(); }
+
+ private:
+  const BlockRandomAccessSparseMatrix& m_;
+};
+
+class BlockRandomAccessDiagonalMatrixAdapter : public LinearOperator {
+ public:
+  explicit BlockRandomAccessDiagonalMatrixAdapter(
+      const BlockRandomAccessDiagonalMatrix& m)
+      : m_(m) {
+  }
+
+  virtual ~BlockRandomAccessDiagonalMatrixAdapter() {}
+
+  // y = y + Ax;
+  virtual void RightMultiply(const double* x, double* y) const {
+    m_.RightMultiply(x, y);
+  }
+
+  // y = y + A'x;
+  virtual void LeftMultiply(const double* x, double* y) const {
+    m_.RightMultiply(x, y);
+  }
+
+  virtual int num_rows() const { return m_.num_rows(); }
+  virtual int num_cols() const { return m_.num_rows(); }
+
+ private:
+  const BlockRandomAccessDiagonalMatrix& m_;
+};
+
+} // namespace
+
+LinearSolver::Summary SchurComplementSolver::SolveImpl(
+    BlockSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("SchurComplementSolver::Solve");
+
+  if (eliminator_.get() == NULL) {
+    InitStorage(A->block_structure());
+    DetectStructure(*A->block_structure(),
+                    options_.elimination_groups[0],
+                    &options_.row_block_size,
+                    &options_.e_block_size,
+                    &options_.f_block_size);
+    eliminator_.reset(CHECK_NOTNULL(SchurEliminatorBase::Create(options_)));
+    const bool kFullRankETE = true;
+    eliminator_->Init(
+        options_.elimination_groups[0], kFullRankETE, A->block_structure());
+  };
+
+  std::fill(x, x + A->num_cols(), 0.0);
+  event_logger.AddEvent("Setup");
+
+  eliminator_->Eliminate(A, b, per_solve_options.D, lhs_.get(), rhs_.get());
+  event_logger.AddEvent("Eliminate");
+
+  double* reduced_solution = x + A->num_cols() - lhs_->num_cols();
+  const LinearSolver::Summary summary =
+      SolveReducedLinearSystem(per_solve_options, reduced_solution);
+  event_logger.AddEvent("ReducedSolve");
+
+  if (summary.termination_type == LINEAR_SOLVER_SUCCESS) {
+    eliminator_->BackSubstitute(A, b, per_solve_options.D, reduced_solution, x);
+    event_logger.AddEvent("BackSubstitute");
+  }
+
+  return summary;
+}
+
+// Initialize a BlockRandomAccessDenseMatrix to store the Schur
+// complement.
+void DenseSchurComplementSolver::InitStorage(
+    const CompressedRowBlockStructure* bs) {
+  const int num_eliminate_blocks = options().elimination_groups[0];
+  const int num_col_blocks = bs->cols.size();
+
+  vector<int> blocks(num_col_blocks - num_eliminate_blocks, 0);
+  for (int i = num_eliminate_blocks, j = 0;
+       i < num_col_blocks;
+       ++i, ++j) {
+    blocks[j] = bs->cols[i].size;
+  }
+
+  set_lhs(new BlockRandomAccessDenseMatrix(blocks));
+  set_rhs(new double[lhs()->num_rows()]);
+}
+
+// Solve the system Sx = r, assuming that the matrix S is stored in a
+// BlockRandomAccessDenseMatrix. The linear system is solved using
+// Eigen's Cholesky factorization.
+LinearSolver::Summary
+DenseSchurComplementSolver::SolveReducedLinearSystem(
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* solution) {
+  LinearSolver::Summary summary;
+  summary.num_iterations = 0;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  summary.message = "Success.";
+
+  const BlockRandomAccessDenseMatrix* m =
+      down_cast<const BlockRandomAccessDenseMatrix*>(lhs());
+  const int num_rows = m->num_rows();
+
+  // The case where there are no f blocks, and the system is block
+  // diagonal.
+  if (num_rows == 0) {
+    return summary;
+  }
+
+  summary.num_iterations = 1;
+
+  if (options().dense_linear_algebra_library_type == EIGEN) {
+    Eigen::LLT<Matrix, Eigen::Upper> llt =
+        ConstMatrixRef(m->values(), num_rows, num_rows)
+        .selfadjointView<Eigen::Upper>()
+        .llt();
+    if (llt.info() != Eigen::Success) {
+      summary.termination_type = LINEAR_SOLVER_FAILURE;
+      summary.message =
+          "Eigen failure. Unable to perform dense Cholesky factorization.";
+      return summary;
+    }
+
+    VectorRef(solution, num_rows) = llt.solve(ConstVectorRef(rhs(), num_rows));
+  } else {
+    VectorRef(solution, num_rows) = ConstVectorRef(rhs(), num_rows);
+    summary.termination_type =
+        LAPACK::SolveInPlaceUsingCholesky(num_rows,
+                                          m->values(),
+                                          solution,
+                                          &summary.message);
+  }
+
+  return summary;
+}
+
+SparseSchurComplementSolver::SparseSchurComplementSolver(
+    const LinearSolver::Options& options)
+    : SchurComplementSolver(options) {
+  if (options.type != ITERATIVE_SCHUR) {
+    sparse_cholesky_.reset(
+        SparseCholesky::Create(options.sparse_linear_algebra_library_type,
+                               options.use_postordering ? AMD : NATURAL));
+  }
+}
+
+SparseSchurComplementSolver::~SparseSchurComplementSolver() {
+}
+
+// Determine the non-zero blocks in the Schur Complement matrix, and
+// initialize a BlockRandomAccessSparseMatrix object.
+void SparseSchurComplementSolver::InitStorage(
+    const CompressedRowBlockStructure* bs) {
+  const int num_eliminate_blocks = options().elimination_groups[0];
+  const int num_col_blocks = bs->cols.size();
+  const int num_row_blocks = bs->rows.size();
+
+  blocks_.resize(num_col_blocks - num_eliminate_blocks, 0);
+  for (int i = num_eliminate_blocks; i < num_col_blocks; ++i) {
+    blocks_[i - num_eliminate_blocks] = bs->cols[i].size;
+  }
+
+  set<pair<int, int> > block_pairs;
+  for (int i = 0; i < blocks_.size(); ++i) {
+    block_pairs.insert(make_pair(i, i));
+  }
+
+  int r = 0;
+  while (r < num_row_blocks) {
+    int e_block_id = bs->rows[r].cells.front().block_id;
+    if (e_block_id >= num_eliminate_blocks) {
+      break;
+    }
+    vector<int> f_blocks;
+
+    // Add to the chunk until the first block in the row is
+    // different than the one in the first row for the chunk.
+    for (; r < num_row_blocks; ++r) {
+      const CompressedRow& row = bs->rows[r];
+      if (row.cells.front().block_id != e_block_id) {
+        break;
+      }
+
+      // Iterate over the blocks in the row, ignoring the first
+      // block since it is the one to be eliminated.
+      for (int c = 1; c < row.cells.size(); ++c) {
+        const Cell& cell = row.cells[c];
+        f_blocks.push_back(cell.block_id - num_eliminate_blocks);
+      }
+    }
+
+    sort(f_blocks.begin(), f_blocks.end());
+    f_blocks.erase(unique(f_blocks.begin(), f_blocks.end()), f_blocks.end());
+    for (int i = 0; i < f_blocks.size(); ++i) {
+      for (int j = i + 1; j < f_blocks.size(); ++j) {
+        block_pairs.insert(make_pair(f_blocks[i], f_blocks[j]));
+      }
+    }
+  }
+
+  // Remaing rows do not contribute to the chunks and directly go
+  // into the schur complement via an outer product.
+  for (; r < num_row_blocks; ++r) {
+    const CompressedRow& row = bs->rows[r];
+    CHECK_GE(row.cells.front().block_id, num_eliminate_blocks);
+    for (int i = 0; i < row.cells.size(); ++i) {
+      int r_block1_id = row.cells[i].block_id - num_eliminate_blocks;
+      for (int j = 0; j < row.cells.size(); ++j) {
+        int r_block2_id = row.cells[j].block_id - num_eliminate_blocks;
+        if (r_block1_id <= r_block2_id) {
+          block_pairs.insert(make_pair(r_block1_id, r_block2_id));
+        }
+      }
+    }
+  }
+
+  set_lhs(new BlockRandomAccessSparseMatrix(blocks_, block_pairs));
+  set_rhs(new double[lhs()->num_rows()]);
+}
+
+LinearSolver::Summary SparseSchurComplementSolver::SolveReducedLinearSystem(
+    const LinearSolver::PerSolveOptions& per_solve_options, double* solution) {
+  if (options().type == ITERATIVE_SCHUR) {
+    return SolveReducedLinearSystemUsingConjugateGradients(per_solve_options,
+                                                           solution);
+  }
+
+  LinearSolver::Summary summary;
+  summary.num_iterations = 0;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  summary.message = "Success.";
+
+  const TripletSparseMatrix* tsm =
+      down_cast<const BlockRandomAccessSparseMatrix*>(lhs())->matrix();
+  if (tsm->num_rows() == 0) {
+    return summary;
+  }
+
+  scoped_ptr<CompressedRowSparseMatrix> lhs;
+  const CompressedRowSparseMatrix::StorageType storage_type =
+      sparse_cholesky_->StorageType();
+  if (storage_type == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+    lhs.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+    lhs->set_storage_type(CompressedRowSparseMatrix::UPPER_TRIANGULAR);
+  } else {
+    lhs.reset(
+        CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm));
+    lhs->set_storage_type(CompressedRowSparseMatrix::LOWER_TRIANGULAR);
+  }
+
+  *lhs->mutable_col_blocks() = blocks_;
+  *lhs->mutable_row_blocks() = blocks_;
+
+  summary.num_iterations = 1;
+  summary.termination_type = sparse_cholesky_->FactorAndSolve(
+      lhs.get(), rhs(), solution, &summary.message);
+  return summary;
+}
+
+LinearSolver::Summary
+SparseSchurComplementSolver::SolveReducedLinearSystemUsingConjugateGradients(
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* solution) {
+  CHECK(options().use_explicit_schur_complement);
+  const int num_rows = lhs()->num_rows();
+  // The case where there are no f blocks, and the system is block
+  // diagonal.
+  if (num_rows == 0) {
+    LinearSolver::Summary summary;
+    summary.num_iterations = 0;
+    summary.termination_type = LINEAR_SOLVER_SUCCESS;
+    summary.message = "Success.";
+    return summary;
+  }
+
+  // Only SCHUR_JACOBI is supported over here right now.
+  CHECK_EQ(options().preconditioner_type, SCHUR_JACOBI);
+
+  if (preconditioner_.get() == NULL) {
+    preconditioner_.reset(new BlockRandomAccessDiagonalMatrix(blocks_));
+  }
+
+  BlockRandomAccessSparseMatrix* sc =
+      down_cast<BlockRandomAccessSparseMatrix*>(
+          const_cast<BlockRandomAccessMatrix*>(lhs()));
+
+  // Extract block diagonal from the Schur complement to construct the
+  // schur_jacobi preconditioner.
+  for (int i = 0; i  < blocks_.size(); ++i) {
+    const int block_size = blocks_[i];
+
+    int sc_r, sc_c, sc_row_stride, sc_col_stride;
+    CellInfo* sc_cell_info =
+        CHECK_NOTNULL(sc->GetCell(i, i,
+                                  &sc_r, &sc_c,
+                                  &sc_row_stride, &sc_col_stride));
+    MatrixRef sc_m(sc_cell_info->values, sc_row_stride, sc_col_stride);
+
+    int pre_r, pre_c, pre_row_stride, pre_col_stride;
+    CellInfo* pre_cell_info = CHECK_NOTNULL(
+        preconditioner_->GetCell(i, i,
+                                 &pre_r, &pre_c,
+                                 &pre_row_stride, &pre_col_stride));
+    MatrixRef pre_m(pre_cell_info->values, pre_row_stride, pre_col_stride);
+
+    pre_m.block(pre_r, pre_c, block_size, block_size) =
+        sc_m.block(sc_r, sc_c, block_size, block_size);
+  }
+  preconditioner_->Invert();
+
+  VectorRef(solution, num_rows).setZero();
+
+  scoped_ptr<LinearOperator> lhs_adapter(
+      new BlockRandomAccessSparseMatrixAdapter(*sc));
+  scoped_ptr<LinearOperator> preconditioner_adapter(
+      new BlockRandomAccessDiagonalMatrixAdapter(*preconditioner_));
+
+
+  LinearSolver::Options cg_options;
+  cg_options.min_num_iterations = options().min_num_iterations;
+  cg_options.max_num_iterations = options().max_num_iterations;
+  ConjugateGradientsSolver cg_solver(cg_options);
+
+  LinearSolver::PerSolveOptions cg_per_solve_options;
+  cg_per_solve_options.r_tolerance = per_solve_options.r_tolerance;
+  cg_per_solve_options.q_tolerance = per_solve_options.q_tolerance;
+  cg_per_solve_options.preconditioner = preconditioner_adapter.get();
+
+  return cg_solver.Solve(lhs_adapter.get(),
+                         rhs(),
+                         cg_per_solve_options,
+                         solution);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/schur_complement_solver.h b/internal/ceres/schur_complement_solver.h
new file mode 100644
index 0000000..74665f0
--- /dev/null
+++ b/internal/ceres/schur_complement_solver.h
@@ -0,0 +1,190 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
+#define CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
+
+#include <set>
+#include <utility>
+#include <vector>
+
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/types.h"
+
+#ifdef CERES_USE_EIGEN_SPARSE
+#include "Eigen/SparseCholesky"
+#include "Eigen/OrderingMethods"
+#endif
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class SparseCholesky;
+
+// Base class for Schur complement based linear least squares
+// solvers. It assumes that the input linear system Ax = b can be
+// partitioned into
+//
+//  E y + F z = b
+//
+// Where x = [y;z] is a partition of the variables.  The paritioning
+// of the variables is such that, E'E is a block diagonal
+// matrix. Further, the rows of A are ordered so that for every
+// variable block in y, all the rows containing that variable block
+// occur as a vertically contiguous block. i.e the matrix A looks like
+//
+//              E                 F
+//  A = [ y1   0   0   0 |  z1    0    0   0    z5]
+//      [ y1   0   0   0 |  z1   z2    0   0     0]
+//      [  0  y2   0   0 |   0    0   z3   0     0]
+//      [  0   0  y3   0 |  z1   z2   z3  z4    z5]
+//      [  0   0  y3   0 |  z1    0    0   0    z5]
+//      [  0   0   0  y4 |   0    0    0   0    z5]
+//      [  0   0   0  y4 |   0   z2    0   0     0]
+//      [  0   0   0  y4 |   0    0    0   0     0]
+//      [  0   0   0   0 |  z1    0    0   0     0]
+//      [  0   0   0   0 |   0    0   z3  z4    z5]
+//
+// This structure should be reflected in the corresponding
+// CompressedRowBlockStructure object associated with A. The linear
+// system Ax = b should either be well posed or the array D below
+// should be non-null and the diagonal matrix corresponding to it
+// should be non-singular.
+//
+// SchurComplementSolver has two sub-classes.
+//
+// DenseSchurComplementSolver: For problems where the Schur complement
+// matrix is small and dense, or if CHOLMOD/SuiteSparse is not
+// installed. For structure from motion problems, this is solver can
+// be used for problems with upto a few hundred cameras.
+//
+// SparseSchurComplementSolver: For problems where the Schur
+// complement matrix is large and sparse. It requires that Ceres be
+// build with at least one sparse linear algebra library, as it
+// computes a sparse Cholesky factorization of the Schur complement.
+//
+// This solver can be used for solving structure from motion problems
+// with tens of thousands of cameras, though depending on the exact
+// sparsity structure, it maybe better to use an iterative solver.
+//
+// The two solvers can be instantiated by calling
+// LinearSolver::CreateLinearSolver with LinearSolver::Options::type
+// set to DENSE_SCHUR and SPARSE_SCHUR
+// respectively. LinearSolver::Options::elimination_groups[0] should
+// be at least 1.
+class SchurComplementSolver : public BlockSparseMatrixSolver {
+ public:
+  explicit SchurComplementSolver(const LinearSolver::Options& options)
+      : options_(options) {
+    CHECK_GT(options.elimination_groups.size(), 1);
+    CHECK_GT(options.elimination_groups[0], 0);
+  }
+
+  // LinearSolver methods
+  virtual ~SchurComplementSolver() {}
+  virtual LinearSolver::Summary SolveImpl(
+      BlockSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* x);
+
+ protected:
+  const LinearSolver::Options& options() const { return options_; }
+
+  const BlockRandomAccessMatrix* lhs() const { return lhs_.get(); }
+  void set_lhs(BlockRandomAccessMatrix* lhs) { lhs_.reset(lhs); }
+  const double* rhs() const { return rhs_.get(); }
+  void set_rhs(double* rhs) { rhs_.reset(rhs); }
+
+ private:
+  virtual void InitStorage(const CompressedRowBlockStructure* bs) = 0;
+  virtual LinearSolver::Summary SolveReducedLinearSystem(
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* solution) = 0;
+
+  LinearSolver::Options options_;
+
+  scoped_ptr<SchurEliminatorBase> eliminator_;
+  scoped_ptr<BlockRandomAccessMatrix> lhs_;
+  scoped_array<double> rhs_;
+
+  CERES_DISALLOW_COPY_AND_ASSIGN(SchurComplementSolver);
+};
+
+// Dense Cholesky factorization based solver.
+class DenseSchurComplementSolver : public SchurComplementSolver {
+ public:
+  explicit DenseSchurComplementSolver(const LinearSolver::Options& options)
+      : SchurComplementSolver(options) {}
+  virtual ~DenseSchurComplementSolver() {}
+
+ private:
+  virtual void InitStorage(const CompressedRowBlockStructure* bs);
+  virtual LinearSolver::Summary SolveReducedLinearSystem(
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* solution);
+
+  CERES_DISALLOW_COPY_AND_ASSIGN(DenseSchurComplementSolver);
+};
+
+// Sparse Cholesky factorization based solver.
+class SparseSchurComplementSolver : public SchurComplementSolver {
+ public:
+  explicit SparseSchurComplementSolver(const LinearSolver::Options& options);
+  virtual ~SparseSchurComplementSolver();
+
+ private:
+  virtual void InitStorage(const CompressedRowBlockStructure* bs);
+  virtual LinearSolver::Summary SolveReducedLinearSystem(
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* solution);
+  LinearSolver::Summary SolveReducedLinearSystemUsingConjugateGradients(
+      const LinearSolver::PerSolveOptions& per_solve_options,
+      double* solution);
+
+  // Size of the blocks in the Schur complement.
+  std::vector<int> blocks_;
+  scoped_ptr<SparseCholesky> sparse_cholesky_;
+  scoped_ptr<BlockRandomAccessDiagonalMatrix> preconditioner_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
diff --git a/internal/ceres/schur_complement_solver_test.cc b/internal/ceres/schur_complement_solver_test.cc
new file mode 100644
index 0000000..8228efb
--- /dev/null
+++ b/internal/ceres/schur_complement_solver_test.cc
@@ -0,0 +1,233 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/schur_complement_solver.h"
+
+#include <cstddef>
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/detect_structure.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class SchurComplementSolverTest : public ::testing::Test {
+ protected:
+  void SetUpFromProblemId(int problem_id) {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(problem_id));
+
+    CHECK_NOTNULL(problem.get());
+    A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+    b.reset(problem->b.release());
+    D.reset(problem->D.release());
+
+    num_cols = A->num_cols();
+    num_rows = A->num_rows();
+    num_eliminate_blocks = problem->num_eliminate_blocks;
+
+    x.resize(num_cols);
+    sol.resize(num_cols);
+    sol_d.resize(num_cols);
+
+    LinearSolver::Options options;
+    options.type = DENSE_QR;
+
+    scoped_ptr<LinearSolver> qr(LinearSolver::Create(options));
+
+    TripletSparseMatrix triplet_A(A->num_rows(),
+                                  A->num_cols(),
+                                  A->num_nonzeros());
+    A->ToTripletSparseMatrix(&triplet_A);
+
+    // Gold standard solutions using dense QR factorization.
+    DenseSparseMatrix dense_A(triplet_A);
+    qr->Solve(&dense_A, b.get(), LinearSolver::PerSolveOptions(), sol.data());
+
+    // Gold standard solution with appended diagonal.
+    LinearSolver::PerSolveOptions per_solve_options;
+    per_solve_options.D = D.get();
+    qr->Solve(&dense_A, b.get(), per_solve_options, sol_d.data());
+  }
+
+  void ComputeAndCompareSolutions(
+      int problem_id,
+      bool regularization,
+      ceres::LinearSolverType linear_solver_type,
+      ceres::DenseLinearAlgebraLibraryType dense_linear_algebra_library_type,
+      ceres::SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+      bool use_postordering) {
+    SetUpFromProblemId(problem_id);
+    LinearSolver::Options options;
+    options.elimination_groups.push_back(num_eliminate_blocks);
+    options.elimination_groups.push_back(
+        A->block_structure()->cols.size() - num_eliminate_blocks);
+    options.type = linear_solver_type;
+    options.dense_linear_algebra_library_type =
+        dense_linear_algebra_library_type;
+    options.sparse_linear_algebra_library_type =
+        sparse_linear_algebra_library_type;
+    options.use_postordering = use_postordering;
+    DetectStructure(*A->block_structure(),
+                    num_eliminate_blocks,
+                    &options.row_block_size,
+                    &options.e_block_size,
+                    &options.f_block_size);
+
+    scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+
+    LinearSolver::PerSolveOptions per_solve_options;
+    LinearSolver::Summary summary;
+    if (regularization) {
+      per_solve_options.D = D.get();
+    }
+
+    summary = solver->Solve(A.get(), b.get(), per_solve_options, x.data());
+    EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+    if (regularization) {
+
+      ASSERT_NEAR((sol_d - x).norm() / num_cols, 0, 1e-10)
+          << "Regularized Expected solution: " << sol_d.transpose()
+          << " Actual solution: " << x.transpose();
+    } else {
+      ASSERT_NEAR((sol - x).norm() / num_cols, 0, 1e-10)
+          << "Unregularized Expected solution: " << sol.transpose()
+          << " Actual solution: " << x.transpose();
+    }
+  }
+
+  int num_rows;
+  int num_cols;
+  int num_eliminate_blocks;
+
+  scoped_ptr<BlockSparseMatrix> A;
+  scoped_array<double> b;
+  scoped_array<double> D;
+  Vector x;
+  Vector sol;
+  Vector sol_d;
+};
+
+// TODO(sameeragarwal): Refactor these using value parameterized tests.
+// TODO(sameeragarwal): More extensive tests using random matrices.
+TEST_F(SchurComplementSolverTest, DenseSchurWithEigenSmallProblem) {
+  ComputeAndCompareSolutions(2, false, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+  ComputeAndCompareSolutions(2, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest, DenseSchurWithEigenLargeProblem) {
+  ComputeAndCompareSolutions(3, false, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+  ComputeAndCompareSolutions(3, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest, DenseSchurWithEigenVaryingFBlockSize) {
+  ComputeAndCompareSolutions(4, true, DENSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+#ifndef CERES_NO_LAPACK
+TEST_F(SchurComplementSolverTest, DenseSchurWithLAPACKSmallProblem) {
+  ComputeAndCompareSolutions(2, false, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+  ComputeAndCompareSolutions(2, true, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest, DenseSchurWithLAPACKLargeProblem) {
+  ComputeAndCompareSolutions(3, false, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+  ComputeAndCompareSolutions(3, true, DENSE_SCHUR, LAPACK, SUITE_SPARSE, true);
+}
+#endif
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithSuiteSparseSmallProblemNoPostOrdering) {
+  ComputeAndCompareSolutions(
+      2, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+  ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+}
+
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithSuiteSparseSmallProblemPostOrdering) {
+  ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+  ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithSuiteSparseLargeProblemNoPostOrdering) {
+  ComputeAndCompareSolutions(
+      3, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+  ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, false);
+}
+
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithSuiteSparseLargeProblemPostOrdering) {
+  ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+  ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, SUITE_SPARSE, true);
+}
+#endif  // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithCXSparseSmallProblem) {
+  ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+  ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithCXSparseLargeProblem) {
+  ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+  ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, CX_SPARSE, true);
+}
+#endif  // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithEigenSparseSmallProblem) {
+  ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+  ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+}
+
+TEST_F(SchurComplementSolverTest,
+       SparseSchurWithEigenSparseLargeProblem) {
+  ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+  ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, EIGEN, EIGEN_SPARSE, true);
+}
+#endif  // CERES_USE_EIGEN_SPARSE
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc
new file mode 100644
index 0000000..a1fc504
--- /dev/null
+++ b/internal/ceres/schur_eliminator.cc
@@ -0,0 +1,151 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+SchurEliminatorBase*
+SchurEliminatorBase::Create(const LinearSolver::Options& options) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 2)) {
+   return new SchurEliminator<2, 2, 2>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 3)) {
+   return new SchurEliminator<2, 2, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 4)) {
+   return new SchurEliminator<2, 2, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2)) {
+   return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 3)) {
+   return new SchurEliminator<2, 3, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 4)) {
+   return new SchurEliminator<2, 3, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 6)) {
+   return new SchurEliminator<2, 3, 6>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 9)) {
+   return new SchurEliminator<2, 3, 9>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3)) {
+   return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 3)) {
+   return new SchurEliminator<2, 4, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 4)) {
+   return new SchurEliminator<2, 4, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 8)) {
+   return new SchurEliminator<2, 4, 8>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 9)) {
+   return new SchurEliminator<2, 4, 9>(options);
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4)) {
+   return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
+ }
+ if (options.row_block_size == 2){
+   return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 2)) {
+   return new SchurEliminator<4, 4, 2>(options);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 3)) {
+   return new SchurEliminator<4, 4, 3>(options);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 4)) {
+   return new SchurEliminator<4, 4, 4>(options);
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4)) {
+   return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
+ }
+
+#endif
+  VLOG(1) << "Template specializations not found for <"
+          << options.row_block_size << ","
+          << options.e_block_size << ","
+          << options.f_block_size << ">";
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/schur_eliminator.h b/internal/ceres/schur_eliminator.h
new file mode 100644
index 0000000..a546228
--- /dev/null
+++ b/internal/ceres/schur_eliminator.h
@@ -0,0 +1,364 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_SCHUR_ELIMINATOR_H_
+#define CERES_INTERNAL_SCHUR_ELIMINATOR_H_
+
+#include <map>
+#include <vector>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// Classes implementing the SchurEliminatorBase interface implement
+// variable elimination for linear least squares problems. Assuming
+// that the input linear system Ax = b can be partitioned into
+//
+//  E y + F z = b
+//
+// Where x = [y;z] is a partition of the variables.  The paritioning
+// of the variables is such that, E'E is a block diagonal matrix. Or
+// in other words, the parameter blocks in E form an independent set
+// of the of the graph implied by the block matrix A'A. Then, this
+// class provides the functionality to compute the Schur complement
+// system
+//
+//   S z = r
+//
+// where
+//
+//   S = F'F - F'E (E'E)^{-1} E'F and r = F'b - F'E(E'E)^(-1) E'b
+//
+// This is the Eliminate operation, i.e., construct the linear system
+// obtained by eliminating the variables in E.
+//
+// The eliminator also provides the reverse functionality, i.e. given
+// values for z it can back substitute for the values of y, by solving the
+// linear system
+//
+//  Ey = b - F z
+//
+// which is done by observing that
+//
+//  y = (E'E)^(-1) [E'b - E'F z]
+//
+// The eliminator has a number of requirements.
+//
+// The rows of A are ordered so that for every variable block in y,
+// all the rows containing that variable block occur as a vertically
+// contiguous block. i.e the matrix A looks like
+//
+//              E                 F                   chunk
+//  A = [ y1   0   0   0 |  z1    0    0   0    z5]     1
+//      [ y1   0   0   0 |  z1   z2    0   0     0]     1
+//      [  0  y2   0   0 |   0    0   z3   0     0]     2
+//      [  0   0  y3   0 |  z1   z2   z3  z4    z5]     3
+//      [  0   0  y3   0 |  z1    0    0   0    z5]     3
+//      [  0   0   0  y4 |   0    0    0   0    z5]     4
+//      [  0   0   0  y4 |   0   z2    0   0     0]     4
+//      [  0   0   0  y4 |   0    0    0   0     0]     4
+//      [  0   0   0   0 |  z1    0    0   0     0] non chunk blocks
+//      [  0   0   0   0 |   0    0   z3  z4    z5] non chunk blocks
+//
+// This structure should be reflected in the corresponding
+// CompressedRowBlockStructure object associated with A. The linear
+// system Ax = b should either be well posed or the array D below
+// should be non-null and the diagonal matrix corresponding to it
+// should be non-singular. For simplicity of exposition only the case
+// with a null D is described.
+//
+// The usual way to do the elimination is as follows. Starting with
+//
+//  E y + F z = b
+//
+// we can form the normal equations,
+//
+//  E'E y + E'F z = E'b
+//  F'E y + F'F z = F'b
+//
+// multiplying both sides of the first equation by (E'E)^(-1) and then
+// by F'E we get
+//
+//  F'E y + F'E (E'E)^(-1) E'F z =  F'E (E'E)^(-1) E'b
+//  F'E y +                F'F z =  F'b
+//
+// now subtracting the two equations we get
+//
+// [FF' - F'E (E'E)^(-1) E'F] z = F'b - F'E(E'E)^(-1) E'b
+//
+// Instead of forming the normal equations and operating on them as
+// general sparse matrices, the algorithm here deals with one
+// parameter block in y at a time. The rows corresponding to a single
+// parameter block yi are known as a chunk, and the algorithm operates
+// on one chunk at a time. The mathematics remains the same since the
+// reduced linear system can be shown to be the sum of the reduced
+// linear systems for each chunk. This can be seen by observing two
+// things.
+//
+//  1. E'E is a block diagonal matrix.
+//
+//  2. When E'F is computed, only the terms within a single chunk
+//  interact, i.e for y1 column blocks when transposed and multiplied
+//  with F, the only non-zero contribution comes from the blocks in
+//  chunk1.
+//
+// Thus, the reduced linear system
+//
+//  FF' - F'E (E'E)^(-1) E'F
+//
+// can be re-written as
+//
+//  sum_k F_k F_k' - F_k'E_k (E_k'E_k)^(-1) E_k' F_k
+//
+// Where the sum is over chunks and E_k'E_k is dense matrix of size y1
+// x y1.
+//
+// Advanced usage. Uptil now it has been assumed that the user would
+// be interested in all of the Schur Complement S. However, it is also
+// possible to use this eliminator to obtain an arbitrary submatrix of
+// the full Schur complement. When the eliminator is generating the
+// blocks of S, it asks the RandomAccessBlockMatrix instance passed to
+// it if it has storage for that block. If it does, the eliminator
+// computes/updates it, if not it is skipped. This is useful when one
+// is interested in constructing a preconditioner based on the Schur
+// Complement, e.g., computing the block diagonal of S so that it can
+// be used as a preconditioner for an Iterative Substructuring based
+// solver [See Agarwal et al, Bundle Adjustment in the Large, ECCV
+// 2008 for an example of such use].
+//
+// Example usage: Please see schur_complement_solver.cc
+class SchurEliminatorBase {
+ public:
+  virtual ~SchurEliminatorBase() {}
+
+  // Initialize the eliminator. It is the user's responsibilty to call
+  // this function before calling Eliminate or BackSubstitute. It is
+  // also the caller's responsibilty to ensure that the
+  // CompressedRowBlockStructure object passed to this method is the
+  // same one (or is equivalent to) the one associated with the
+  // BlockSparseMatrix objects below.
+  //
+  // assume_full_rank_ete controls how the eliminator inverts with the
+  // diagonal blocks corresponding to e blocks in A'A. If
+  // assume_full_rank_ete is true, then a Cholesky factorization is
+  // used to compute the inverse, otherwise a singular value
+  // decomposition is used to compute the pseudo inverse.
+  virtual void Init(int num_eliminate_blocks,
+                    bool assume_full_rank_ete,
+                    const CompressedRowBlockStructure* bs) = 0;
+
+  // Compute the Schur complement system from the augmented linear
+  // least squares problem [A;D] x = [b;0]. The left hand side and the
+  // right hand side of the reduced linear system are returned in lhs
+  // and rhs respectively.
+  //
+  // It is the caller's responsibility to construct and initialize
+  // lhs. Depending upon the structure of the lhs object passed here,
+  // the full or a submatrix of the Schur complement will be computed.
+  //
+  // Since the Schur complement is a symmetric matrix, only the upper
+  // triangular part of the Schur complement is computed.
+  virtual void Eliminate(const BlockSparseMatrix* A,
+                         const double* b,
+                         const double* D,
+                         BlockRandomAccessMatrix* lhs,
+                         double* rhs) = 0;
+
+  // Given values for the variables z in the F block of A, solve for
+  // the optimal values of the variables y corresponding to the E
+  // block in A.
+  virtual void BackSubstitute(const BlockSparseMatrix* A,
+                              const double* b,
+                              const double* D,
+                              const double* z,
+                              double* y) = 0;
+  // Factory
+  static SchurEliminatorBase* Create(const LinearSolver::Options& options);
+};
+
+// Templated implementation of the SchurEliminatorBase interface. The
+// templating is on the sizes of the row, e and f blocks sizes in the
+// input matrix. In many problems, the sizes of one or more of these
+// blocks are constant, in that case, its worth passing these
+// parameters as template arguments so that they are visible to the
+// compiler and can be used for compile time optimization of the low
+// level linear algebra routines.
+//
+// This implementation is mulithreaded using OpenMP. The level of
+// parallelism is controlled by LinearSolver::Options::num_threads.
+template <int kRowBlockSize = Eigen::Dynamic,
+          int kEBlockSize = Eigen::Dynamic,
+          int kFBlockSize = Eigen::Dynamic >
+class SchurEliminator : public SchurEliminatorBase {
+ public:
+  explicit SchurEliminator(const LinearSolver::Options& options)
+      : num_threads_(options.num_threads) {
+  }
+
+  // SchurEliminatorBase Interface
+  virtual ~SchurEliminator();
+  virtual void Init(int num_eliminate_blocks,
+                    bool assume_full_rank_ete,
+                    const CompressedRowBlockStructure* bs);
+  virtual void Eliminate(const BlockSparseMatrix* A,
+                         const double* b,
+                         const double* D,
+                         BlockRandomAccessMatrix* lhs,
+                         double* rhs);
+  virtual void BackSubstitute(const BlockSparseMatrix* A,
+                              const double* b,
+                              const double* D,
+                              const double* z,
+                              double* y);
+
+ private:
+  // Chunk objects store combinatorial information needed to
+  // efficiently eliminate a whole chunk out of the least squares
+  // problem. Consider the first chunk in the example matrix above.
+  //
+  //      [ y1   0   0   0 |  z1    0    0   0    z5]
+  //      [ y1   0   0   0 |  z1   z2    0   0     0]
+  //
+  // One of the intermediate quantities that needs to be calculated is
+  // for each row the product of the y block transposed with the
+  // non-zero z block, and the sum of these blocks across rows. A
+  // temporary array "buffer_" is used for computing and storing them
+  // and the buffer_layout maps the indices of the z-blocks to
+  // position in the buffer_ array.  The size of the chunk is the
+  // number of row blocks/residual blocks for the particular y block
+  // being considered.
+  //
+  // For the example chunk shown above,
+  //
+  // size = 2
+  //
+  // The entries of buffer_layout will be filled in the following order.
+  //
+  // buffer_layout[z1] = 0
+  // buffer_layout[z5] = y1 * z1
+  // buffer_layout[z2] = y1 * z1 + y1 * z5
+  typedef std::map<int, int> BufferLayoutType;
+  struct Chunk {
+    Chunk() : size(0) {}
+    int size;
+    int start;
+    BufferLayoutType buffer_layout;
+  };
+
+  void ChunkDiagonalBlockAndGradient(
+      const Chunk& chunk,
+      const BlockSparseMatrix* A,
+      const double* b,
+      int row_block_counter,
+      typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix* eet,
+      double* g,
+      double* buffer,
+      BlockRandomAccessMatrix* lhs);
+
+  void UpdateRhs(const Chunk& chunk,
+                 const BlockSparseMatrix* A,
+                 const double* b,
+                 int row_block_counter,
+                 const double* inverse_ete_g,
+                 double* rhs);
+
+  void ChunkOuterProduct(const CompressedRowBlockStructure* bs,
+                         const Matrix& inverse_eet,
+                         const double* buffer,
+                         const BufferLayoutType& buffer_layout,
+                         BlockRandomAccessMatrix* lhs);
+  void EBlockRowOuterProduct(const BlockSparseMatrix* A,
+                             int row_block_index,
+                             BlockRandomAccessMatrix* lhs);
+
+
+  void NoEBlockRowsUpdate(const BlockSparseMatrix* A,
+                             const double* b,
+                             int row_block_counter,
+                             BlockRandomAccessMatrix* lhs,
+                             double* rhs);
+
+  void NoEBlockRowOuterProduct(const BlockSparseMatrix* A,
+                               int row_block_index,
+                               BlockRandomAccessMatrix* lhs);
+
+  int num_threads_;
+  int num_eliminate_blocks_;
+  bool assume_full_rank_ete_;
+
+  // Block layout of the columns of the reduced linear system. Since
+  // the f blocks can be of varying size, this vector stores the
+  // position of each f block in the row/col of the reduced linear
+  // system. Thus lhs_row_layout_[i] is the row/col position of the
+  // i^th f block.
+  std::vector<int> lhs_row_layout_;
+
+  // Combinatorial structure of the chunks in A. For more information
+  // see the documentation of the Chunk object above.
+  std::vector<Chunk> chunks_;
+
+  // TODO(sameeragarwal): The following two arrays contain per-thread
+  // storage. They should be refactored into a per thread struct.
+
+  // Buffer to store the products of the y and z blocks generated
+  // during the elimination phase. buffer_ is of size num_threads *
+  // buffer_size_. Each thread accesses the chunk
+  //
+  //   [thread_id * buffer_size_ , (thread_id + 1) * buffer_size_]
+  //
+  scoped_array<double> buffer_;
+
+  // Buffer to store per thread matrix matrix products used by
+  // ChunkOuterProduct. Like buffer_ it is of size num_threads *
+  // buffer_size_. Each thread accesses the chunk
+  //
+  //   [thread_id * buffer_size_ , (thread_id + 1) * buffer_size_ -1]
+  //
+  scoped_array<double> chunk_outer_product_buffer_;
+
+  int buffer_size_;
+  int uneliminated_row_begins_;
+
+  // Locks for the blocks in the right hand side of the reduced linear
+  // system.
+  std::vector<Mutex*> rhs_locks_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SCHUR_ELIMINATOR_H_
diff --git a/internal/ceres/schur_eliminator_impl.h b/internal/ceres/schur_eliminator_impl.h
new file mode 100644
index 0000000..7ee419e
--- /dev/null
+++ b/internal/ceres/schur_eliminator_impl.h
@@ -0,0 +1,699 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// TODO(sameeragarwal): row_block_counter can perhaps be replaced by
+// Chunk::start ?
+
+#ifndef CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
+#define CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
+
+// Eigen has an internal threshold switching between different matrix
+// multiplication algorithms. In particular for matrices larger than
+// EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD it uses a cache friendly
+// matrix matrix product algorithm that has a higher setup cost. For
+// matrix sizes close to this threshold, especially when the matrices
+// are thin and long, the default choice may not be optimal. This is
+// the case for us, as the default choice causes a 30% performance
+// regression when we moved from Eigen2 to Eigen3.
+
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 10
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <algorithm>
+#include <map>
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/invert_psd_matrix.h"
+#include "ceres/map_util.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/small_blas.h"
+#include "ceres/stl_util.h"
+#include "Eigen/Dense"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::~SchurEliminator() {
+  STLDeleteElements(&rhs_locks_);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::Init(
+    int num_eliminate_blocks,
+    bool assume_full_rank_ete,
+    const CompressedRowBlockStructure* bs) {
+  CHECK_GT(num_eliminate_blocks, 0)
+      << "SchurComplementSolver cannot be initialized with "
+      << "num_eliminate_blocks = 0.";
+
+  num_eliminate_blocks_ = num_eliminate_blocks;
+  assume_full_rank_ete_ = assume_full_rank_ete;
+
+  const int num_col_blocks = bs->cols.size();
+  const int num_row_blocks = bs->rows.size();
+
+  buffer_size_ = 1;
+  chunks_.clear();
+  lhs_row_layout_.clear();
+
+  int lhs_num_rows = 0;
+  // Add a map object for each block in the reduced linear system
+  // and build the row/column block structure of the reduced linear
+  // system.
+  lhs_row_layout_.resize(num_col_blocks - num_eliminate_blocks_);
+  for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+    lhs_row_layout_[i - num_eliminate_blocks_] = lhs_num_rows;
+    lhs_num_rows += bs->cols[i].size;
+  }
+
+  int r = 0;
+  // Iterate over the row blocks of A, and detect the chunks. The
+  // matrix should already have been ordered so that all rows
+  // containing the same y block are vertically contiguous. Along
+  // the way also compute the amount of space each chunk will need
+  // to perform the elimination.
+  while (r < num_row_blocks) {
+    const int chunk_block_id = bs->rows[r].cells.front().block_id;
+    if (chunk_block_id >= num_eliminate_blocks_) {
+      break;
+    }
+
+    chunks_.push_back(Chunk());
+    Chunk& chunk = chunks_.back();
+    chunk.size = 0;
+    chunk.start = r;
+    int buffer_size = 0;
+    const int e_block_size = bs->cols[chunk_block_id].size;
+
+    // Add to the chunk until the first block in the row is
+    // different than the one in the first row for the chunk.
+    while (r + chunk.size < num_row_blocks) {
+      const CompressedRow& row = bs->rows[r + chunk.size];
+      if (row.cells.front().block_id != chunk_block_id) {
+        break;
+      }
+
+      // Iterate over the blocks in the row, ignoring the first
+      // block since it is the one to be eliminated.
+      for (int c = 1; c < row.cells.size(); ++c) {
+        const Cell& cell = row.cells[c];
+        if (InsertIfNotPresent(
+                &(chunk.buffer_layout), cell.block_id, buffer_size)) {
+          buffer_size += e_block_size * bs->cols[cell.block_id].size;
+        }
+      }
+
+      buffer_size_ = std::max(buffer_size, buffer_size_);
+      ++chunk.size;
+    }
+
+    CHECK_GT(chunk.size, 0);
+    r += chunk.size;
+  }
+  const Chunk& chunk = chunks_.back();
+
+  uneliminated_row_begins_ = chunk.start + chunk.size;
+  if (num_threads_ > 1) {
+    random_shuffle(chunks_.begin(), chunks_.end());
+  }
+
+  buffer_.reset(new double[buffer_size_ * num_threads_]);
+
+  // chunk_outer_product_buffer_ only needs to store e_block_size *
+  // f_block_size, which is always less than buffer_size_, so we just
+  // allocate buffer_size_ per thread.
+  chunk_outer_product_buffer_.reset(new double[buffer_size_ * num_threads_]);
+
+  STLDeleteElements(&rhs_locks_);
+  rhs_locks_.resize(num_col_blocks - num_eliminate_blocks_);
+  for (int i = 0; i < num_col_blocks - num_eliminate_blocks_; ++i) {
+    rhs_locks_[i] = new Mutex;
+  }
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+Eliminate(const BlockSparseMatrix* A,
+          const double* b,
+          const double* D,
+          BlockRandomAccessMatrix* lhs,
+          double* rhs) {
+  if (lhs->num_rows() > 0) {
+    lhs->SetZero();
+    VectorRef(rhs, lhs->num_rows()).setZero();
+  }
+
+  const CompressedRowBlockStructure* bs = A->block_structure();
+  const int num_col_blocks = bs->cols.size();
+
+  // Add the diagonal to the schur complement.
+  if (D != NULL) {
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+    for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+      const int block_id = i - num_eliminate_blocks_;
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = lhs->GetCell(block_id, block_id,
+                                         &r, &c,
+                                         &row_stride, &col_stride);
+      if (cell_info != NULL) {
+        const int block_size = bs->cols[i].size;
+        typename EigenTypes<Eigen::Dynamic>::ConstVectorRef
+            diag(D + bs->cols[i].position, block_size);
+
+        CeresMutexLock l(&cell_info->m);
+        MatrixRef m(cell_info->values, row_stride, col_stride);
+        m.block(r, c, block_size, block_size).diagonal()
+            += diag.array().square().matrix();
+      }
+    }
+  }
+
+  // Eliminate y blocks one chunk at a time.  For each chunk, compute
+  // the entries of the normal equations and the gradient vector block
+  // corresponding to the y block and then apply Gaussian elimination
+  // to them. The matrix ete stores the normal matrix corresponding to
+  // the block being eliminated and array buffer_ contains the
+  // non-zero blocks in the row corresponding to this y block in the
+  // normal equations. This computation is done in
+  // ChunkDiagonalBlockAndGradient. UpdateRhs then applies gaussian
+  // elimination to the rhs of the normal equations, updating the rhs
+  // of the reduced linear system by modifying rhs blocks for all the
+  // z blocks that share a row block/residual term with the y
+  // block. EliminateRowOuterProduct does the corresponding operation
+  // for the lhs of the reduced linear system.
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+  for (int i = 0; i < chunks_.size(); ++i) {
+#ifdef CERES_USE_OPENMP
+    int thread_id = omp_get_thread_num();
+#else
+    int thread_id = 0;
+#endif
+    double* buffer = buffer_.get() + thread_id * buffer_size_;
+    const Chunk& chunk = chunks_[i];
+    const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+    const int e_block_size = bs->cols[e_block_id].size;
+
+    VectorRef(buffer, buffer_size_).setZero();
+
+    typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix
+        ete(e_block_size, e_block_size);
+
+    if (D != NULL) {
+      const typename EigenTypes<kEBlockSize>::ConstVectorRef
+          diag(D + bs->cols[e_block_id].position, e_block_size);
+      ete = diag.array().square().matrix().asDiagonal();
+    } else {
+      ete.setZero();
+    }
+
+    FixedArray<double, 8> g(e_block_size);
+    typename EigenTypes<kEBlockSize>::VectorRef gref(g.get(), e_block_size);
+    gref.setZero();
+
+    // We are going to be computing
+    //
+    //   S += F'F - F'E(E'E)^{-1}E'F
+    //
+    // for each Chunk. The computation is broken down into a number of
+    // function calls as below.
+
+    // Compute the outer product of the e_blocks with themselves (ete
+    // = E'E). Compute the product of the e_blocks with the
+    // corresonding f_blocks (buffer = E'F), the gradient of the terms
+    // in this chunk (g) and add the outer product of the f_blocks to
+    // Schur complement (S += F'F).
+    ChunkDiagonalBlockAndGradient(
+        chunk, A, b, chunk.start, &ete, g.get(), buffer, lhs);
+
+    // Normally one wouldn't compute the inverse explicitly, but
+    // e_block_size will typically be a small number like 3, in
+    // which case its much faster to compute the inverse once and
+    // use it to multiply other matrices/vectors instead of doing a
+    // Solve call over and over again.
+    typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix inverse_ete =
+        InvertPSDMatrix<kEBlockSize>(assume_full_rank_ete_, ete);
+
+    // For the current chunk compute and update the rhs of the reduced
+    // linear system.
+    //
+    //   rhs = F'b - F'E(E'E)^(-1) E'b
+
+    FixedArray<double, 8> inverse_ete_g(e_block_size);
+    MatrixVectorMultiply<kEBlockSize, kEBlockSize, 0>(
+        inverse_ete.data(),
+        e_block_size,
+        e_block_size,
+        g.get(),
+        inverse_ete_g.get());
+
+    UpdateRhs(chunk, A, b, chunk.start, inverse_ete_g.get(), rhs);
+
+    // S -= F'E(E'E)^{-1}E'F
+    ChunkOuterProduct(bs, inverse_ete, buffer, chunk.buffer_layout, lhs);
+  }
+
+  // For rows with no e_blocks, the schur complement update reduces to
+  // S += F'F.
+  NoEBlockRowsUpdate(A, b,  uneliminated_row_begins_, lhs, rhs);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+BackSubstitute(const BlockSparseMatrix* A,
+               const double* b,
+               const double* D,
+               const double* z,
+               double* y) {
+  const CompressedRowBlockStructure* bs = A->block_structure();
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+  for (int i = 0; i < chunks_.size(); ++i) {
+    const Chunk& chunk = chunks_[i];
+    const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+    const int e_block_size = bs->cols[e_block_id].size;
+
+    double* y_ptr = y +  bs->cols[e_block_id].position;
+    typename EigenTypes<kEBlockSize>::VectorRef y_block(y_ptr, e_block_size);
+
+    typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix
+        ete(e_block_size, e_block_size);
+    if (D != NULL) {
+      const typename EigenTypes<kEBlockSize>::ConstVectorRef
+          diag(D + bs->cols[e_block_id].position, e_block_size);
+      ete = diag.array().square().matrix().asDiagonal();
+    } else {
+      ete.setZero();
+    }
+
+    const double* values = A->values();
+    for (int j = 0; j < chunk.size; ++j) {
+      const CompressedRow& row = bs->rows[chunk.start + j];
+      const Cell& e_cell = row.cells.front();
+      DCHECK_EQ(e_block_id, e_cell.block_id);
+
+      FixedArray<double, 8> sj(row.block.size);
+
+      typename EigenTypes<kRowBlockSize>::VectorRef(sj.get(), row.block.size) =
+          typename EigenTypes<kRowBlockSize>::ConstVectorRef
+          (b + bs->rows[chunk.start + j].block.position, row.block.size);
+
+      for (int c = 1; c < row.cells.size(); ++c) {
+        const int f_block_id = row.cells[c].block_id;
+        const int f_block_size = bs->cols[f_block_id].size;
+        const int r_block = f_block_id - num_eliminate_blocks_;
+
+        MatrixVectorMultiply<kRowBlockSize, kFBlockSize, -1>(
+            values + row.cells[c].position, row.block.size, f_block_size,
+            z + lhs_row_layout_[r_block],
+            sj.get());
+      }
+
+      MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+          values + e_cell.position, row.block.size, e_block_size,
+          sj.get(),
+          y_ptr);
+
+      MatrixTransposeMatrixMultiply
+          <kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
+              values + e_cell.position, row.block.size, e_block_size,
+              values + e_cell.position, row.block.size, e_block_size,
+              ete.data(), 0, 0, e_block_size, e_block_size);
+    }
+
+    y_block = InvertPSDMatrix<kEBlockSize>(assume_full_rank_ete_, ete)
+        * y_block;
+  }
+}
+
+// Update the rhs of the reduced linear system. Compute
+//
+//   F'b - F'E(E'E)^(-1) E'b
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+UpdateRhs(const Chunk& chunk,
+          const BlockSparseMatrix* A,
+          const double* b,
+          int row_block_counter,
+          const double* inverse_ete_g,
+          double* rhs) {
+  const CompressedRowBlockStructure* bs = A->block_structure();
+  const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+  const int e_block_size = bs->cols[e_block_id].size;
+
+  int b_pos = bs->rows[row_block_counter].block.position;
+  const double* values = A->values();
+  for (int j = 0; j < chunk.size; ++j) {
+    const CompressedRow& row = bs->rows[row_block_counter + j];
+    const Cell& e_cell = row.cells.front();
+
+    typename EigenTypes<kRowBlockSize>::Vector sj =
+        typename EigenTypes<kRowBlockSize>::ConstVectorRef
+        (b + b_pos, row.block.size);
+
+    MatrixVectorMultiply<kRowBlockSize, kEBlockSize, -1>(
+        values + e_cell.position, row.block.size, e_block_size,
+        inverse_ete_g, sj.data());
+
+    for (int c = 1; c < row.cells.size(); ++c) {
+      const int block_id = row.cells[c].block_id;
+      const int block_size = bs->cols[block_id].size;
+      const int block = block_id - num_eliminate_blocks_;
+      CeresMutexLock l(rhs_locks_[block]);
+      MatrixTransposeVectorMultiply<kRowBlockSize, kFBlockSize, 1>(
+          values + row.cells[c].position,
+          row.block.size, block_size,
+          sj.data(), rhs + lhs_row_layout_[block]);
+    }
+    b_pos += row.block.size;
+  }
+}
+
+// Given a Chunk - set of rows with the same e_block, e.g. in the
+// following Chunk with two rows.
+//
+//                E                   F
+//      [ y11   0   0   0 |  z11     0    0   0    z51]
+//      [ y12   0   0   0 |  z12   z22    0   0      0]
+//
+// this function computes twp matrices. The diagonal block matrix
+//
+//   ete = y11 * y11' + y12 * y12'
+//
+// and the off diagonal blocks in the Guass Newton Hessian.
+//
+//   buffer = [y11'(z11 + z12), y12' * z22, y11' * z51]
+//
+// which are zero compressed versions of the block sparse matrices E'E
+// and E'F.
+//
+// and the gradient of the e_block, E'b.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+ChunkDiagonalBlockAndGradient(
+    const Chunk& chunk,
+    const BlockSparseMatrix* A,
+    const double* b,
+    int row_block_counter,
+    typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix* ete,
+    double* g,
+    double* buffer,
+    BlockRandomAccessMatrix* lhs) {
+  const CompressedRowBlockStructure* bs = A->block_structure();
+
+  int b_pos = bs->rows[row_block_counter].block.position;
+  const int e_block_size = ete->rows();
+
+  // Iterate over the rows in this chunk, for each row, compute the
+  // contribution of its F blocks to the Schur complement, the
+  // contribution of its E block to the matrix EE' (ete), and the
+  // corresponding block in the gradient vector.
+  const double* values = A->values();
+  for (int j = 0; j < chunk.size; ++j) {
+    const CompressedRow& row = bs->rows[row_block_counter + j];
+
+    if (row.cells.size() > 1) {
+      EBlockRowOuterProduct(A, row_block_counter + j, lhs);
+    }
+
+    // Extract the e_block, ETE += E_i' E_i
+    const Cell& e_cell = row.cells.front();
+    MatrixTransposeMatrixMultiply
+        <kRowBlockSize, kEBlockSize, kRowBlockSize, kEBlockSize, 1>(
+            values + e_cell.position, row.block.size, e_block_size,
+            values + e_cell.position, row.block.size, e_block_size,
+            ete->data(), 0, 0, e_block_size, e_block_size);
+
+    // g += E_i' b_i
+    MatrixTransposeVectorMultiply<kRowBlockSize, kEBlockSize, 1>(
+        values + e_cell.position, row.block.size, e_block_size,
+        b + b_pos,
+        g);
+
+
+    // buffer = E'F. This computation is done by iterating over the
+    // f_blocks for each row in the chunk.
+    for (int c = 1; c < row.cells.size(); ++c) {
+      const int f_block_id = row.cells[c].block_id;
+      const int f_block_size = bs->cols[f_block_id].size;
+      double* buffer_ptr =
+          buffer +  FindOrDie(chunk.buffer_layout, f_block_id);
+      MatrixTransposeMatrixMultiply
+          <kRowBlockSize, kEBlockSize, kRowBlockSize, kFBlockSize, 1>(
+          values + e_cell.position, row.block.size, e_block_size,
+          values + row.cells[c].position, row.block.size, f_block_size,
+          buffer_ptr, 0, 0, e_block_size, f_block_size);
+    }
+    b_pos += row.block.size;
+  }
+}
+
+// Compute the outer product F'E(E'E)^{-1}E'F and subtract it from the
+// Schur complement matrix, i.e
+//
+//  S -= F'E(E'E)^{-1}E'F.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+ChunkOuterProduct(const CompressedRowBlockStructure* bs,
+                  const Matrix& inverse_ete,
+                  const double* buffer,
+                  const BufferLayoutType& buffer_layout,
+                  BlockRandomAccessMatrix* lhs) {
+  // This is the most computationally expensive part of this
+  // code. Profiling experiments reveal that the bottleneck is not the
+  // computation of the right-hand matrix product, but memory
+  // references to the left hand side.
+  const int e_block_size = inverse_ete.rows();
+  BufferLayoutType::const_iterator it1 = buffer_layout.begin();
+
+#ifdef CERES_USE_OPENMP
+  int thread_id = omp_get_thread_num();
+#else
+  int thread_id = 0;
+#endif
+  double* b1_transpose_inverse_ete =
+      chunk_outer_product_buffer_.get() + thread_id * buffer_size_;
+
+  // S(i,j) -= bi' * ete^{-1} b_j
+  for (; it1 != buffer_layout.end(); ++it1) {
+    const int block1 = it1->first - num_eliminate_blocks_;
+    const int block1_size = bs->cols[it1->first].size;
+    MatrixTransposeMatrixMultiply
+        <kEBlockSize, kFBlockSize, kEBlockSize, kEBlockSize, 0>(
+        buffer + it1->second, e_block_size, block1_size,
+        inverse_ete.data(), e_block_size, e_block_size,
+        b1_transpose_inverse_ete, 0, 0, block1_size, e_block_size);
+
+    BufferLayoutType::const_iterator it2 = it1;
+    for (; it2 != buffer_layout.end(); ++it2) {
+      const int block2 = it2->first - num_eliminate_blocks_;
+
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = lhs->GetCell(block1, block2,
+                                         &r, &c,
+                                         &row_stride, &col_stride);
+      if (cell_info != NULL) {
+        const int block2_size = bs->cols[it2->first].size;
+        CeresMutexLock l(&cell_info->m);
+        MatrixMatrixMultiply
+            <kFBlockSize, kEBlockSize, kEBlockSize, kFBlockSize, -1>(
+                b1_transpose_inverse_ete, block1_size, e_block_size,
+                buffer  + it2->second, e_block_size, block2_size,
+                cell_info->values, r, c, row_stride, col_stride);
+      }
+    }
+  }
+}
+
+// For rows with no e_blocks, the schur complement update reduces to S
+// += F'F. This function iterates over the rows of A with no e_block,
+// and calls NoEBlockRowOuterProduct on each row.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+NoEBlockRowsUpdate(const BlockSparseMatrix* A,
+                   const double* b,
+                   int row_block_counter,
+                   BlockRandomAccessMatrix* lhs,
+                   double* rhs) {
+  const CompressedRowBlockStructure* bs = A->block_structure();
+  const double* values = A->values();
+  for (; row_block_counter < bs->rows.size(); ++row_block_counter) {
+    const CompressedRow& row = bs->rows[row_block_counter];
+    for (int c = 0; c < row.cells.size(); ++c) {
+      const int block_id = row.cells[c].block_id;
+      const int block_size = bs->cols[block_id].size;
+      const int block = block_id - num_eliminate_blocks_;
+      MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
+          values + row.cells[c].position, row.block.size, block_size,
+          b + row.block.position,
+          rhs + lhs_row_layout_[block]);
+    }
+    NoEBlockRowOuterProduct(A, row_block_counter, lhs);
+  }
+}
+
+
+// A row r of A, which has no e_blocks gets added to the Schur
+// Complement as S += r r'. This function is responsible for computing
+// the contribution of a single row r to the Schur complement. It is
+// very similar in structure to EBlockRowOuterProduct except for
+// one difference. It does not use any of the template
+// parameters. This is because the algorithm used for detecting the
+// static structure of the matrix A only pays attention to rows with
+// e_blocks. This is becase rows without e_blocks are rare and
+// typically arise from regularization terms in the original
+// optimization problem, and have a very different structure than the
+// rows with e_blocks. Including them in the static structure
+// detection will lead to most template parameters being set to
+// dynamic. Since the number of rows without e_blocks is small, the
+// lack of templating is not an issue.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+NoEBlockRowOuterProduct(const BlockSparseMatrix* A,
+                        int row_block_index,
+                        BlockRandomAccessMatrix* lhs) {
+  const CompressedRowBlockStructure* bs = A->block_structure();
+  const CompressedRow& row = bs->rows[row_block_index];
+  const double* values = A->values();
+  for (int i = 0; i < row.cells.size(); ++i) {
+    const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
+    DCHECK_GE(block1, 0);
+
+    const int block1_size = bs->cols[row.cells[i].block_id].size;
+    int r, c, row_stride, col_stride;
+    CellInfo* cell_info = lhs->GetCell(block1, block1,
+                                       &r, &c,
+                                       &row_stride, &col_stride);
+    if (cell_info != NULL) {
+      CeresMutexLock l(&cell_info->m);
+      // This multiply currently ignores the fact that this is a
+      // symmetric outer product.
+      MatrixTransposeMatrixMultiply
+          <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
+              values + row.cells[i].position, row.block.size, block1_size,
+              values + row.cells[i].position, row.block.size, block1_size,
+              cell_info->values, r, c, row_stride, col_stride);
+    }
+
+    for (int j = i + 1; j < row.cells.size(); ++j) {
+      const int block2 = row.cells[j].block_id - num_eliminate_blocks_;
+      DCHECK_GE(block2, 0);
+      DCHECK_LT(block1, block2);
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = lhs->GetCell(block1, block2,
+                                         &r, &c,
+                                         &row_stride, &col_stride);
+      if (cell_info != NULL) {
+        const int block2_size = bs->cols[row.cells[j].block_id].size;
+        CeresMutexLock l(&cell_info->m);
+        MatrixTransposeMatrixMultiply
+            <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>(
+                values + row.cells[i].position, row.block.size, block1_size,
+                values + row.cells[j].position, row.block.size, block2_size,
+                cell_info->values, r, c, row_stride, col_stride);
+      }
+    }
+  }
+}
+
+// For a row with an e_block, compute the contribition S += F'F. This
+// function has the same structure as NoEBlockRowOuterProduct, except
+// that this function uses the template parameters.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+EBlockRowOuterProduct(const BlockSparseMatrix* A,
+                      int row_block_index,
+                      BlockRandomAccessMatrix* lhs) {
+  const CompressedRowBlockStructure* bs = A->block_structure();
+  const CompressedRow& row = bs->rows[row_block_index];
+  const double* values = A->values();
+  for (int i = 1; i < row.cells.size(); ++i) {
+    const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
+    DCHECK_GE(block1, 0);
+
+    const int block1_size = bs->cols[row.cells[i].block_id].size;
+    int r, c, row_stride, col_stride;
+    CellInfo* cell_info = lhs->GetCell(block1, block1,
+                                       &r, &c,
+                                       &row_stride, &col_stride);
+    if (cell_info != NULL) {
+      CeresMutexLock l(&cell_info->m);
+      // block += b1.transpose() * b1;
+      MatrixTransposeMatrixMultiply
+          <kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
+          values + row.cells[i].position, row.block.size, block1_size,
+          values + row.cells[i].position, row.block.size, block1_size,
+          cell_info->values, r, c, row_stride, col_stride);
+    }
+
+    for (int j = i + 1; j < row.cells.size(); ++j) {
+      const int block2 = row.cells[j].block_id - num_eliminate_blocks_;
+      DCHECK_GE(block2, 0);
+      DCHECK_LT(block1, block2);
+      const int block2_size = bs->cols[row.cells[j].block_id].size;
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = lhs->GetCell(block1, block2,
+                                         &r, &c,
+                                         &row_stride, &col_stride);
+      if (cell_info != NULL) {
+        // block += b1.transpose() * b2;
+        CeresMutexLock l(&cell_info->m);
+        MatrixTransposeMatrixMultiply
+            <kRowBlockSize, kFBlockSize, kRowBlockSize, kFBlockSize, 1>(
+                values + row.cells[i].position, row.block.size, block1_size,
+                values + row.cells[j].position, row.block.size, block2_size,
+                cell_info->values, r, c, row_stride, col_stride);
+      }
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
diff --git a/internal/ceres/schur_eliminator_template.py b/internal/ceres/schur_eliminator_template.py
new file mode 100644
index 0000000..2f38cf5
--- /dev/null
+++ b/internal/ceres/schur_eliminator_template.py
@@ -0,0 +1,155 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2017 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: sameeragarwal@google.com (Sameer Agarwal)
+#
+# Script for explicitly generating template specialization of the
+# SchurEliminator class. It is a rather large class
+# and the number of explicit instantiations is also large. Explicitly
+# generating these instantiations in separate .cc files breaks the
+# compilation into separate compilation unit rather than one large cc
+# file which takes 2+GB of RAM to compile.
+#
+# This script creates two sets of files.
+#
+# 1. schur_eliminator_x_x_x.cc
+# where, the x indicates the template parameters and
+#
+# 2. schur_eliminator.cc
+#
+# that contains a factory function for instantiating these classes
+# based on runtime parameters.
+#
+# The list of tuples, specializations indicates the set of
+# specializations that is generated.
+
+# Set of template specializations to generate
+
+HEADER = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+"""
+
+DYNAMIC_FILE = """
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<%s, %s, %s>;
+
+}  // namespace internal
+}  // namespace ceres
+"""
+
+SPECIALIZATION_FILE = """
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<%s, %s, %s>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY_FILE_HEADER = """
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+SchurEliminatorBase*
+SchurEliminatorBase::Create(const LinearSolver::Options& options) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY = """ return new SchurEliminator<%s, %s, %s>(options);"""
+
+FACTORY_FOOTER = """
+#endif
+  VLOG(1) << "Template specializations not found for <"
+          << options.row_block_size << ","
+          << options.e_block_size << ","
+          << options.f_block_size << ">";
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
+}
+
+}  // namespace internal
+}  // namespace ceres
+"""
diff --git a/internal/ceres/schur_eliminator_test.cc b/internal/ceres/schur_eliminator_test.cc
new file mode 100644
index 0000000..f07d102
--- /dev/null
+++ b/internal/ceres/schur_eliminator_test.cc
@@ -0,0 +1,227 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/schur_eliminator.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/test_util.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+// TODO(sameeragarwal): Reduce the size of these tests and redo the
+// parameterization to be more efficient.
+
+namespace ceres {
+namespace internal {
+
+class SchurEliminatorTest : public ::testing::Test {
+ protected:
+  void SetUpFromId(int id) {
+    scoped_ptr<LinearLeastSquaresProblem>
+        problem(CreateLinearLeastSquaresProblemFromId(id));
+    CHECK_NOTNULL(problem.get());
+    SetupHelper(problem.get());
+  }
+
+  void SetupHelper(LinearLeastSquaresProblem* problem) {
+    A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+    b.reset(problem->b.release());
+    D.reset(problem->D.release());
+
+    num_eliminate_blocks = problem->num_eliminate_blocks;
+    num_eliminate_cols = 0;
+    const CompressedRowBlockStructure* bs = A->block_structure();
+
+    for (int i = 0; i < num_eliminate_blocks; ++i) {
+      num_eliminate_cols += bs->cols[i].size;
+    }
+  }
+
+  // Compute the golden values for the reduced linear system and the
+  // solution to the linear least squares problem using dense linear
+  // algebra.
+  void ComputeReferenceSolution(const Vector& D) {
+    Matrix J;
+    A->ToDenseMatrix(&J);
+    VectorRef f(b.get(), J.rows());
+
+    Matrix H  =  (D.cwiseProduct(D)).asDiagonal();
+    H.noalias() += J.transpose() * J;
+
+    const Vector g = J.transpose() * f;
+    const int schur_size = J.cols() - num_eliminate_cols;
+
+    lhs_expected.resize(schur_size, schur_size);
+    lhs_expected.setZero();
+
+    rhs_expected.resize(schur_size);
+    rhs_expected.setZero();
+
+    sol_expected.resize(J.cols());
+    sol_expected.setZero();
+
+    Matrix P = H.block(0, 0, num_eliminate_cols, num_eliminate_cols);
+    Matrix Q = H.block(0,
+                       num_eliminate_cols,
+                       num_eliminate_cols,
+                       schur_size);
+    Matrix R = H.block(num_eliminate_cols,
+                       num_eliminate_cols,
+                       schur_size,
+                       schur_size);
+    int row = 0;
+    const CompressedRowBlockStructure* bs = A->block_structure();
+    for (int i = 0; i < num_eliminate_blocks; ++i) {
+      const int block_size =  bs->cols[i].size;
+      P.block(row, row,  block_size, block_size) =
+          P
+          .block(row, row,  block_size, block_size)
+          .llt()
+          .solve(Matrix::Identity(block_size, block_size));
+      row += block_size;
+    }
+
+    lhs_expected
+        .triangularView<Eigen::Upper>() = R - Q.transpose() * P * Q;
+    rhs_expected =
+        g.tail(schur_size) - Q.transpose() * P * g.head(num_eliminate_cols);
+    sol_expected = H.llt().solve(g);
+  }
+
+  void EliminateSolveAndCompare(const VectorRef& diagonal,
+                                bool use_static_structure,
+                                const double relative_tolerance) {
+    const CompressedRowBlockStructure* bs = A->block_structure();
+    const int num_col_blocks = bs->cols.size();
+    std::vector<int> blocks(num_col_blocks - num_eliminate_blocks, 0);
+    for (int i = num_eliminate_blocks; i < num_col_blocks; ++i) {
+      blocks[i - num_eliminate_blocks] = bs->cols[i].size;
+    }
+
+    BlockRandomAccessDenseMatrix lhs(blocks);
+
+    const int num_cols = A->num_cols();
+    const int schur_size = lhs.num_rows();
+
+    Vector rhs(schur_size);
+
+    LinearSolver::Options options;
+    options.elimination_groups.push_back(num_eliminate_blocks);
+    if (use_static_structure) {
+      DetectStructure(*bs,
+                      num_eliminate_blocks,
+                      &options.row_block_size,
+                      &options.e_block_size,
+                      &options.f_block_size);
+    }
+
+    scoped_ptr<SchurEliminatorBase> eliminator;
+    eliminator.reset(SchurEliminatorBase::Create(options));
+    const bool kFullRankETE = true;
+    eliminator->Init(num_eliminate_blocks, kFullRankETE, A->block_structure());
+    eliminator->Eliminate(A.get(), b.get(), diagonal.data(), &lhs, rhs.data());
+
+    MatrixRef lhs_ref(lhs.mutable_values(), lhs.num_rows(), lhs.num_cols());
+    Vector reduced_sol  =
+        lhs_ref
+        .selfadjointView<Eigen::Upper>()
+        .llt()
+        .solve(rhs);
+
+    // Solution to the linear least squares problem.
+    Vector sol(num_cols);
+    sol.setZero();
+    sol.tail(schur_size) = reduced_sol;
+    eliminator->BackSubstitute(A.get(),
+                               b.get(),
+                               diagonal.data(),
+                               reduced_sol.data(),
+                               sol.data());
+
+    Matrix delta = (lhs_ref - lhs_expected).selfadjointView<Eigen::Upper>();
+    double diff = delta.norm();
+    EXPECT_NEAR(diff / lhs_expected.norm(), 0.0, relative_tolerance);
+    EXPECT_NEAR((rhs - rhs_expected).norm() / rhs_expected.norm(), 0.0,
+                relative_tolerance);
+    EXPECT_NEAR((sol - sol_expected).norm() / sol_expected.norm(), 0.0,
+                relative_tolerance);
+  }
+
+  scoped_ptr<BlockSparseMatrix> A;
+  scoped_array<double> b;
+  scoped_array<double> D;
+  int num_eliminate_blocks;
+  int num_eliminate_cols;
+
+  Matrix lhs_expected;
+  Vector rhs_expected;
+  Vector sol_expected;
+};
+
+TEST_F(SchurEliminatorTest, ScalarProblemNoRegularization) {
+  SetUpFromId(2);
+  Vector zero(A->num_cols());
+  zero.setZero();
+
+  ComputeReferenceSolution(VectorRef(zero.data(), A->num_cols()));
+  EliminateSolveAndCompare(VectorRef(zero.data(), A->num_cols()), true, 1e-14);
+  EliminateSolveAndCompare(VectorRef(zero.data(), A->num_cols()), false, 1e-14);
+}
+
+TEST_F(SchurEliminatorTest, ScalarProblemWithRegularization) {
+  SetUpFromId(2);
+  ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+  EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), true, 1e-14);
+  EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), false, 1e-14);
+}
+
+TEST_F(SchurEliminatorTest, VaryingFBlockSizeWithStaticStructure) {
+  SetUpFromId(4);
+  ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+  EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), true, 1e-14);
+}
+
+TEST_F(SchurEliminatorTest, VaryingFBlockSizeWithoutStaticStructure) {
+  SetUpFromId(4);
+  ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+  EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), false, 1e-14);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/schur_jacobi_preconditioner.cc b/internal/ceres/schur_jacobi_preconditioner.cc
new file mode 100644
index 0000000..c3f43a9
--- /dev/null
+++ b/internal/ceres/schur_jacobi_preconditioner.cc
@@ -0,0 +1,117 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/schur_jacobi_preconditioner.h"
+
+#include <utility>
+#include <vector>
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+SchurJacobiPreconditioner::SchurJacobiPreconditioner(
+    const CompressedRowBlockStructure& bs,
+    const Preconditioner::Options& options)
+    : options_(options) {
+  CHECK_GT(options_.elimination_groups.size(), 1);
+  CHECK_GT(options_.elimination_groups[0], 0);
+  const int num_blocks = bs.cols.size() - options_.elimination_groups[0];
+  CHECK_GT(num_blocks, 0)
+      << "Jacobian should have atleast 1 f_block for "
+      << "SCHUR_JACOBI preconditioner.";
+
+  std::vector<int> blocks(num_blocks);
+  for (int i = 0; i < num_blocks; ++i) {
+    blocks[i] = bs.cols[i + options_.elimination_groups[0]].size;
+  }
+
+  m_.reset(new BlockRandomAccessDiagonalMatrix(blocks));
+  InitEliminator(bs);
+}
+
+SchurJacobiPreconditioner::~SchurJacobiPreconditioner() {
+}
+
+// Initialize the SchurEliminator.
+void SchurJacobiPreconditioner::InitEliminator(
+    const CompressedRowBlockStructure& bs) {
+  LinearSolver::Options eliminator_options;
+  eliminator_options.elimination_groups = options_.elimination_groups;
+  eliminator_options.num_threads = options_.num_threads;
+  eliminator_options.e_block_size = options_.e_block_size;
+  eliminator_options.f_block_size = options_.f_block_size;
+  eliminator_options.row_block_size = options_.row_block_size;
+  eliminator_.reset(SchurEliminatorBase::Create(eliminator_options));
+  const bool kFullRankETE = true;
+  eliminator_->Init(
+      eliminator_options.elimination_groups[0], kFullRankETE, &bs);
+}
+
+// Update the values of the preconditioner matrix and factorize it.
+bool SchurJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
+                                           const double* D) {
+  const int num_rows = m_->num_rows();
+  CHECK_GT(num_rows, 0);
+
+  // We need a dummy rhs vector and a dummy b vector since the Schur
+  // eliminator combines the computation of the reduced camera matrix
+  // with the computation of the right hand side of that linear
+  // system.
+  //
+  // TODO(sameeragarwal): Perhaps its worth refactoring the
+  // SchurEliminator::Eliminate function to allow NULL for the rhs. As
+  // of now it does not seem to be worth the effort.
+  Vector rhs = Vector::Zero(m_->num_rows());
+  Vector b = Vector::Zero(A.num_rows());
+
+  // Compute a subset of the entries of the Schur complement.
+  eliminator_->Eliminate(&A, b.data(), D, m_.get(), rhs.data());
+  m_->Invert();
+  return true;
+}
+
+void SchurJacobiPreconditioner::RightMultiply(const double* x,
+                                              double* y) const {
+  m_->RightMultiply(x, y);
+}
+
+int SchurJacobiPreconditioner::num_rows() const {
+  return m_->num_rows();
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/schur_jacobi_preconditioner.h b/internal/ceres/schur_jacobi_preconditioner.h
new file mode 100644
index 0000000..5398f3f
--- /dev/null
+++ b/internal/ceres/schur_jacobi_preconditioner.h
@@ -0,0 +1,106 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Detailed descriptions of these preconditions beyond what is
+// documented here can be found in
+//
+// Bundle Adjustment in the Large
+// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
+// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
+
+#ifndef CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
+#define CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/collections_port.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/preconditioner.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockRandomAccessDiagonalMatrix;
+class BlockSparseMatrix;
+struct CompressedRowBlockStructure;
+class SchurEliminatorBase;
+
+// This class implements the SCHUR_JACOBI preconditioner for Structure
+// from Motion/Bundle Adjustment problems. Full mathematical details
+// can be found in
+//
+// Bundle Adjustment in the Large
+// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
+// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
+//
+// Example usage:
+//
+//   Preconditioner::Options options;
+//   options.preconditioner_type = SCHUR_JACOBI;
+//   options.elimination_groups.push_back(num_points);
+//   options.elimination_groups.push_back(num_cameras);
+//   SchurJacobiPreconditioner preconditioner(
+//      *A.block_structure(), options);
+//   preconditioner.Update(A, NULL);
+//   preconditioner.RightMultiply(x, y);
+//
+class SchurJacobiPreconditioner : public BlockSparseMatrixPreconditioner {
+ public:
+  // Initialize the symbolic structure of the preconditioner. bs is
+  // the block structure of the linear system to be solved. It is used
+  // to determine the sparsity structure of the preconditioner matrix.
+  //
+  // It has the same structural requirement as other Schur complement
+  // based solvers. Please see schur_eliminator.h for more details.
+  SchurJacobiPreconditioner(const CompressedRowBlockStructure& bs,
+                            const Preconditioner::Options& options);
+  virtual ~SchurJacobiPreconditioner();
+
+  // Preconditioner interface.
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual int num_rows() const;
+
+ private:
+  void InitEliminator(const CompressedRowBlockStructure& bs);
+  virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
+
+  Preconditioner::Options options_;
+  scoped_ptr<SchurEliminatorBase> eliminator_;
+  // Preconditioner matrix.
+  scoped_ptr<BlockRandomAccessDiagonalMatrix> m_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(SchurJacobiPreconditioner);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SCHUR_JACOBI_PRECONDITIONER_H_
diff --git a/internal/ceres/schur_templates.cc b/internal/ceres/schur_templates.cc
new file mode 100644
index 0000000..610b349
--- /dev/null
+++ b/internal/ceres/schur_templates.cc
@@ -0,0 +1,211 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// What template specializations are available.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+
+#include "ceres/internal/eigen.h"
+#include "ceres/schur_templates.h"
+
+namespace ceres {
+namespace internal {
+
+void GetBestSchurTemplateSpecialization(int* row_block_size,
+                                        int* e_block_size,
+                                        int* f_block_size) {
+  LinearSolver::Options options;
+  options.row_block_size = *row_block_size;
+  options.e_block_size = *e_block_size;
+  options.f_block_size = *f_block_size;
+  *row_block_size = Eigen::Dynamic;
+  *e_block_size = Eigen::Dynamic;
+  *f_block_size = Eigen::Dynamic;
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 2)) {
+   *row_block_size = 2;
+   *e_block_size = 2;
+   *f_block_size = 2;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 3)) {
+   *row_block_size = 2;
+   *e_block_size = 2;
+   *f_block_size = 3;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2) &&
+     (options.f_block_size == 4)) {
+   *row_block_size = 2;
+   *e_block_size = 2;
+   *f_block_size = 4;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 2)) {
+   *row_block_size = 2;
+   *e_block_size = 2;
+   *f_block_size = Eigen::Dynamic;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 3)) {
+   *row_block_size = 2;
+   *e_block_size = 3;
+   *f_block_size = 3;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 4)) {
+   *row_block_size = 2;
+   *e_block_size = 3;
+   *f_block_size = 4;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 6)) {
+   *row_block_size = 2;
+   *e_block_size = 3;
+   *f_block_size = 6;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 9)) {
+   *row_block_size = 2;
+   *e_block_size = 3;
+   *f_block_size = 9;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 3)) {
+   *row_block_size = 2;
+   *e_block_size = 3;
+   *f_block_size = Eigen::Dynamic;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 3)) {
+   *row_block_size = 2;
+   *e_block_size = 4;
+   *f_block_size = 3;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 4)) {
+   *row_block_size = 2;
+   *e_block_size = 4;
+   *f_block_size = 4;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 8)) {
+   *row_block_size = 2;
+   *e_block_size = 4;
+   *f_block_size = 8;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 9)) {
+   *row_block_size = 2;
+   *e_block_size = 4;
+   *f_block_size = 9;
+  return;
+ }
+ if ((options.row_block_size == 2) &&
+     (options.e_block_size == 4)) {
+   *row_block_size = 2;
+   *e_block_size = 4;
+   *f_block_size = Eigen::Dynamic;
+  return;
+ }
+ if (options.row_block_size == 2){
+   *row_block_size = 2;
+   *e_block_size = Eigen::Dynamic;
+   *f_block_size = Eigen::Dynamic;
+  return;
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 2)) {
+   *row_block_size = 4;
+   *e_block_size = 4;
+   *f_block_size = 2;
+  return;
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 3)) {
+   *row_block_size = 4;
+   *e_block_size = 4;
+   *f_block_size = 3;
+  return;
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4) &&
+     (options.f_block_size == 4)) {
+   *row_block_size = 4;
+   *e_block_size = 4;
+   *f_block_size = 4;
+  return;
+ }
+ if ((options.row_block_size == 4) &&
+     (options.e_block_size == 4)) {
+   *row_block_size = 4;
+   *e_block_size = 4;
+   *f_block_size = Eigen::Dynamic;
+  return;
+ }
+
+#endif
+  return;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/schur_templates.h b/internal/ceres/schur_templates.h
new file mode 100644
index 0000000..90aee0a
--- /dev/null
+++ b/internal/ceres/schur_templates.h
@@ -0,0 +1,46 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+
+#ifndef CERES_INTERNAL_SCHUR_TEMPLATES_H_
+#define CERES_INTERNAL_SCHUR_TEMPLATES_H_
+
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+void GetBestSchurTemplateSpecialization(int* row_block_size,
+                                        int* e_block_size,
+                                        int* f_block_size);
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SCHUR_TEMPLATES_H_
diff --git a/internal/ceres/scratch_evaluate_preparer.cc b/internal/ceres/scratch_evaluate_preparer.cc
new file mode 100644
index 0000000..f01ef11
--- /dev/null
+++ b/internal/ceres/scratch_evaluate_preparer.cc
@@ -0,0 +1,78 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/scratch_evaluate_preparer.h"
+
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+
+namespace ceres {
+namespace internal {
+
+ScratchEvaluatePreparer* ScratchEvaluatePreparer::Create(
+    const Program &program,
+    int num_threads) {
+  ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads];
+  int max_derivatives_per_residual_block =
+      program.MaxDerivativesPerResidualBlock();
+  for (int i = 0; i < num_threads; i++) {
+    preparers[i].Init(max_derivatives_per_residual_block);
+  }
+  return preparers;
+}
+
+void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
+  jacobian_scratch_.reset(
+      new double[max_derivatives_per_residual_block]);
+}
+
+// Point the jacobian blocks into the scratch area of this evaluate preparer.
+void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+                                      int /* residual_block_index */,
+                                      SparseMatrix* /* jacobian */,
+                                      double** jacobians) {
+  double* jacobian_block_cursor = jacobian_scratch_.get();
+  int num_residuals = residual_block->NumResiduals();
+  int num_parameter_blocks = residual_block->NumParameterBlocks();
+  for (int j = 0; j < num_parameter_blocks; ++j) {
+    const ParameterBlock* parameter_block =
+        residual_block->parameter_blocks()[j];
+    if (parameter_block->IsConstant()) {
+      jacobians[j] = NULL;
+    } else {
+      jacobians[j] = jacobian_block_cursor;
+      jacobian_block_cursor += num_residuals * parameter_block->LocalSize();
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/scratch_evaluate_preparer.h b/internal/ceres/scratch_evaluate_preparer.h
new file mode 100644
index 0000000..fa9ebd0
--- /dev/null
+++ b/internal/ceres/scratch_evaluate_preparer.h
@@ -0,0 +1,69 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A scratch evaluate preparer provides temporary storage for the jacobians that
+// are created when running user-provided cost functions. The evaluator takes
+// care to avoid evaluating the jacobian for fixed parameters.
+
+#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
+#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
+
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class ResidualBlock;
+class SparseMatrix;
+
+class ScratchEvaluatePreparer {
+ public:
+  // Create num_threads ScratchEvaluatePreparers.
+  static ScratchEvaluatePreparer* Create(const Program &program,
+                                         int num_threads);
+
+  // EvaluatePreparer interface
+  void Init(int max_derivatives_per_residual_block);
+  void Prepare(const ResidualBlock* residual_block,
+               int residual_block_index,
+               SparseMatrix* jacobian,
+               double** jacobians);
+
+ private:
+  // Scratch space for the jacobians; each jacobian is packed one after another.
+  // There is enough scratch to hold all the jacobians for the largest residual.
+  scoped_array<double> jacobian_scratch_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
diff --git a/internal/ceres/single_linkage_clustering.cc b/internal/ceres/single_linkage_clustering.cc
new file mode 100644
index 0000000..9e9342a
--- /dev/null
+++ b/internal/ceres/single_linkage_clustering.cc
@@ -0,0 +1,103 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/single_linkage_clustering.h"
+
+#include "ceres/graph.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph_algorithms.h"
+
+namespace ceres {
+namespace internal {
+
+int ComputeSingleLinkageClustering(
+    const SingleLinkageClusteringOptions& options,
+    const WeightedGraph<int>& graph,
+    HashMap<int, int>* membership) {
+  CHECK_NOTNULL(membership)->clear();
+
+  // Initially each vertex is in its own cluster.
+  const HashSet<int>& vertices = graph.vertices();
+  for (HashSet<int>::const_iterator it = vertices.begin();
+       it != vertices.end();
+       ++it) {
+    (*membership)[*it] = *it;
+  }
+
+  for (HashSet<int>::const_iterator it1 = vertices.begin();
+       it1 != vertices.end();
+       ++it1) {
+    const int vertex1 = *it1;
+    const HashSet<int>& neighbors = graph.Neighbors(vertex1);
+    for (HashSet<int>::const_iterator it2 = neighbors.begin();
+         it2 != neighbors.end();
+         ++it2) {
+      const int vertex2 = *it2;
+
+      // Since the graph is undirected, only pay attention to one side
+      // of the edge and ignore weak edges.
+      if ((vertex1 > vertex2) ||
+          (graph.EdgeWeight(vertex1, vertex2) < options.min_similarity)) {
+        continue;
+      }
+
+      // Use a union-find algorithm to keep track of the clusters.
+      const int c1 = FindConnectedComponent(vertex1, membership);
+      const int c2 = FindConnectedComponent(vertex2, membership);
+
+      if (c1 == c2) {
+        continue;
+      }
+
+      if (c1 < c2) {
+        (*membership)[c2] = c1;
+      } else {
+        (*membership)[c1] = c2;
+      }
+    }
+  }
+
+  // Make sure that every vertex is connected directly to the vertex
+  // identifying the cluster.
+  int num_clusters = 0;
+  for (HashMap<int, int>::iterator it = membership->begin();
+       it != membership->end();
+       ++it) {
+    it->second = FindConnectedComponent(it->first, membership);
+    if (it->first == it->second) {
+      ++num_clusters;
+    }
+  }
+
+  return num_clusters;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/single_linkage_clustering.h b/internal/ceres/single_linkage_clustering.h
new file mode 100644
index 0000000..8d1f02b
--- /dev/null
+++ b/internal/ceres/single_linkage_clustering.h
@@ -0,0 +1,68 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_SINGLE_LINKAGE_CLUSTERING_H_
+#define CERES_INTERNAL_SINGLE_LINKAGE_CLUSTERING_H_
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+struct SingleLinkageClusteringOptions {
+  SingleLinkageClusteringOptions()
+      : min_similarity(0.99) {
+  }
+
+  // Graph edges with edge weight less than min_similarity are ignored
+  // during the clustering process.
+  double min_similarity;
+};
+
+// Compute a partitioning of the vertices of the graph using the
+// single linkage clustering algorithm. Edges with weight less than
+// SingleLinkageClusteringOptions::min_similarity will be ignored.
+//
+// membership upon return will contain a mapping from the vertices of
+// the graph to an integer indicating the identity of the cluster that
+// it belongs to.
+//
+// The return value of this function is the number of clusters
+// identified by the algorithm.
+int ComputeSingleLinkageClustering(
+    const SingleLinkageClusteringOptions& options,
+    const WeightedGraph<int>& graph,
+    HashMap<int, int>* membership);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SINGLE_LINKAGE_CLUSTERING_H_
diff --git a/internal/ceres/single_linkage_clustering_test.cc b/internal/ceres/single_linkage_clustering_test.cc
new file mode 100644
index 0000000..ca1a661
--- /dev/null
+++ b/internal/ceres/single_linkage_clustering_test.cc
@@ -0,0 +1,125 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Sameer Agarwal (sameeragarwal@google.com)
+
+#include "ceres/single_linkage_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(SingleLinkageClustering, GraphHasTwoComponents) {
+  WeightedGraph<int> graph;
+  const int kNumVertices = 6;
+  for (int i = 0; i < kNumVertices; ++i) {
+    graph.AddVertex(i);
+  }
+  // Graph structure:
+  //
+  //  0-1-2-3 4-5
+  graph.AddEdge(0, 1, 1.0);
+  graph.AddEdge(1, 2, 1.0);
+  graph.AddEdge(2, 3, 1.0);
+  graph.AddEdge(4, 5, 1.0);
+
+  SingleLinkageClusteringOptions options;
+  HashMap<int, int> membership;
+  ComputeSingleLinkageClustering(options, graph, &membership);
+  EXPECT_EQ(membership.size(), kNumVertices);
+
+  EXPECT_EQ(membership[1], membership[0]);
+  EXPECT_EQ(membership[2], membership[0]);
+  EXPECT_EQ(membership[3], membership[0]);
+  EXPECT_NE(membership[4], membership[0]);
+  EXPECT_NE(membership[5], membership[0]);
+  EXPECT_EQ(membership[4], membership[5]);
+}
+
+TEST(SingleLinkageClustering, ComponentWithWeakLink) {
+  WeightedGraph<int> graph;
+  const int kNumVertices = 6;
+  for (int i = 0; i < kNumVertices; ++i) {
+    graph.AddVertex(i);
+  }
+  // Graph structure:
+  //
+  //  0-1-2-3 4-5
+  graph.AddEdge(0, 1, 1.0);
+  graph.AddEdge(1, 2, 1.0);
+  graph.AddEdge(2, 3, 1.0);
+
+  // This component should break up into two.
+  graph.AddEdge(4, 5, 0.5);
+
+  SingleLinkageClusteringOptions options;
+  HashMap<int, int> membership;
+  ComputeSingleLinkageClustering(options, graph, &membership);
+  EXPECT_EQ(membership.size(), kNumVertices);
+
+  EXPECT_EQ(membership[1], membership[0]);
+  EXPECT_EQ(membership[2], membership[0]);
+  EXPECT_EQ(membership[3], membership[0]);
+  EXPECT_NE(membership[4], membership[0]);
+  EXPECT_NE(membership[5], membership[0]);
+  EXPECT_NE(membership[4], membership[5]);
+}
+
+TEST(SingleLinkageClustering, ComponentWithWeakLinkAndStrongLink) {
+  WeightedGraph<int> graph;
+  const int kNumVertices = 6;
+  for (int i = 0; i < kNumVertices; ++i) {
+    graph.AddVertex(i);
+  }
+  // Graph structure:
+  //
+  //  0-1-2-3 4-5
+  graph.AddEdge(0, 1, 1.0);
+  graph.AddEdge(1, 2, 1.0);
+  graph.AddEdge(2, 3, 0.5);  // Weak link
+  graph.AddEdge(0, 3, 1.0);
+
+  // This component should break up into two.
+  graph.AddEdge(4, 5, 1.0);
+
+  SingleLinkageClusteringOptions options;
+  HashMap<int, int> membership;
+  ComputeSingleLinkageClustering(options, graph, &membership);
+  EXPECT_EQ(membership.size(), kNumVertices);
+
+  EXPECT_EQ(membership[1], membership[0]);
+  EXPECT_EQ(membership[2], membership[0]);
+  EXPECT_EQ(membership[3], membership[0]);
+  EXPECT_EQ(membership[4], membership[5]);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/small_blas.h b/internal/ceres/small_blas.h
new file mode 100644
index 0000000..264ac53
--- /dev/null
+++ b/internal/ceres/small_blas.h
@@ -0,0 +1,381 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Simple blas functions for use in the Schur Eliminator. These are
+// fairly basic implementations which already yield a significant
+// speedup in the eliminator performance.
+
+#ifndef CERES_INTERNAL_SMALL_BLAS_H_
+#define CERES_INTERNAL_SMALL_BLAS_H_
+
+#include "ceres/internal/port.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// The following three macros are used to share code and reduce
+// template junk across the various GEMM variants.
+#define CERES_GEMM_BEGIN(name)                                          \
+  template<int kRowA, int kColA, int kRowB, int kColB, int kOperation>  \
+  inline void name(const double* A,                                     \
+                   const int num_row_a,                                 \
+                   const int num_col_a,                                 \
+                   const double* B,                                     \
+                   const int num_row_b,                                 \
+                   const int num_col_b,                                 \
+                   double* C,                                           \
+                   const int start_row_c,                               \
+                   const int start_col_c,                               \
+                   const int row_stride_c,                              \
+                   const int col_stride_c)
+
+#define CERES_GEMM_NAIVE_HEADER                                         \
+  DCHECK_GT(num_row_a, 0);                                              \
+  DCHECK_GT(num_col_a, 0);                                              \
+  DCHECK_GT(num_row_b, 0);                                              \
+  DCHECK_GT(num_col_b, 0);                                              \
+  DCHECK_GE(start_row_c, 0);                                            \
+  DCHECK_GE(start_col_c, 0);                                            \
+  DCHECK_GT(row_stride_c, 0);                                           \
+  DCHECK_GT(col_stride_c, 0);                                           \
+  DCHECK((kRowA == Eigen::Dynamic) || (kRowA == num_row_a));            \
+  DCHECK((kColA == Eigen::Dynamic) || (kColA == num_col_a));            \
+  DCHECK((kRowB == Eigen::Dynamic) || (kRowB == num_row_b));            \
+  DCHECK((kColB == Eigen::Dynamic) || (kColB == num_col_b));            \
+  const int NUM_ROW_A = (kRowA != Eigen::Dynamic ? kRowA : num_row_a);  \
+  const int NUM_COL_A = (kColA != Eigen::Dynamic ? kColA : num_col_a);  \
+  const int NUM_ROW_B = (kRowB != Eigen::Dynamic ? kRowB : num_row_b);  \
+  const int NUM_COL_B = (kColB != Eigen::Dynamic ? kColB : num_col_b);
+
+#define CERES_GEMM_EIGEN_HEADER                                         \
+  const typename EigenTypes<kRowA, kColA>::ConstMatrixRef               \
+  Aref(A, num_row_a, num_col_a);                                        \
+  const typename EigenTypes<kRowB, kColB>::ConstMatrixRef               \
+  Bref(B, num_row_b, num_col_b);                                        \
+  MatrixRef Cref(C, row_stride_c, col_stride_c);                        \
+
+#define CERES_CALL_GEMM(name)                                           \
+  name<kRowA, kColA, kRowB, kColB, kOperation>(                         \
+      A, num_row_a, num_col_a,                                          \
+      B, num_row_b, num_col_b,                                          \
+      C, start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+
+// For the matrix-matrix functions below, there are three variants for
+// each functionality. Foo, FooNaive and FooEigen. Foo is the one to
+// be called by the user. FooNaive is a basic loop based
+// implementation and FooEigen uses Eigen's implementation. Foo
+// chooses between FooNaive and FooEigen depending on how many of the
+// template arguments are fixed at compile time. Currently, FooEigen
+// is called if all matrix dimensions are compile time
+// constants. FooNaive is called otherwise. This leads to the best
+// performance currently.
+//
+// The MatrixMatrixMultiply variants compute:
+//
+//   C op A * B;
+//
+// The MatrixTransposeMatrixMultiply variants compute:
+//
+//   C op A' * B
+//
+// where op can be +=, -=, or =.
+//
+// The template parameters (kRowA, kColA, kRowB, kColB) allow
+// specialization of the loop at compile time. If this information is
+// not available, then Eigen::Dynamic should be used as the template
+// argument.
+//
+//   kOperation =  1  -> C += A * B
+//   kOperation = -1  -> C -= A * B
+//   kOperation =  0  -> C  = A * B
+//
+// The functions can write into matrices C which are larger than the
+// matrix A * B. This is done by specifying the true size of C via
+// row_stride_c and col_stride_c, and then indicating where A * B
+// should be written into by start_row_c and start_col_c.
+//
+// Graphically if row_stride_c = 10, col_stride_c = 12, start_row_c =
+// 4 and start_col_c = 5, then if A = 3x2 and B = 2x4, we get
+//
+//   ------------
+//   ------------
+//   ------------
+//   ------------
+//   -----xxxx---
+//   -----xxxx---
+//   -----xxxx---
+//   ------------
+//   ------------
+//   ------------
+//
+CERES_GEMM_BEGIN(MatrixMatrixMultiplyEigen) {
+  CERES_GEMM_EIGEN_HEADER
+  Eigen::Block<MatrixRef, kRowA, kColB>
+    block(Cref, start_row_c, start_col_c, num_row_a, num_col_b);
+
+  if (kOperation > 0) {
+    block.noalias() += Aref * Bref;
+  } else if (kOperation < 0) {
+    block.noalias() -= Aref * Bref;
+  } else {
+    block.noalias() = Aref * Bref;
+  }
+}
+
+CERES_GEMM_BEGIN(MatrixMatrixMultiplyNaive) {
+  CERES_GEMM_NAIVE_HEADER
+  DCHECK_EQ(NUM_COL_A, NUM_ROW_B);
+
+  const int NUM_ROW_C = NUM_ROW_A;
+  const int NUM_COL_C = NUM_COL_B;
+  DCHECK_LE(start_row_c + NUM_ROW_C, row_stride_c);
+  DCHECK_LE(start_col_c + NUM_COL_C, col_stride_c);
+
+  for (int row = 0; row < NUM_ROW_C; ++row) {
+    for (int col = 0; col < NUM_COL_C; ++col) {
+      double tmp = 0.0;
+      for (int k = 0; k < NUM_COL_A; ++k) {
+        tmp += A[row * NUM_COL_A + k] * B[k * NUM_COL_B + col];
+      }
+
+      const int index = (row + start_row_c) * col_stride_c + start_col_c + col;
+      if (kOperation > 0) {
+        C[index] += tmp;
+      } else if (kOperation < 0) {
+        C[index] -= tmp;
+      } else {
+        C[index] = tmp;
+      }
+    }
+  }
+}
+
+CERES_GEMM_BEGIN(MatrixMatrixMultiply) {
+#ifdef CERES_NO_CUSTOM_BLAS
+
+  CERES_CALL_GEMM(MatrixMatrixMultiplyEigen)
+  return;
+
+#else
+
+  if (kRowA != Eigen::Dynamic && kColA != Eigen::Dynamic &&
+      kRowB != Eigen::Dynamic && kColB != Eigen::Dynamic) {
+    CERES_CALL_GEMM(MatrixMatrixMultiplyEigen)
+  } else {
+    CERES_CALL_GEMM(MatrixMatrixMultiplyNaive)
+  }
+
+#endif
+}
+
+CERES_GEMM_BEGIN(MatrixTransposeMatrixMultiplyEigen) {
+  CERES_GEMM_EIGEN_HEADER
+  Eigen::Block<MatrixRef, kColA, kColB> block(Cref,
+                                              start_row_c, start_col_c,
+                                              num_col_a, num_col_b);
+  if (kOperation > 0) {
+    block.noalias() += Aref.transpose() * Bref;
+  } else if (kOperation < 0) {
+    block.noalias() -= Aref.transpose() * Bref;
+  } else {
+    block.noalias() = Aref.transpose() * Bref;
+  }
+}
+
+CERES_GEMM_BEGIN(MatrixTransposeMatrixMultiplyNaive) {
+  CERES_GEMM_NAIVE_HEADER
+  DCHECK_EQ(NUM_ROW_A, NUM_ROW_B);
+
+  const int NUM_ROW_C = NUM_COL_A;
+  const int NUM_COL_C = NUM_COL_B;
+  DCHECK_LE(start_row_c + NUM_ROW_C, row_stride_c);
+  DCHECK_LE(start_col_c + NUM_COL_C, col_stride_c);
+
+  for (int row = 0; row < NUM_ROW_C; ++row) {
+    for (int col = 0; col < NUM_COL_C; ++col) {
+      double tmp = 0.0;
+      for (int k = 0; k < NUM_ROW_A; ++k) {
+        tmp += A[k * NUM_COL_A + row] * B[k * NUM_COL_B + col];
+      }
+
+      const int index = (row + start_row_c) * col_stride_c + start_col_c + col;
+      if (kOperation > 0) {
+        C[index]+= tmp;
+      } else if (kOperation < 0) {
+        C[index]-= tmp;
+      } else {
+        C[index]= tmp;
+      }
+    }
+  }
+}
+
+CERES_GEMM_BEGIN(MatrixTransposeMatrixMultiply) {
+#ifdef CERES_NO_CUSTOM_BLAS
+
+  CERES_CALL_GEMM(MatrixTransposeMatrixMultiplyEigen)
+  return;
+
+#else
+
+  if (kRowA != Eigen::Dynamic && kColA != Eigen::Dynamic &&
+      kRowB != Eigen::Dynamic && kColB != Eigen::Dynamic) {
+    CERES_CALL_GEMM(MatrixTransposeMatrixMultiplyEigen)
+  } else {
+    CERES_CALL_GEMM(MatrixTransposeMatrixMultiplyNaive)
+  }
+
+#endif
+}
+
+// Matrix-Vector multiplication
+//
+// c op A * b;
+//
+// where op can be +=, -=, or =.
+//
+// The template parameters (kRowA, kColA) allow specialization of the
+// loop at compile time. If this information is not available, then
+// Eigen::Dynamic should be used as the template argument.
+//
+// kOperation =  1  -> c += A' * b
+// kOperation = -1  -> c -= A' * b
+// kOperation =  0  -> c  = A' * b
+template<int kRowA, int kColA, int kOperation>
+inline void MatrixVectorMultiply(const double* A,
+                                 const int num_row_a,
+                                 const int num_col_a,
+                                 const double* b,
+                                 double* c) {
+#ifdef CERES_NO_CUSTOM_BLAS
+  const typename EigenTypes<kRowA, kColA>::ConstMatrixRef
+      Aref(A, num_row_a, num_col_a);
+  const typename EigenTypes<kColA>::ConstVectorRef bref(b, num_col_a);
+  typename EigenTypes<kRowA>::VectorRef cref(c, num_row_a);
+
+  // lazyProduct works better than .noalias() for matrix-vector
+  // products.
+  if (kOperation > 0) {
+    cref += Aref.lazyProduct(bref);
+  } else if (kOperation < 0) {
+    cref -= Aref.lazyProduct(bref);
+  } else {
+    cref = Aref.lazyProduct(bref);
+  }
+#else
+
+  DCHECK_GT(num_row_a, 0);
+  DCHECK_GT(num_col_a, 0);
+  DCHECK((kRowA == Eigen::Dynamic) || (kRowA == num_row_a));
+  DCHECK((kColA == Eigen::Dynamic) || (kColA == num_col_a));
+
+  const int NUM_ROW_A = (kRowA != Eigen::Dynamic ? kRowA : num_row_a);
+  const int NUM_COL_A = (kColA != Eigen::Dynamic ? kColA : num_col_a);
+
+  for (int row = 0; row < NUM_ROW_A; ++row) {
+    double tmp = 0.0;
+    for (int col = 0; col < NUM_COL_A; ++col) {
+      tmp += A[row * NUM_COL_A + col] * b[col];
+    }
+
+    if (kOperation > 0) {
+      c[row] += tmp;
+    } else if (kOperation < 0) {
+      c[row] -= tmp;
+    } else {
+      c[row] = tmp;
+    }
+  }
+#endif  // CERES_NO_CUSTOM_BLAS
+}
+
+// Similar to MatrixVectorMultiply, except that A is transposed, i.e.,
+//
+// c op A' * b;
+template<int kRowA, int kColA, int kOperation>
+inline void MatrixTransposeVectorMultiply(const double* A,
+                                          const int num_row_a,
+                                          const int num_col_a,
+                                          const double* b,
+                                          double* c) {
+#ifdef CERES_NO_CUSTOM_BLAS
+  const typename EigenTypes<kRowA, kColA>::ConstMatrixRef
+      Aref(A, num_row_a, num_col_a);
+  const typename EigenTypes<kRowA>::ConstVectorRef bref(b, num_row_a);
+  typename EigenTypes<kColA>::VectorRef cref(c, num_col_a);
+
+  // lazyProduct works better than .noalias() for matrix-vector
+  // products.
+  if (kOperation > 0) {
+    cref += Aref.transpose().lazyProduct(bref);
+  } else if (kOperation < 0) {
+    cref -= Aref.transpose().lazyProduct(bref);
+  } else {
+    cref = Aref.transpose().lazyProduct(bref);
+  }
+#else
+
+  DCHECK_GT(num_row_a, 0);
+  DCHECK_GT(num_col_a, 0);
+  DCHECK((kRowA == Eigen::Dynamic) || (kRowA == num_row_a));
+  DCHECK((kColA == Eigen::Dynamic) || (kColA == num_col_a));
+
+  const int NUM_ROW_A = (kRowA != Eigen::Dynamic ? kRowA : num_row_a);
+  const int NUM_COL_A = (kColA != Eigen::Dynamic ? kColA : num_col_a);
+
+  for (int row = 0; row < NUM_COL_A; ++row) {
+    double tmp = 0.0;
+    for (int col = 0; col < NUM_ROW_A; ++col) {
+      tmp += A[col * NUM_COL_A + row] * b[col];
+    }
+
+    if (kOperation > 0) {
+      c[row] += tmp;
+    } else if (kOperation < 0) {
+      c[row] -= tmp;
+    } else {
+      c[row] = tmp;
+    }
+  }
+#endif  // CERES_NO_CUSTOM_BLAS
+}
+
+#undef CERES_GEMM_BEGIN
+#undef CERES_GEMM_EIGEN_HEADER
+#undef CERES_GEMM_NAIVE_HEADER
+#undef CERES_CALL_GEMM
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SMALL_BLAS_H_
diff --git a/internal/ceres/small_blas_test.cc b/internal/ceres/small_blas_test.cc
new file mode 100644
index 0000000..ddb11ab
--- /dev/null
+++ b/internal/ceres/small_blas_test.cc
@@ -0,0 +1,302 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/small_blas.h"
+
+#include <limits>
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 3.0 * std::numeric_limits<double>::epsilon();
+
+TEST(BLAS, MatrixMatrixMultiply) {
+  const int kRowA = 3;
+  const int kColA = 5;
+  Matrix A(kRowA, kColA);
+  A.setOnes();
+
+  const int kRowB = 5;
+  const int kColB = 7;
+  Matrix B(kRowB, kColB);
+  B.setOnes();
+
+  for (int row_stride_c = kRowA; row_stride_c < 3 * kRowA; ++row_stride_c) {
+    for (int col_stride_c = kColB; col_stride_c < 3 * kColB; ++col_stride_c) {
+      Matrix C(row_stride_c, col_stride_c);
+      C.setOnes();
+
+      Matrix C_plus = C;
+      Matrix C_minus = C;
+      Matrix C_assign = C;
+
+      Matrix C_plus_ref = C;
+      Matrix C_minus_ref = C;
+      Matrix C_assign_ref = C;
+      for (int start_row_c = 0; start_row_c + kRowA < row_stride_c; ++start_row_c) {
+        for (int start_col_c = 0; start_col_c + kColB < col_stride_c; ++start_col_c) {
+          C_plus_ref.block(start_row_c, start_col_c, kRowA, kColB) +=
+              A * B;
+
+          MatrixMatrixMultiply<kRowA, kColA, kRowB, kColB, 1>(
+              A.data(), kRowA, kColA,
+              B.data(), kRowB, kColB,
+              C_plus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+          EXPECT_NEAR((C_plus_ref - C_plus).norm(), 0.0, kTolerance)
+              << "C += A * B \n"
+              << "row_stride_c : " << row_stride_c << "\n"
+              << "col_stride_c : " << col_stride_c << "\n"
+              << "start_row_c  : " << start_row_c << "\n"
+              << "start_col_c  : " << start_col_c << "\n"
+              << "Cref : \n" << C_plus_ref << "\n"
+              << "C: \n" << C_plus;
+
+
+          C_minus_ref.block(start_row_c, start_col_c, kRowA, kColB) -=
+              A * B;
+
+          MatrixMatrixMultiply<kRowA, kColA, kRowB, kColB, -1>(
+              A.data(), kRowA, kColA,
+              B.data(), kRowB, kColB,
+              C_minus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+           EXPECT_NEAR((C_minus_ref - C_minus).norm(), 0.0, kTolerance)
+              << "C -= A * B \n"
+              << "row_stride_c : " << row_stride_c << "\n"
+              << "col_stride_c : " << col_stride_c << "\n"
+              << "start_row_c  : " << start_row_c << "\n"
+              << "start_col_c  : " << start_col_c << "\n"
+              << "Cref : \n" << C_minus_ref << "\n"
+              << "C: \n" << C_minus;
+
+          C_assign_ref.block(start_row_c, start_col_c, kRowA, kColB) =
+              A * B;
+
+          MatrixMatrixMultiply<kRowA, kColA, kRowB, kColB, 0>(
+              A.data(), kRowA, kColA,
+              B.data(), kRowB, kColB,
+              C_assign.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+          EXPECT_NEAR((C_assign_ref - C_assign).norm(), 0.0, kTolerance)
+              << "C = A * B \n"
+              << "row_stride_c : " << row_stride_c << "\n"
+              << "col_stride_c : " << col_stride_c << "\n"
+              << "start_row_c  : " << start_row_c << "\n"
+              << "start_col_c  : " << start_col_c << "\n"
+              << "Cref : \n" << C_assign_ref << "\n"
+              << "C: \n" << C_assign;
+        }
+      }
+    }
+  }
+}
+
+TEST(BLAS, MatrixTransposeMatrixMultiply) {
+  const int kRowA = 5;
+  const int kColA = 3;
+  Matrix A(kRowA, kColA);
+  A.setOnes();
+
+  const int kRowB = 5;
+  const int kColB = 7;
+  Matrix B(kRowB, kColB);
+  B.setOnes();
+
+  for (int row_stride_c = kColA; row_stride_c < 3 * kColA; ++row_stride_c) {
+    for (int col_stride_c = kColB; col_stride_c <  3 * kColB; ++col_stride_c) {
+      Matrix C(row_stride_c, col_stride_c);
+      C.setOnes();
+
+      Matrix C_plus = C;
+      Matrix C_minus = C;
+      Matrix C_assign = C;
+
+      Matrix C_plus_ref = C;
+      Matrix C_minus_ref = C;
+      Matrix C_assign_ref = C;
+      for (int start_row_c = 0; start_row_c + kColA < row_stride_c; ++start_row_c) {
+        for (int start_col_c = 0; start_col_c + kColB < col_stride_c; ++start_col_c) {
+          C_plus_ref.block(start_row_c, start_col_c, kColA, kColB) +=
+              A.transpose() * B;
+
+          MatrixTransposeMatrixMultiply<kRowA, kColA, kRowB, kColB, 1>(
+              A.data(), kRowA, kColA,
+              B.data(), kRowB, kColB,
+              C_plus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+          EXPECT_NEAR((C_plus_ref - C_plus).norm(), 0.0, kTolerance)
+              << "C += A' * B \n"
+              << "row_stride_c : " << row_stride_c << "\n"
+              << "col_stride_c : " << col_stride_c << "\n"
+              << "start_row_c  : " << start_row_c << "\n"
+              << "start_col_c  : " << start_col_c << "\n"
+              << "Cref : \n" << C_plus_ref << "\n"
+              << "C: \n" << C_plus;
+
+          C_minus_ref.block(start_row_c, start_col_c, kColA, kColB) -=
+              A.transpose() * B;
+
+          MatrixTransposeMatrixMultiply<kRowA, kColA, kRowB, kColB, -1>(
+              A.data(), kRowA, kColA,
+              B.data(), kRowB, kColB,
+              C_minus.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+          EXPECT_NEAR((C_minus_ref - C_minus).norm(), 0.0, kTolerance)
+              << "C -= A' * B \n"
+              << "row_stride_c : " << row_stride_c << "\n"
+              << "col_stride_c : " << col_stride_c << "\n"
+              << "start_row_c  : " << start_row_c << "\n"
+              << "start_col_c  : " << start_col_c << "\n"
+              << "Cref : \n" << C_minus_ref << "\n"
+              << "C: \n" << C_minus;
+
+          C_assign_ref.block(start_row_c, start_col_c, kColA, kColB) =
+              A.transpose() * B;
+
+          MatrixTransposeMatrixMultiply<kRowA, kColA, kRowB, kColB, 0>(
+              A.data(), kRowA, kColA,
+              B.data(), kRowB, kColB,
+              C_assign.data(), start_row_c, start_col_c, row_stride_c, col_stride_c);
+
+          EXPECT_NEAR((C_assign_ref - C_assign).norm(), 0.0, kTolerance)
+              << "C = A' * B \n"
+              << "row_stride_c : " << row_stride_c << "\n"
+              << "col_stride_c : " << col_stride_c << "\n"
+              << "start_row_c  : " << start_row_c << "\n"
+              << "start_col_c  : " << start_col_c << "\n"
+              << "Cref : \n" << C_assign_ref << "\n"
+              << "C: \n" << C_assign;
+        }
+      }
+    }
+  }
+}
+
+TEST(BLAS, MatrixVectorMultiply) {
+  const int kRowA = 5;
+  const int kColA = 3;
+  Matrix A(kRowA, kColA);
+  A.setOnes();
+
+  Vector b(kColA);
+  b.setOnes();
+
+  Vector c(kRowA);
+  c.setOnes();
+
+  Vector c_plus = c;
+  Vector c_minus = c;
+  Vector c_assign = c;
+
+  Vector c_plus_ref = c;
+  Vector c_minus_ref = c;
+  Vector c_assign_ref = c;
+
+  c_plus_ref += A * b;
+  MatrixVectorMultiply<kRowA, kColA, 1>(A.data(), kRowA, kColA,
+                                        b.data(),
+                                        c_plus.data());
+  EXPECT_NEAR((c_plus_ref - c_plus).norm(), 0.0, kTolerance)
+      << "c += A * b \n"
+      << "c_ref : \n" << c_plus_ref << "\n"
+      << "c: \n" << c_plus;
+
+  c_minus_ref -= A * b;
+  MatrixVectorMultiply<kRowA, kColA, -1>(A.data(), kRowA, kColA,
+                                                 b.data(),
+                                                 c_minus.data());
+  EXPECT_NEAR((c_minus_ref - c_minus).norm(), 0.0, kTolerance)
+      << "c += A * b \n"
+      << "c_ref : \n" << c_minus_ref << "\n"
+      << "c: \n" << c_minus;
+
+  c_assign_ref = A * b;
+  MatrixVectorMultiply<kRowA, kColA, 0>(A.data(), kRowA, kColA,
+                                                  b.data(),
+                                                  c_assign.data());
+  EXPECT_NEAR((c_assign_ref - c_assign).norm(), 0.0, kTolerance)
+      << "c += A * b \n"
+      << "c_ref : \n" << c_assign_ref << "\n"
+      << "c: \n" << c_assign;
+}
+
+TEST(BLAS, MatrixTransposeVectorMultiply) {
+  const int kRowA = 5;
+  const int kColA = 3;
+  Matrix A(kRowA, kColA);
+  A.setRandom();
+
+  Vector b(kRowA);
+  b.setRandom();
+
+  Vector c(kColA);
+  c.setOnes();
+
+  Vector c_plus = c;
+  Vector c_minus = c;
+  Vector c_assign = c;
+
+  Vector c_plus_ref = c;
+  Vector c_minus_ref = c;
+  Vector c_assign_ref = c;
+
+  c_plus_ref += A.transpose() * b;
+  MatrixTransposeVectorMultiply<kRowA, kColA, 1>(A.data(), kRowA, kColA,
+                                                 b.data(),
+                                                 c_plus.data());
+  EXPECT_NEAR((c_plus_ref - c_plus).norm(), 0.0, kTolerance)
+      << "c += A' * b \n"
+      << "c_ref : \n" << c_plus_ref << "\n"
+      << "c: \n" << c_plus;
+
+  c_minus_ref -= A.transpose() * b;
+  MatrixTransposeVectorMultiply<kRowA, kColA, -1>(A.data(), kRowA, kColA,
+                                                  b.data(),
+                                                  c_minus.data());
+  EXPECT_NEAR((c_minus_ref - c_minus).norm(), 0.0, kTolerance)
+      << "c += A' * b \n"
+      << "c_ref : \n" << c_minus_ref << "\n"
+      << "c: \n" << c_minus;
+
+  c_assign_ref = A.transpose() * b;
+  MatrixTransposeVectorMultiply<kRowA, kColA, 0>(A.data(), kRowA, kColA,
+                                                  b.data(),
+                                                  c_assign.data());
+  EXPECT_NEAR((c_assign_ref - c_assign).norm(), 0.0, kTolerance)
+      << "c += A' * b \n"
+      << "c_ref : \n" << c_assign_ref << "\n"
+      << "c: \n" << c_assign;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
new file mode 100644
index 0000000..b4896c4
--- /dev/null
+++ b/internal/ceres/solver.cc
@@ -0,0 +1,915 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/solver.h"
+
+#include <algorithm>
+#include <sstream>   // NOLINT
+#include <vector>
+#include "ceres/detect_structure.h"
+#include "ceres/gradient_checking_cost_function.h"
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/preprocessor.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/schur_templates.h"
+#include "ceres/solver_utils.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace {
+
+using std::map;
+using std::string;
+using std::vector;
+
+#define OPTION_OP(x, y, OP)                                             \
+  if (!(options.x OP y)) {                                              \
+    std::stringstream ss;                                               \
+    ss << "Invalid configuration. ";                                    \
+    ss << string("Solver::Options::" #x " = ") << options.x << ". ";    \
+    ss << "Violated constraint: ";                                      \
+    ss << string("Solver::Options::" #x " " #OP " "#y);                 \
+    *error = ss.str();                                                  \
+    return false;                                                       \
+  }
+
+#define OPTION_OP_OPTION(x, y, OP)                                      \
+  if (!(options.x OP options.y)) {                                      \
+    std::stringstream ss;                                               \
+    ss << "Invalid configuration. ";                                    \
+    ss << string("Solver::Options::" #x " = ") << options.x << ". ";    \
+    ss << string("Solver::Options::" #y " = ") << options.y << ". ";    \
+    ss << "Violated constraint: ";                                      \
+    ss << string("Solver::Options::" #x);                               \
+    ss << string(#OP " Solver::Options::" #y ".");                      \
+    *error = ss.str();                                                  \
+    return false;                                                       \
+  }
+
+#define OPTION_GE(x, y) OPTION_OP(x, y, >=);
+#define OPTION_GT(x, y) OPTION_OP(x, y, >);
+#define OPTION_LE(x, y) OPTION_OP(x, y, <=);
+#define OPTION_LT(x, y) OPTION_OP(x, y, <);
+#define OPTION_LE_OPTION(x, y) OPTION_OP_OPTION(x, y, <=)
+#define OPTION_LT_OPTION(x, y) OPTION_OP_OPTION(x, y, <)
+
+bool CommonOptionsAreValid(const Solver::Options& options, string* error) {
+  OPTION_GE(max_num_iterations, 0);
+  OPTION_GE(max_solver_time_in_seconds, 0.0);
+  OPTION_GE(function_tolerance, 0.0);
+  OPTION_GE(gradient_tolerance, 0.0);
+  OPTION_GE(parameter_tolerance, 0.0);
+  OPTION_GT(num_threads, 0);
+  OPTION_GT(num_linear_solver_threads, 0);
+  if (options.check_gradients) {
+    OPTION_GT(gradient_check_relative_precision, 0.0);
+    OPTION_GT(gradient_check_numeric_derivative_relative_step_size, 0.0);
+  }
+  return true;
+}
+
+bool TrustRegionOptionsAreValid(const Solver::Options& options, string* error) {
+  OPTION_GT(initial_trust_region_radius, 0.0);
+  OPTION_GT(min_trust_region_radius, 0.0);
+  OPTION_GT(max_trust_region_radius, 0.0);
+  OPTION_LE_OPTION(min_trust_region_radius, max_trust_region_radius);
+  OPTION_LE_OPTION(min_trust_region_radius, initial_trust_region_radius);
+  OPTION_LE_OPTION(initial_trust_region_radius, max_trust_region_radius);
+  OPTION_GE(min_relative_decrease, 0.0);
+  OPTION_GE(min_lm_diagonal, 0.0);
+  OPTION_GE(max_lm_diagonal, 0.0);
+  OPTION_LE_OPTION(min_lm_diagonal, max_lm_diagonal);
+  OPTION_GE(max_num_consecutive_invalid_steps, 0);
+  OPTION_GT(eta, 0.0);
+  OPTION_GE(min_linear_solver_iterations, 0);
+  OPTION_GE(max_linear_solver_iterations, 1);
+  OPTION_LE_OPTION(min_linear_solver_iterations, max_linear_solver_iterations);
+
+  if (options.use_inner_iterations) {
+    OPTION_GE(inner_iteration_tolerance, 0.0);
+  }
+
+  if (options.use_nonmonotonic_steps) {
+    OPTION_GT(max_consecutive_nonmonotonic_steps, 0);
+  }
+
+  if (options.linear_solver_type == ITERATIVE_SCHUR &&
+      options.use_explicit_schur_complement &&
+      options.preconditioner_type != SCHUR_JACOBI) {
+    *error =  "use_explicit_schur_complement only supports "
+        "SCHUR_JACOBI as the preconditioner.";
+    return false;
+  }
+
+  if (options.preconditioner_type == CLUSTER_JACOBI &&
+      options.sparse_linear_algebra_library_type != SUITE_SPARSE) {
+    *error =  "CLUSTER_JACOBI requires "
+        "Solver::Options::sparse_linear_algebra_library_type to be "
+        "SUITE_SPARSE";
+    return false;
+  }
+
+  if (options.preconditioner_type == CLUSTER_TRIDIAGONAL &&
+      options.sparse_linear_algebra_library_type != SUITE_SPARSE) {
+    *error =  "CLUSTER_TRIDIAGONAL requires "
+        "Solver::Options::sparse_linear_algebra_library_type to be "
+        "SUITE_SPARSE";
+    return false;
+  }
+
+#ifdef CERES_NO_LAPACK
+  if (options.dense_linear_algebra_library_type == LAPACK) {
+    if (options.linear_solver_type == DENSE_NORMAL_CHOLESKY) {
+      *error = "Can't use DENSE_NORMAL_CHOLESKY with LAPACK because "
+          "LAPACK was not enabled when Ceres was built.";
+      return false;
+    } else if (options.linear_solver_type == DENSE_QR) {
+      *error = "Can't use DENSE_QR with LAPACK because "
+          "LAPACK was not enabled when Ceres was built.";
+      return false;
+    } else if (options.linear_solver_type == DENSE_SCHUR) {
+      *error = "Can't use DENSE_SCHUR with LAPACK because "
+          "LAPACK was not enabled when Ceres was built.";
+      return false;
+    }
+  }
+#endif
+
+#ifdef CERES_NO_SUITESPARSE
+  if (options.sparse_linear_algebra_library_type == SUITE_SPARSE) {
+    if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+      *error = "Can't use SPARSE_NORMAL_CHOLESKY with SUITESPARSE because "
+             "SuiteSparse was not enabled when Ceres was built.";
+      return false;
+    } else if (options.linear_solver_type == SPARSE_SCHUR) {
+      *error = "Can't use SPARSE_SCHUR with SUITESPARSE because "
+          "SuiteSparse was not enabled when Ceres was built.";
+      return false;
+    } else if (options.preconditioner_type == CLUSTER_JACOBI) {
+      *error =  "CLUSTER_JACOBI preconditioner not supported. "
+          "SuiteSparse was not enabled when Ceres was built.";
+      return false;
+    } else if (options.preconditioner_type == CLUSTER_TRIDIAGONAL) {
+      *error =  "CLUSTER_TRIDIAGONAL preconditioner not supported. "
+          "SuiteSparse was not enabled when Ceres was built.";
+    return false;
+    }
+  }
+#endif
+
+#ifdef CERES_NO_CXSPARSE
+  if (options.sparse_linear_algebra_library_type == CX_SPARSE) {
+    if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+      *error = "Can't use SPARSE_NORMAL_CHOLESKY with CX_SPARSE because "
+             "CXSparse was not enabled when Ceres was built.";
+      return false;
+    } else if (options.linear_solver_type == SPARSE_SCHUR) {
+      *error = "Can't use SPARSE_SCHUR with CX_SPARSE because "
+          "CXSparse was not enabled when Ceres was built.";
+      return false;
+    }
+  }
+#endif
+
+#ifndef CERES_USE_EIGEN_SPARSE
+  if (options.sparse_linear_algebra_library_type == EIGEN_SPARSE) {
+    if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+      *error = "Can't use SPARSE_NORMAL_CHOLESKY with EIGEN_SPARSE because "
+          "Eigen's sparse linear algebra was not enabled when Ceres was "
+          "built.";
+      return false;
+    } else if (options.linear_solver_type == SPARSE_SCHUR) {
+      *error = "Can't use SPARSE_SCHUR with EIGEN_SPARSE because "
+          "Eigen's sparse linear algebra was not enabled when Ceres was "
+          "built.";
+      return false;
+    }
+  }
+#endif
+
+  if (options.sparse_linear_algebra_library_type == NO_SPARSE) {
+    if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+      *error = "Can't use SPARSE_NORMAL_CHOLESKY as "
+          "sparse_linear_algebra_library_type is NO_SPARSE.";
+      return false;
+    } else if (options.linear_solver_type == SPARSE_SCHUR) {
+      *error = "Can't use SPARSE_SCHUR as "
+          "sparse_linear_algebra_library_type is NO_SPARSE.";
+      return false;
+    }
+  }
+
+  if (options.trust_region_strategy_type == DOGLEG) {
+    if (options.linear_solver_type == ITERATIVE_SCHUR ||
+        options.linear_solver_type == CGNR) {
+      *error = "DOGLEG only supports exact factorization based linear "
+          "solvers. If you want to use an iterative solver please "
+          "use LEVENBERG_MARQUARDT as the trust_region_strategy_type";
+      return false;
+    }
+  }
+
+  if (options.trust_region_minimizer_iterations_to_dump.size() > 0 &&
+      options.trust_region_problem_dump_format_type != CONSOLE &&
+      options.trust_region_problem_dump_directory.empty()) {
+    *error = "Solver::Options::trust_region_problem_dump_directory is empty.";
+    return false;
+  }
+
+  if (options.dynamic_sparsity &&
+      options.linear_solver_type != SPARSE_NORMAL_CHOLESKY) {
+    *error = "Dynamic sparsity is only supported with SPARSE_NORMAL_CHOLESKY.";
+    return false;
+  }
+
+  return true;
+}
+
+bool LineSearchOptionsAreValid(const Solver::Options& options, string* error) {
+  OPTION_GT(max_lbfgs_rank, 0);
+  OPTION_GT(min_line_search_step_size, 0.0);
+  OPTION_GT(max_line_search_step_contraction, 0.0);
+  OPTION_LT(max_line_search_step_contraction, 1.0);
+  OPTION_LT_OPTION(max_line_search_step_contraction,
+                   min_line_search_step_contraction);
+  OPTION_LE(min_line_search_step_contraction, 1.0);
+  OPTION_GT(max_num_line_search_step_size_iterations, 0);
+  OPTION_GT(line_search_sufficient_function_decrease, 0.0);
+  OPTION_LT_OPTION(line_search_sufficient_function_decrease,
+                   line_search_sufficient_curvature_decrease);
+  OPTION_LT(line_search_sufficient_curvature_decrease, 1.0);
+  OPTION_GT(max_line_search_step_expansion, 1.0);
+
+  if ((options.line_search_direction_type == ceres::BFGS ||
+       options.line_search_direction_type == ceres::LBFGS) &&
+      options.line_search_type != ceres::WOLFE) {
+    *error =
+        string("Invalid configuration: Solver::Options::line_search_type = ")
+        + string(LineSearchTypeToString(options.line_search_type))
+        + string(". When using (L)BFGS, "
+                 "Solver::Options::line_search_type must be set to WOLFE.");
+    return false;
+  }
+
+  // Warn user if they have requested BISECTION interpolation, but constraints
+  // on max/min step size change during line search prevent bisection scaling
+  // from occurring. Warn only, as this is likely a user mistake, but one which
+  // does not prevent us from continuing.
+  LOG_IF(WARNING,
+         (options.line_search_interpolation_type == ceres::BISECTION &&
+          (options.max_line_search_step_contraction > 0.5 ||
+           options.min_line_search_step_contraction < 0.5)))
+      << "Line search interpolation type is BISECTION, but specified "
+      << "max_line_search_step_contraction: "
+      << options.max_line_search_step_contraction << ", and "
+      << "min_line_search_step_contraction: "
+      << options.min_line_search_step_contraction
+      << ", prevent bisection (0.5) scaling, continuing with solve regardless.";
+
+  return true;
+}
+
+#undef OPTION_OP
+#undef OPTION_OP_OPTION
+#undef OPTION_GT
+#undef OPTION_GE
+#undef OPTION_LE
+#undef OPTION_LT
+#undef OPTION_LE_OPTION
+#undef OPTION_LT_OPTION
+
+void StringifyOrdering(const vector<int>& ordering, string* report) {
+  if (ordering.size() == 0) {
+    internal::StringAppendF(report, "AUTOMATIC");
+    return;
+  }
+
+  for (int i = 0; i < ordering.size() - 1; ++i) {
+    internal::StringAppendF(report, "%d,", ordering[i]);
+  }
+  internal::StringAppendF(report, "%d", ordering.back());
+}
+
+void SummarizeGivenProgram(const internal::Program& program,
+                           Solver::Summary* summary) {
+  summary->num_parameter_blocks     = program.NumParameterBlocks();
+  summary->num_parameters           = program.NumParameters();
+  summary->num_effective_parameters = program.NumEffectiveParameters();
+  summary->num_residual_blocks      = program.NumResidualBlocks();
+  summary->num_residuals            = program.NumResiduals();
+}
+
+void SummarizeReducedProgram(const internal::Program& program,
+                             Solver::Summary* summary) {
+  summary->num_parameter_blocks_reduced     = program.NumParameterBlocks();
+  summary->num_parameters_reduced           = program.NumParameters();
+  summary->num_effective_parameters_reduced = program.NumEffectiveParameters();
+  summary->num_residual_blocks_reduced      = program.NumResidualBlocks();
+  summary->num_residuals_reduced            = program.NumResiduals();
+}
+
+void PreSolveSummarize(const Solver::Options& options,
+                       const internal::ProblemImpl* problem,
+                       Solver::Summary* summary) {
+  SummarizeGivenProgram(problem->program(), summary);
+  internal::OrderingToGroupSizes(options.linear_solver_ordering.get(),
+                                 &(summary->linear_solver_ordering_given));
+  internal::OrderingToGroupSizes(options.inner_iteration_ordering.get(),
+                                 &(summary->inner_iteration_ordering_given));
+
+  summary->dense_linear_algebra_library_type  = options.dense_linear_algebra_library_type;  //  NOLINT
+  summary->dogleg_type                        = options.dogleg_type;
+  summary->inner_iteration_time_in_seconds    = 0.0;
+  summary->num_line_search_steps              = 0;
+  summary->line_search_cost_evaluation_time_in_seconds = 0.0;
+  summary->line_search_gradient_evaluation_time_in_seconds = 0.0;
+  summary->line_search_polynomial_minimization_time_in_seconds = 0.0;
+  summary->line_search_total_time_in_seconds  = 0.0;
+  summary->inner_iterations_given             = options.use_inner_iterations;
+  summary->line_search_direction_type         = options.line_search_direction_type;         //  NOLINT
+  summary->line_search_interpolation_type     = options.line_search_interpolation_type;     //  NOLINT
+  summary->line_search_type                   = options.line_search_type;
+  summary->linear_solver_type_given           = options.linear_solver_type;
+  summary->max_lbfgs_rank                     = options.max_lbfgs_rank;
+  summary->minimizer_type                     = options.minimizer_type;
+  summary->nonlinear_conjugate_gradient_type  = options.nonlinear_conjugate_gradient_type;  //  NOLINT
+  summary->num_linear_solver_threads_given    = options.num_linear_solver_threads;          //  NOLINT
+  summary->num_threads_given                  = options.num_threads;
+  summary->preconditioner_type_given          = options.preconditioner_type;
+  summary->sparse_linear_algebra_library_type = options.sparse_linear_algebra_library_type; //  NOLINT
+  summary->trust_region_strategy_type         = options.trust_region_strategy_type;         //  NOLINT
+  summary->visibility_clustering_type         = options.visibility_clustering_type;         //  NOLINT
+}
+
+void PostSolveSummarize(const internal::PreprocessedProblem& pp,
+                        Solver::Summary* summary) {
+  internal::OrderingToGroupSizes(pp.options.linear_solver_ordering.get(),
+                                 &(summary->linear_solver_ordering_used));
+  internal::OrderingToGroupSizes(pp.options.inner_iteration_ordering.get(),
+                                 &(summary->inner_iteration_ordering_used));
+
+  summary->inner_iterations_used          = pp.inner_iteration_minimizer.get() != NULL;     // NOLINT
+  summary->linear_solver_type_used        = pp.linear_solver_options.type;
+  summary->num_linear_solver_threads_used = pp.options.num_linear_solver_threads;           // NOLINT
+  summary->num_threads_used               = pp.options.num_threads;
+  summary->preconditioner_type_used       = pp.options.preconditioner_type;                 // NOLINT
+
+  internal::SetSummaryFinalCost(summary);
+
+  if (pp.reduced_program.get() != NULL) {
+    SummarizeReducedProgram(*pp.reduced_program, summary);
+  }
+
+  // It is possible that no evaluator was created. This would be the
+  // case if the preprocessor failed, or if the reduced problem did
+  // not contain any parameter blocks. Thus, only extract the
+  // evaluator statistics if one exists.
+  if (pp.evaluator.get() != NULL) {
+    const map<string, double>& evaluator_time_statistics =
+        pp.evaluator->TimeStatistics();
+    summary->residual_evaluation_time_in_seconds =
+        FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
+    summary->jacobian_evaluation_time_in_seconds =
+        FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
+  }
+
+  // Again, like the evaluator, there may or may not be a linear
+  // solver from which we can extract run time statistics. In
+  // particular the line search solver does not use a linear solver.
+  if (pp.linear_solver.get() != NULL) {
+    const map<string, double>& linear_solver_time_statistics =
+        pp.linear_solver->TimeStatistics();
+    summary->linear_solver_time_in_seconds =
+        FindWithDefault(linear_solver_time_statistics,
+                        "LinearSolver::Solve",
+                        0.0);
+  }
+}
+
+void Minimize(internal::PreprocessedProblem* pp,
+              Solver::Summary* summary) {
+  using internal::Program;
+  using internal::scoped_ptr;
+  using internal::Minimizer;
+
+  Program* program = pp->reduced_program.get();
+  if (pp->reduced_program->NumParameterBlocks() == 0) {
+    summary->message = "Function tolerance reached. "
+        "No non-constant parameter blocks found.";
+    summary->termination_type = CONVERGENCE;
+    VLOG_IF(1, pp->options.logging_type != SILENT) << summary->message;
+    summary->initial_cost = summary->fixed_cost;
+    summary->final_cost = summary->fixed_cost;
+    return;
+  }
+
+  scoped_ptr<Minimizer> minimizer(
+      Minimizer::Create(pp->options.minimizer_type));
+  minimizer->Minimize(pp->minimizer_options,
+                      pp->reduced_parameters.data(),
+                      summary);
+
+  if (summary->IsSolutionUsable()) {
+    program->StateVectorToParameterBlocks(pp->reduced_parameters.data());
+    program->CopyParameterBlockStateToUserState();
+  }
+}
+
+std::string SchurStructureToString(const int row_block_size,
+                                   const int e_block_size,
+                                   const int f_block_size) {
+  const std::string row =
+      (row_block_size == Eigen::Dynamic)
+      ? "d" : internal::StringPrintf("%d", row_block_size);
+
+  const std::string e =
+      (e_block_size == Eigen::Dynamic)
+      ? "d" : internal::StringPrintf("%d", e_block_size);
+
+  const std::string f =
+      (f_block_size == Eigen::Dynamic)
+      ? "d" : internal::StringPrintf("%d", f_block_size);
+
+  return internal::StringPrintf("%s,%s,%s", row.c_str(), e.c_str(), f.c_str());
+}
+
+}  // namespace
+
+bool Solver::Options::IsValid(string* error) const {
+  if (!CommonOptionsAreValid(*this, error)) {
+    return false;
+  }
+
+  if (minimizer_type == TRUST_REGION &&
+      !TrustRegionOptionsAreValid(*this, error)) {
+    return false;
+  }
+
+  // We do not know if the problem is bounds constrained or not, if it
+  // is then the trust region solver will also use the line search
+  // solver to do a projection onto the box constraints, so make sure
+  // that the line search options are checked independent of what
+  // minimizer algorithm is being used.
+  return LineSearchOptionsAreValid(*this, error);
+}
+
+Solver::~Solver() {}
+
+void Solver::Solve(const Solver::Options& options,
+                   Problem* problem,
+                   Solver::Summary* summary) {
+  using internal::PreprocessedProblem;
+  using internal::Preprocessor;
+  using internal::ProblemImpl;
+  using internal::Program;
+  using internal::scoped_ptr;
+  using internal::WallTimeInSeconds;
+
+  CHECK_NOTNULL(problem);
+  CHECK_NOTNULL(summary);
+
+  double start_time = WallTimeInSeconds();
+  *summary = Summary();
+  if (!options.IsValid(&summary->message)) {
+    LOG(ERROR) << "Terminating: " << summary->message;
+    return;
+  }
+
+  ProblemImpl* problem_impl = problem->problem_impl_.get();
+  Program* program = problem_impl->mutable_program();
+  PreSolveSummarize(options, problem_impl, summary);
+
+  // Make sure that all the parameter blocks states are set to the
+  // values provided by the user.
+  program->SetParameterBlockStatePtrsToUserStatePtrs();
+
+  // If gradient_checking is enabled, wrap all cost functions in a
+  // gradient checker and install a callback that terminates if any gradient
+  // error is detected.
+  scoped_ptr<internal::ProblemImpl> gradient_checking_problem;
+  internal::GradientCheckingIterationCallback gradient_checking_callback;
+  Solver::Options modified_options = options;
+  if (options.check_gradients) {
+    modified_options.callbacks.push_back(&gradient_checking_callback);
+    gradient_checking_problem.reset(
+        CreateGradientCheckingProblemImpl(
+            problem_impl,
+            options.gradient_check_numeric_derivative_relative_step_size,
+            options.gradient_check_relative_precision,
+            &gradient_checking_callback));
+    problem_impl = gradient_checking_problem.get();
+    program = problem_impl->mutable_program();
+  }
+
+  scoped_ptr<Preprocessor> preprocessor(
+      Preprocessor::Create(modified_options.minimizer_type));
+  PreprocessedProblem pp;
+
+  const bool status = preprocessor->Preprocess(modified_options, problem_impl, &pp);
+
+  // We check the linear_solver_options.type rather than
+  // modified_options.linear_solver_type because, depending on the
+  // lack of a Schur structure, the preprocessor may change the linear
+  // solver type.
+  if (IsSchurType(pp.linear_solver_options.type)) {
+    // TODO(sameeragarwal): We can likely eliminate the duplicate call
+    // to DetectStructure here and inside the linear solver, by
+    // calling this in the preprocessor.
+    int row_block_size;
+    int e_block_size;
+    int f_block_size;
+    DetectStructure(*static_cast<internal::BlockSparseMatrix*>(
+                        pp.minimizer_options.jacobian.get())
+                    ->block_structure(),
+                    pp.linear_solver_options.elimination_groups[0],
+                    &row_block_size,
+                    &e_block_size,
+                    &f_block_size);
+    summary->schur_structure_given =
+        SchurStructureToString(row_block_size, e_block_size, f_block_size);
+    internal::GetBestSchurTemplateSpecialization(&row_block_size,
+                                                 &e_block_size,
+                                                 &f_block_size);
+    summary->schur_structure_used =
+        SchurStructureToString(row_block_size, e_block_size, f_block_size);
+  }
+
+  summary->fixed_cost = pp.fixed_cost;
+  summary->preprocessor_time_in_seconds = WallTimeInSeconds() - start_time;
+
+  if (status) {
+    const double minimizer_start_time = WallTimeInSeconds();
+    Minimize(&pp, summary);
+    summary->minimizer_time_in_seconds =
+        WallTimeInSeconds() - minimizer_start_time;
+  } else {
+    summary->message = pp.error;
+  }
+
+  const double postprocessor_start_time = WallTimeInSeconds();
+  problem_impl = problem->problem_impl_.get();
+  program = problem_impl->mutable_program();
+  // On exit, ensure that the parameter blocks again point at the user
+  // provided values and the parameter blocks are numbered according
+  // to their position in the original user provided program.
+  program->SetParameterBlockStatePtrsToUserStatePtrs();
+  program->SetParameterOffsetsAndIndex();
+  PostSolveSummarize(pp, summary);
+  summary->postprocessor_time_in_seconds =
+      WallTimeInSeconds() - postprocessor_start_time;
+
+  // If the gradient checker reported an error, we want to report FAILURE
+  // instead of USER_FAILURE and provide the error log.
+  if (gradient_checking_callback.gradient_error_detected()) {
+    summary->termination_type = FAILURE;
+    summary->message = gradient_checking_callback.error_log();
+  }
+
+  summary->total_time_in_seconds = WallTimeInSeconds() - start_time;
+}
+
+void Solve(const Solver::Options& options,
+           Problem* problem,
+           Solver::Summary* summary) {
+  Solver solver;
+  solver.Solve(options, problem, summary);
+}
+
+Solver::Summary::Summary()
+    // Invalid values for most fields, to ensure that we are not
+    // accidentally reporting default values.
+    : minimizer_type(TRUST_REGION),
+      termination_type(FAILURE),
+      message("ceres::Solve was not called."),
+      initial_cost(-1.0),
+      final_cost(-1.0),
+      fixed_cost(-1.0),
+      num_successful_steps(-1),
+      num_unsuccessful_steps(-1),
+      num_inner_iteration_steps(-1),
+      num_line_search_steps(-1),
+      preprocessor_time_in_seconds(-1.0),
+      minimizer_time_in_seconds(-1.0),
+      postprocessor_time_in_seconds(-1.0),
+      total_time_in_seconds(-1.0),
+      linear_solver_time_in_seconds(-1.0),
+      residual_evaluation_time_in_seconds(-1.0),
+      jacobian_evaluation_time_in_seconds(-1.0),
+      inner_iteration_time_in_seconds(-1.0),
+      line_search_cost_evaluation_time_in_seconds(-1.0),
+      line_search_gradient_evaluation_time_in_seconds(-1.0),
+      line_search_polynomial_minimization_time_in_seconds(-1.0),
+      line_search_total_time_in_seconds(-1.0),
+      num_parameter_blocks(-1),
+      num_parameters(-1),
+      num_effective_parameters(-1),
+      num_residual_blocks(-1),
+      num_residuals(-1),
+      num_parameter_blocks_reduced(-1),
+      num_parameters_reduced(-1),
+      num_effective_parameters_reduced(-1),
+      num_residual_blocks_reduced(-1),
+      num_residuals_reduced(-1),
+      is_constrained(false),
+      num_threads_given(-1),
+      num_threads_used(-1),
+      num_linear_solver_threads_given(-1),
+      num_linear_solver_threads_used(-1),
+      linear_solver_type_given(SPARSE_NORMAL_CHOLESKY),
+      linear_solver_type_used(SPARSE_NORMAL_CHOLESKY),
+      inner_iterations_given(false),
+      inner_iterations_used(false),
+      preconditioner_type_given(IDENTITY),
+      preconditioner_type_used(IDENTITY),
+      visibility_clustering_type(CANONICAL_VIEWS),
+      trust_region_strategy_type(LEVENBERG_MARQUARDT),
+      dense_linear_algebra_library_type(EIGEN),
+      sparse_linear_algebra_library_type(SUITE_SPARSE),
+      line_search_direction_type(LBFGS),
+      line_search_type(ARMIJO),
+      line_search_interpolation_type(BISECTION),
+      nonlinear_conjugate_gradient_type(FLETCHER_REEVES),
+      max_lbfgs_rank(-1) {
+}
+
+using internal::StringAppendF;
+using internal::StringPrintf;
+
+string Solver::Summary::BriefReport() const {
+  return StringPrintf("Ceres Solver Report: "
+                      "Iterations: %d, "
+                      "Initial cost: %e, "
+                      "Final cost: %e, "
+                      "Termination: %s",
+                      num_successful_steps + num_unsuccessful_steps,
+                      initial_cost,
+                      final_cost,
+                      TerminationTypeToString(termination_type));
+}
+
+string Solver::Summary::FullReport() const {
+  using internal::VersionString;
+
+  string report = string("\nSolver Summary (v " + VersionString() + ")\n\n");
+
+  StringAppendF(&report, "%45s    %21s\n", "Original", "Reduced");
+  StringAppendF(&report, "Parameter blocks    % 25d% 25d\n",
+                num_parameter_blocks, num_parameter_blocks_reduced);
+  StringAppendF(&report, "Parameters          % 25d% 25d\n",
+                num_parameters, num_parameters_reduced);
+  if (num_effective_parameters_reduced != num_parameters_reduced) {
+    StringAppendF(&report, "Effective parameters% 25d% 25d\n",
+                  num_effective_parameters, num_effective_parameters_reduced);
+  }
+  StringAppendF(&report, "Residual blocks     % 25d% 25d\n",
+                num_residual_blocks, num_residual_blocks_reduced);
+  StringAppendF(&report, "Residual            % 25d% 25d\n",
+                num_residuals, num_residuals_reduced);
+
+  if (minimizer_type == TRUST_REGION) {
+    // TRUST_SEARCH HEADER
+    StringAppendF(&report, "\nMinimizer                 %19s\n",
+                  "TRUST_REGION");
+
+    if (linear_solver_type_used == DENSE_NORMAL_CHOLESKY ||
+        linear_solver_type_used == DENSE_SCHUR ||
+        linear_solver_type_used == DENSE_QR) {
+      StringAppendF(&report, "\nDense linear algebra library  %15s\n",
+                    DenseLinearAlgebraLibraryTypeToString(
+                        dense_linear_algebra_library_type));
+    }
+
+    if (linear_solver_type_used == SPARSE_NORMAL_CHOLESKY ||
+        linear_solver_type_used == SPARSE_SCHUR ||
+        (linear_solver_type_used == ITERATIVE_SCHUR &&
+         (preconditioner_type_used == CLUSTER_JACOBI ||
+          preconditioner_type_used == CLUSTER_TRIDIAGONAL))) {
+      StringAppendF(&report, "\nSparse linear algebra library %15s\n",
+                    SparseLinearAlgebraLibraryTypeToString(
+                        sparse_linear_algebra_library_type));
+    }
+
+    StringAppendF(&report, "Trust region strategy     %19s",
+                  TrustRegionStrategyTypeToString(
+                      trust_region_strategy_type));
+    if (trust_region_strategy_type == DOGLEG) {
+      if (dogleg_type == TRADITIONAL_DOGLEG) {
+        StringAppendF(&report, " (TRADITIONAL)");
+      } else {
+        StringAppendF(&report, " (SUBSPACE)");
+      }
+    }
+    StringAppendF(&report, "\n");
+    StringAppendF(&report, "\n");
+
+    StringAppendF(&report, "%45s    %21s\n", "Given",  "Used");
+    StringAppendF(&report, "Linear solver       %25s%25s\n",
+                  LinearSolverTypeToString(linear_solver_type_given),
+                  LinearSolverTypeToString(linear_solver_type_used));
+
+    if (linear_solver_type_given == CGNR ||
+        linear_solver_type_given == ITERATIVE_SCHUR) {
+      StringAppendF(&report, "Preconditioner      %25s%25s\n",
+                    PreconditionerTypeToString(preconditioner_type_given),
+                    PreconditionerTypeToString(preconditioner_type_used));
+    }
+
+    if (preconditioner_type_used == CLUSTER_JACOBI ||
+        preconditioner_type_used == CLUSTER_TRIDIAGONAL) {
+      StringAppendF(&report, "Visibility clustering%24s%25s\n",
+                    VisibilityClusteringTypeToString(
+                        visibility_clustering_type),
+                    VisibilityClusteringTypeToString(
+                        visibility_clustering_type));
+    }
+    StringAppendF(&report, "Threads             % 25d% 25d\n",
+                  num_threads_given, num_threads_used);
+    StringAppendF(&report, "Linear solver threads % 23d% 25d\n",
+                  num_linear_solver_threads_given,
+                  num_linear_solver_threads_used);
+
+    string given;
+    StringifyOrdering(linear_solver_ordering_given, &given);
+    string used;
+    StringifyOrdering(linear_solver_ordering_used, &used);
+    StringAppendF(&report,
+                  "Linear solver ordering %22s %24s\n",
+                  given.c_str(),
+                  used.c_str());
+    if (IsSchurType(linear_solver_type_used)) {
+      StringAppendF(&report,
+                    "Schur structure        %22s %24s\n",
+                    schur_structure_given.c_str(),
+                    schur_structure_used.c_str());
+    }
+
+    if (inner_iterations_given) {
+      StringAppendF(&report,
+                    "Use inner iterations     %20s     %20s\n",
+                    inner_iterations_given ? "True" : "False",
+                    inner_iterations_used ? "True" : "False");
+    }
+
+    if (inner_iterations_used) {
+      string given;
+      StringifyOrdering(inner_iteration_ordering_given, &given);
+      string used;
+      StringifyOrdering(inner_iteration_ordering_used, &used);
+    StringAppendF(&report,
+                  "Inner iteration ordering %20s %24s\n",
+                  given.c_str(),
+                  used.c_str());
+    }
+  } else {
+    // LINE_SEARCH HEADER
+    StringAppendF(&report, "\nMinimizer                 %19s\n", "LINE_SEARCH");
+
+
+    string line_search_direction_string;
+    if (line_search_direction_type == LBFGS) {
+      line_search_direction_string = StringPrintf("LBFGS (%d)", max_lbfgs_rank);
+    } else if (line_search_direction_type == NONLINEAR_CONJUGATE_GRADIENT) {
+      line_search_direction_string =
+          NonlinearConjugateGradientTypeToString(
+              nonlinear_conjugate_gradient_type);
+    } else {
+      line_search_direction_string =
+          LineSearchDirectionTypeToString(line_search_direction_type);
+    }
+
+    StringAppendF(&report, "Line search direction     %19s\n",
+                  line_search_direction_string.c_str());
+
+    const string line_search_type_string =
+        StringPrintf("%s %s",
+                     LineSearchInterpolationTypeToString(
+                         line_search_interpolation_type),
+                     LineSearchTypeToString(line_search_type));
+    StringAppendF(&report, "Line search type          %19s\n",
+                  line_search_type_string.c_str());
+    StringAppendF(&report, "\n");
+
+    StringAppendF(&report, "%45s    %21s\n", "Given",  "Used");
+    StringAppendF(&report, "Threads             % 25d% 25d\n",
+                  num_threads_given, num_threads_used);
+  }
+
+  StringAppendF(&report, "\nCost:\n");
+  StringAppendF(&report, "Initial        % 30e\n", initial_cost);
+  if (termination_type != FAILURE &&
+      termination_type != USER_FAILURE) {
+    StringAppendF(&report, "Final          % 30e\n", final_cost);
+    StringAppendF(&report, "Change         % 30e\n",
+                  initial_cost - final_cost);
+  }
+
+  StringAppendF(&report, "\nMinimizer iterations         % 16d\n",
+                num_successful_steps + num_unsuccessful_steps);
+
+  // Successful/Unsuccessful steps only matter in the case of the
+  // trust region solver. Line search terminates when it encounters
+  // the first unsuccessful step.
+  if (minimizer_type == TRUST_REGION) {
+    StringAppendF(&report, "Successful steps               % 14d\n",
+                  num_successful_steps);
+    StringAppendF(&report, "Unsuccessful steps             % 14d\n",
+                  num_unsuccessful_steps);
+  }
+  if (inner_iterations_used) {
+    StringAppendF(&report, "Steps with inner iterations    % 14d\n",
+                  num_inner_iteration_steps);
+  }
+
+  const bool line_search_used =
+      (minimizer_type == LINE_SEARCH ||
+       (minimizer_type == TRUST_REGION && is_constrained));
+
+  if (line_search_used) {
+    StringAppendF(&report, "Line search steps              % 14d\n",
+                  num_line_search_steps);
+  }
+
+  StringAppendF(&report, "\nTime (in seconds):\n");
+  StringAppendF(&report, "Preprocessor        %25.4f\n",
+                preprocessor_time_in_seconds);
+
+  StringAppendF(&report, "\n  Residual evaluation %23.4f\n",
+                residual_evaluation_time_in_seconds);
+  if (line_search_used) {
+    StringAppendF(&report, "    Line search cost evaluation    %10.4f\n",
+                  line_search_cost_evaluation_time_in_seconds);
+  }
+  StringAppendF(&report, "  Jacobian evaluation %23.4f\n",
+                jacobian_evaluation_time_in_seconds);
+  if (line_search_used) {
+    StringAppendF(&report, "    Line search gradient evaluation   %6.4f\n",
+                  line_search_gradient_evaluation_time_in_seconds);
+  }
+
+  if (minimizer_type == TRUST_REGION) {
+    StringAppendF(&report, "  Linear solver       %23.4f\n",
+                  linear_solver_time_in_seconds);
+  }
+
+  if (inner_iterations_used) {
+    StringAppendF(&report, "  Inner iterations    %23.4f\n",
+                  inner_iteration_time_in_seconds);
+  }
+
+  if (line_search_used) {
+    StringAppendF(&report, "  Line search polynomial minimization  %.4f\n",
+                  line_search_polynomial_minimization_time_in_seconds);
+  }
+
+  StringAppendF(&report, "Minimizer           %25.4f\n\n",
+                minimizer_time_in_seconds);
+
+  StringAppendF(&report, "Postprocessor        %24.4f\n",
+                postprocessor_time_in_seconds);
+
+  StringAppendF(&report, "Total               %25.4f\n\n",
+                total_time_in_seconds);
+
+  StringAppendF(&report, "Termination:        %25s (%s)\n",
+                TerminationTypeToString(termination_type), message.c_str());
+  return report;
+}
+
+bool Solver::Summary::IsSolutionUsable() const {
+  return internal::IsSolutionUsable(*this);
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/solver_test.cc b/internal/ceres/solver_test.cc
new file mode 100644
index 0000000..5aa4a94
--- /dev/null
+++ b/internal/ceres/solver_test.cc
@@ -0,0 +1,402 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/solver.h"
+
+#include <limits>
+#include <cmath>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+TEST(SolverOptions, DefaultTrustRegionOptionsAreValid) {
+  Solver::Options options;
+  options.minimizer_type = TRUST_REGION;
+  string error;
+  EXPECT_TRUE(options.IsValid(&error)) << error;
+}
+
+TEST(SolverOptions, DefaultLineSearchOptionsAreValid) {
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  string error;
+  EXPECT_TRUE(options.IsValid(&error)) << error;
+}
+
+struct QuadraticCostFunctor {
+  template <typename T> bool operator()(const T* const x,
+                                        T* residual) const {
+    residual[0] = T(5.0) - *x;
+    return true;
+  }
+
+  static CostFunction* Create() {
+    return new AutoDiffCostFunction<QuadraticCostFunctor, 1, 1>(
+        new QuadraticCostFunctor);
+  }
+};
+
+struct RememberingCallback : public IterationCallback {
+  explicit RememberingCallback(double *x) : calls(0), x(x) {}
+  virtual ~RememberingCallback() {}
+  virtual CallbackReturnType operator()(const IterationSummary& summary) {
+    x_values.push_back(*x);
+    return SOLVER_CONTINUE;
+  }
+  int calls;
+  double *x;
+  std::vector<double> x_values;
+};
+
+TEST(Solver, UpdateStateEveryIterationOption) {
+  double x = 50.0;
+  const double original_x = x;
+
+  scoped_ptr<CostFunction> cost_function(QuadraticCostFunctor::Create());
+  Problem::Options problem_options;
+  problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
+  Problem problem(problem_options);
+  problem.AddResidualBlock(cost_function.get(), NULL, &x);
+
+  Solver::Options options;
+  options.linear_solver_type = DENSE_QR;
+
+  RememberingCallback callback(&x);
+  options.callbacks.push_back(&callback);
+
+  Solver::Summary summary;
+
+  int num_iterations;
+
+  // First try: no updating.
+  Solve(options, &problem, &summary);
+  num_iterations = summary.num_successful_steps +
+                   summary.num_unsuccessful_steps;
+  EXPECT_GT(num_iterations, 1);
+  for (int i = 0; i < callback.x_values.size(); ++i) {
+    EXPECT_EQ(50.0, callback.x_values[i]);
+  }
+
+  // Second try: with updating
+  x = 50.0;
+  options.update_state_every_iteration = true;
+  callback.x_values.clear();
+  Solve(options, &problem, &summary);
+  num_iterations = summary.num_successful_steps +
+                   summary.num_unsuccessful_steps;
+  EXPECT_GT(num_iterations, 1);
+  EXPECT_EQ(original_x, callback.x_values[0]);
+  EXPECT_NE(original_x, callback.x_values[1]);
+}
+
+// The parameters must be in separate blocks so that they can be individually
+// set constant or not.
+struct Quadratic4DCostFunction {
+  template <typename T> bool operator()(const T* const x,
+                                        const T* const y,
+                                        const T* const z,
+                                        const T* const w,
+                                        T* residual) const {
+    // A 4-dimension axis-aligned quadratic.
+    residual[0] = T(10.0) - *x +
+                  T(20.0) - *y +
+                  T(30.0) - *z +
+                  T(40.0) - *w;
+    return true;
+  }
+
+  static CostFunction* Create() {
+    return new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>(
+        new Quadratic4DCostFunction);
+  }
+};
+
+// A cost function that simply returns its argument.
+class UnaryIdentityCostFunction : public SizedCostFunction<1, 1> {
+ public:
+  virtual bool Evaluate(double const* const* parameters,
+                        double* residuals,
+                        double** jacobians) const {
+    residuals[0] = parameters[0][0];
+    if (jacobians != NULL && jacobians[0] != NULL) {
+      jacobians[0][0] = 1.0;
+    }
+    return true;
+  }
+};
+
+TEST(Solver, TrustRegionProblemHasNoParameterBlocks) {
+  Problem problem;
+  Solver::Options options;
+  options.minimizer_type = TRUST_REGION;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_EQ(summary.termination_type, CONVERGENCE);
+  EXPECT_EQ(summary.message,
+            "Function tolerance reached. "
+            "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, LineSearchProblemHasNoParameterBlocks) {
+  Problem problem;
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_EQ(summary.termination_type, CONVERGENCE);
+  EXPECT_EQ(summary.message,
+            "Function tolerance reached. "
+            "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, TrustRegionProblemHasZeroResiduals) {
+  Problem problem;
+  double x = 1;
+  problem.AddParameterBlock(&x, 1);
+  Solver::Options options;
+  options.minimizer_type = TRUST_REGION;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_EQ(summary.termination_type, CONVERGENCE);
+  EXPECT_EQ(summary.message,
+            "Function tolerance reached. "
+            "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, LineSearchProblemHasZeroResiduals) {
+  Problem problem;
+  double x = 1;
+  problem.AddParameterBlock(&x, 1);
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_EQ(summary.termination_type, CONVERGENCE);
+  EXPECT_EQ(summary.message,
+            "Function tolerance reached. "
+            "No non-constant parameter blocks found.");
+}
+
+TEST(Solver, TrustRegionProblemIsConstant) {
+  Problem problem;
+  double x = 1;
+  problem.AddResidualBlock(new UnaryIdentityCostFunction, NULL, &x);
+  problem.SetParameterBlockConstant(&x);
+  Solver::Options options;
+  options.minimizer_type = TRUST_REGION;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_EQ(summary.termination_type, CONVERGENCE);
+  EXPECT_EQ(summary.initial_cost, 1.0 / 2.0);
+  EXPECT_EQ(summary.final_cost, 1.0 / 2.0);
+}
+
+TEST(Solver, LineSearchProblemIsConstant) {
+  Problem problem;
+  double x = 1;
+  problem.AddResidualBlock(new UnaryIdentityCostFunction, NULL, &x);
+  problem.SetParameterBlockConstant(&x);
+  Solver::Options options;
+  options.minimizer_type = LINE_SEARCH;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_EQ(summary.termination_type, CONVERGENCE);
+  EXPECT_EQ(summary.initial_cost, 1.0 / 2.0);
+  EXPECT_EQ(summary.final_cost, 1.0 / 2.0);
+}
+
+#if defined(CERES_NO_SUITESPARSE)
+TEST(Solver, SparseNormalCholeskyNoSuiteSparse) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoSuiteSparse) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  options.linear_solver_type = SPARSE_SCHUR;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+#endif
+
+#if defined(CERES_NO_CXSPARSE)
+TEST(Solver, SparseNormalCholeskyNoCXSparse) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = CX_SPARSE;
+  options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoCXSparse) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = CX_SPARSE;
+  options.linear_solver_type = SPARSE_SCHUR;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+#endif
+
+#if !defined(CERES_USE_EIGEN_SPARSE)
+TEST(Solver, SparseNormalCholeskyNoEigenSparse) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoEigenSparse) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  options.linear_solver_type = SPARSE_SCHUR;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+#endif
+
+TEST(Solver, SparseNormalCholeskyNoSparseLibrary) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = NO_SPARSE;
+  options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, SparseSchurNoSparseLibrary) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = NO_SPARSE;
+  options.linear_solver_type = SPARSE_SCHUR;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, IterativeSchurWithClusterJacobiPerconditionerNoSparseLibrary) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = NO_SPARSE;
+  options.linear_solver_type = ITERATIVE_SCHUR;
+  // Requires SuiteSparse.
+  options.preconditioner_type = CLUSTER_JACOBI;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, IterativeSchurWithClusterTridiagonalPerconditionerNoSparseLibrary) {
+  Solver::Options options;
+  options.sparse_linear_algebra_library_type = NO_SPARSE;
+  options.linear_solver_type = ITERATIVE_SCHUR;
+  // Requires SuiteSparse.
+  options.preconditioner_type = CLUSTER_TRIDIAGONAL;
+  string message;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, IterativeLinearSolverForDogleg) {
+  Solver::Options options;
+  options.trust_region_strategy_type = DOGLEG;
+  string message;
+  options.linear_solver_type = ITERATIVE_SCHUR;
+  EXPECT_FALSE(options.IsValid(&message));
+
+  options.linear_solver_type = CGNR;
+  EXPECT_FALSE(options.IsValid(&message));
+}
+
+TEST(Solver, LinearSolverTypeNormalOperation) {
+  Solver::Options options;
+  options.linear_solver_type = DENSE_QR;
+
+  string message;
+  EXPECT_TRUE(options.IsValid(&message));
+
+  options.linear_solver_type = DENSE_NORMAL_CHOLESKY;
+  EXPECT_TRUE(options.IsValid(&message));
+
+  options.linear_solver_type = DENSE_SCHUR;
+  EXPECT_TRUE(options.IsValid(&message));
+
+  options.linear_solver_type = SPARSE_SCHUR;
+#if defined(CERES_NO_SUITESPARSE) &&            \
+    defined(CERES_NO_CXSPARSE) &&               \
+   !defined(CERES_USE_EIGEN_SPARSE)
+  EXPECT_FALSE(options.IsValid(&message));
+#else
+  EXPECT_TRUE(options.IsValid(&message));
+#endif
+
+  options.linear_solver_type = ITERATIVE_SCHUR;
+  EXPECT_TRUE(options.IsValid(&message));
+}
+
+template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
+ public:
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    for (int i = 0; i < kNumResiduals; ++i) {
+      residuals[i] = kNumResiduals * kNumResiduals + i;
+    }
+
+    return true;
+  }
+};
+
+TEST(Solver, FixedCostForConstantProblem) {
+  double x = 1.0;
+  Problem problem;
+  problem.AddResidualBlock(new DummyCostFunction<2, 1>(), NULL, &x);
+  problem.SetParameterBlockConstant(&x);
+  const double expected_cost = 41.0 / 2.0;  // 1/2 * ((4 + 0)^2 + (4 + 1)^2)
+  Solver::Options options;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_TRUE(summary.IsSolutionUsable());
+  EXPECT_EQ(summary.fixed_cost, expected_cost);
+  EXPECT_EQ(summary.initial_cost, expected_cost);
+  EXPECT_EQ(summary.final_cost, expected_cost);
+  EXPECT_EQ(summary.iterations.size(), 0);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/solver_utils.cc b/internal/ceres/solver_utils.cc
new file mode 100644
index 0000000..7f4ff7e
--- /dev/null
+++ b/internal/ceres/solver_utils.cc
@@ -0,0 +1,86 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <string>
+
+#include "Eigen/Core"
+#include "ceres/internal/port.h"
+#include "ceres/solver_utils.h"
+#include "ceres/version.h"
+
+namespace ceres {
+namespace internal {
+
+#define CERES_EIGEN_VERSION                                          \
+  CERES_TO_STRING(EIGEN_WORLD_VERSION) "."                           \
+  CERES_TO_STRING(EIGEN_MAJOR_VERSION) "."                           \
+  CERES_TO_STRING(EIGEN_MINOR_VERSION)
+
+std::string VersionString() {
+  std::string value = std::string(CERES_VERSION_STRING);
+  value += "-eigen-(" + std::string(CERES_EIGEN_VERSION) + ")";
+
+#ifdef CERES_NO_LAPACK
+  value += "-no_lapack";
+#else
+  value += "-lapack";
+#endif
+
+#ifndef CERES_NO_SUITESPARSE
+  value += "-suitesparse-(" + std::string(CERES_SUITESPARSE_VERSION) + ")";
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+  value += "-cxsparse-(" + std::string(CERES_CXSPARSE_VERSION) + ")";
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+  value += "-eigensparse";
+#endif
+
+#ifdef CERES_RESTRUCT_SCHUR_SPECIALIZATIONS
+  value += "-no_schur_specializations";
+#endif
+
+#ifdef CERES_USE_OPENMP
+  value += "-openmp";
+#else
+  value += "-no_openmp";
+#endif
+
+#ifdef CERES_NO_CUSTOM_BLAS
+  value += "-no_custom_blas";
+#endif
+
+  return value;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/solver_utils.h b/internal/ceres/solver_utils.h
new file mode 100644
index 0000000..85fbf37
--- /dev/null
+++ b/internal/ceres/solver_utils.h
@@ -0,0 +1,61 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <algorithm>
+#include <string>
+
+#include "ceres/iteration_callback.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+template <typename SummaryType>
+bool IsSolutionUsable(const SummaryType& summary) {
+  return (summary.termination_type == CONVERGENCE ||
+          summary.termination_type == NO_CONVERGENCE ||
+          summary.termination_type == USER_SUCCESS);
+}
+
+template <typename SummaryType>
+void SetSummaryFinalCost(SummaryType* summary) {
+  summary->final_cost = summary->initial_cost;
+  // We need the loop here, instead of just looking at the last
+  // iteration because the minimizer maybe making non-monotonic steps.
+  for (int i = 0; i < summary->iterations.size(); ++i) {
+    const IterationSummary& iteration_summary = summary->iterations[i];
+    summary->final_cost = std::min(iteration_summary.cost, summary->final_cost);
+  }
+}
+
+std::string VersionString();
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/sparse_cholesky.cc b/internal/ceres/sparse_cholesky.cc
new file mode 100644
index 0000000..1b5e638
--- /dev/null
+++ b/internal/ceres/sparse_cholesky.cc
@@ -0,0 +1,100 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/sparse_cholesky.h"
+
+#include "ceres/cxsparse.h"
+#include "ceres/eigensparse.h"
+#include "ceres/suitesparse.h"
+
+namespace ceres {
+namespace internal {
+
+SparseCholesky* SparseCholesky::Create(
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+    OrderingType ordering_type) {
+  switch (sparse_linear_algebra_library_type) {
+    case SUITE_SPARSE:
+#ifndef CERES_NO_SUITESPARSE
+      return SuiteSparseCholesky::Create(ordering_type);
+#else
+      LOG(FATAL) << "Ceres was compiled without support for SuiteSparse.";
+      return NULL;
+#endif
+
+    case EIGEN_SPARSE:
+#ifdef CERES_USE_EIGEN_SPARSE
+      return EigenSparseCholesky::Create(ordering_type);
+#else
+      LOG(FATAL) << "Ceres was compiled without support for "
+                 << "Eigen's sparse Cholesky factorization routines.";
+      return NULL;
+#endif
+
+    case CX_SPARSE:
+#ifndef CERES_NO_CXSPARSE
+      return CXSparseCholesky::Create(ordering_type);
+#else
+      LOG(FATAL) << "Ceres was compiled without support for CXSparse.";
+      return NULL;
+#endif
+
+    default:
+      LOG(FATAL) << "Unknown sparse linear algebra library type : "
+                 << SparseLinearAlgebraLibraryTypeToString(
+                        sparse_linear_algebra_library_type);
+  }
+  return NULL;
+}
+
+SparseCholesky::~SparseCholesky() {}
+
+LinearSolverTerminationType SparseCholesky::FactorAndSolve(
+    CompressedRowSparseMatrix* lhs,
+    const double* rhs,
+    double* solution,
+    std::string* message) {
+  LinearSolverTerminationType termination_type = Factorize(lhs, message);
+  if (termination_type == LINEAR_SOLVER_SUCCESS) {
+    termination_type = Solve(rhs, solution, message);
+  }
+  return termination_type;
+}
+
+CompressedRowSparseMatrix::StorageType StorageTypeForSparseLinearAlgebraLibrary(
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
+  if (sparse_linear_algebra_library_type == SUITE_SPARSE) {
+    return CompressedRowSparseMatrix::UPPER_TRIANGULAR;
+  }
+  return CompressedRowSparseMatrix::LOWER_TRIANGULAR;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/sparse_cholesky.h b/internal/ceres/sparse_cholesky.h
new file mode 100644
index 0000000..d77cccd
--- /dev/null
+++ b/internal/ceres/sparse_cholesky.h
@@ -0,0 +1,122 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_SPARSE_CHOLESKY_H_
+#define CERES_INTERNAL_SPARSE_CHOLESKY_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#include "ceres/linear_solver.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// An interface that abstracts away the internal details of various
+// sparse linear algebra libraries and offers a simple API for solving
+// symmetric positive definite linear systems using a sparse Cholesky
+// factorization.
+//
+// Instances of SparseCholesky are expected to cache the symbolic
+// factorization of the linear system. They do this on the first call
+// to Factorize or FactorAndSolve. Subsequent calls to Factorize and
+// FactorAndSolve are expected to have the same sparsity structure.
+//
+// Example usage:
+//
+//  scoped_ptr<SparseCholesky>
+//  sparse_cholesky(SparseCholesky::Create(SUITE_SPARSE, AMD));
+//
+//  CompressedRowSparseMatrix lhs = ...;
+//  std::string message;
+//  CHECK_EQ(sparse_cholesky->Factorize(&lhs, &message), LINEAR_SOLVER_SUCCESS);
+//  Vector rhs = ...;
+//  Vector solution = ...;
+//  CHECK_EQ(sparse_cholesky->Solve(rhs.data(), solution.data(), &message),
+//           LINEAR_SOLVER_SUCCESS);
+
+class SparseCholesky {
+ public:
+  // Factory which returns an instance of SparseCholesky for the given
+  // sparse linear algebra library and fill reducing ordering
+  // strategy.
+  //
+  // Caller owns the result.
+  static SparseCholesky* Create(
+      SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+      OrderingType ordering_type);
+
+  virtual ~SparseCholesky();
+
+  // Due to the symmetry of the linear system, sparse linear algebra
+  // libraries only use one half of the input matrix. Whether it is
+  // the upper or the lower triangular part of the matrix depends on
+  // the library and the re-ordering strategy being used. This
+  // function tells the user the storage type expected of the input
+  // matrix for the sparse linear algebra library and reordering
+  // strategy used.
+  virtual CompressedRowSparseMatrix::StorageType StorageType() const = 0;
+
+  // Computes the numeric factorization of the given matrix.  If this
+  // is the first call to Factorize, first the symbolic factorization
+  // will be computed and cached and the numeric factorization will be
+  // computed based on that.
+  //
+  // Subsequent calls to Factorize will use that symbolic
+  // factorization assuming that the sparsity of the matrix has
+  // remained constant.
+  virtual LinearSolverTerminationType Factorize(
+      CompressedRowSparseMatrix* lhs, std::string* message) = 0;
+
+  // Computes the solution to the equation
+  //
+  // lhs * solution = rhs
+  //
+  // rhs and solution can point to the same memory location.
+  virtual LinearSolverTerminationType Solve(const double* rhs,
+                                            double* solution,
+                                            std::string* message) = 0;
+
+  // Convenience method which combines a call to Factorize and
+  // Solve. Solve is only called if Factorize returns
+  // LINEAR_SOLVER_SUCCESS.
+  virtual LinearSolverTerminationType FactorAndSolve(
+      CompressedRowSparseMatrix* lhs,
+      const double* rhs,
+      double* solution,
+      std::string* message);
+
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SPARSE_CHOLESKY_H_
diff --git a/internal/ceres/sparse_cholesky_test.cc b/internal/ceres/sparse_cholesky_test.cc
new file mode 100644
index 0000000..c94beea
--- /dev/null
+++ b/internal/ceres/sparse_cholesky_test.cc
@@ -0,0 +1,211 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/sparse_cholesky.h"
+
+#include <numeric>
+#include <vector>
+
+#include "Eigen/Dense"
+#include "Eigen/SparseCore"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/inner_product_computer.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/random.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+BlockSparseMatrix* CreateRandomFullRankMatrix(const int num_col_blocks,
+                                              const int min_col_block_size,
+                                              const int max_col_block_size,
+                                              const double block_density) {
+  // Create a random matrix
+  BlockSparseMatrix::RandomMatrixOptions options;
+  options.num_col_blocks = num_col_blocks;
+  options.min_col_block_size = min_col_block_size;
+  options.max_col_block_size = max_col_block_size;
+
+  options.num_row_blocks = 2 * num_col_blocks;
+  options.min_row_block_size = 1;
+  options.max_row_block_size = max_col_block_size;
+  options.block_density = block_density;
+  scoped_ptr<BlockSparseMatrix> random_matrix(
+      BlockSparseMatrix::CreateRandomMatrix(options));
+
+  // Add a diagonal block sparse matrix to make it full rank.
+  Vector diagonal = Vector::Ones(random_matrix->num_cols());
+  scoped_ptr<BlockSparseMatrix> block_diagonal(
+      BlockSparseMatrix::CreateDiagonalMatrix(
+          diagonal.data(), random_matrix->block_structure()->cols));
+  random_matrix->AppendRows(*block_diagonal);
+  return random_matrix.release();
+}
+
+bool ComputeExpectedSolution(const CompressedRowSparseMatrix& lhs,
+                             const Vector& rhs,
+                             Vector* solution) {
+  Matrix eigen_lhs;
+  lhs.ToDenseMatrix(&eigen_lhs);
+  if (lhs.storage_type() == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+    Matrix full_lhs = eigen_lhs.selfadjointView<Eigen::Upper>();
+    Eigen::LLT<Matrix, Eigen::Upper> llt =
+        eigen_lhs.selfadjointView<Eigen::Upper>().llt();
+    if (llt.info() != Eigen::Success) {
+      return false;
+    }
+    *solution = llt.solve(rhs);
+    return (llt.info() == Eigen::Success);
+  }
+
+  Matrix full_lhs = eigen_lhs.selfadjointView<Eigen::Lower>();
+  Eigen::LLT<Matrix, Eigen::Lower> llt =
+      eigen_lhs.selfadjointView<Eigen::Lower>().llt();
+  if (llt.info() != Eigen::Success) {
+    return false;
+  }
+  *solution = llt.solve(rhs);
+  return (llt.info() == Eigen::Success);
+}
+
+void SparseCholeskySolverUnitTest(
+    const SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+    const OrderingType ordering_type,
+    const bool use_block_structure,
+    const int num_blocks,
+    const int min_block_size,
+    const int max_block_size,
+    const double block_density) {
+  scoped_ptr<SparseCholesky> sparse_cholesky(SparseCholesky::Create(
+      sparse_linear_algebra_library_type, ordering_type));
+  const CompressedRowSparseMatrix::StorageType storage_type =
+      sparse_cholesky->StorageType();
+
+  scoped_ptr<BlockSparseMatrix> m(CreateRandomFullRankMatrix(
+      num_blocks, min_block_size, max_block_size, block_density));
+  scoped_ptr<InnerProductComputer> inner_product_computer(
+      InnerProductComputer::Create(*m, storage_type));
+  inner_product_computer->Compute();
+  CompressedRowSparseMatrix* lhs = inner_product_computer->mutable_result();
+
+  if (!use_block_structure) {
+    lhs->mutable_row_blocks()->clear();
+    lhs->mutable_col_blocks()->clear();
+  }
+
+  Vector rhs = Vector::Random(lhs->num_rows());
+  Vector expected(lhs->num_rows());
+  Vector actual(lhs->num_rows());
+
+  EXPECT_TRUE(ComputeExpectedSolution(*lhs, rhs, &expected));
+  std::string message;
+  EXPECT_EQ(sparse_cholesky->FactorAndSolve(
+                lhs, rhs.data(), actual.data(), &message),
+            LINEAR_SOLVER_SUCCESS);
+  Matrix eigen_lhs;
+  lhs->ToDenseMatrix(&eigen_lhs);
+  EXPECT_NEAR((actual - expected).norm() / actual.norm(),
+              0.0,
+              std::numeric_limits<double>::epsilon() * 10)
+      << "\n"
+      << eigen_lhs;
+}
+
+typedef ::testing::tuple<SparseLinearAlgebraLibraryType, OrderingType, bool>
+    Param;
+
+std::string ParamInfoToString(testing::TestParamInfo<Param> info) {
+  Param param = info.param;
+  std::stringstream ss;
+  ss << SparseLinearAlgebraLibraryTypeToString(::testing::get<0>(param)) << "_"
+     << (::testing::get<1>(param) == AMD ? "AMD" : "NATURAL") << "_"
+     << (::testing::get<2>(param) ? "UseBlockStructure" : "NoBlockStructure");
+  return ss.str();
+}
+
+class SparseCholeskyTest : public ::testing::TestWithParam<Param> {};
+
+TEST_P(SparseCholeskyTest, FactorAndSolve) {
+  SetRandomState(2982);
+  const int kMinNumBlocks = 1;
+  const int kMaxNumBlocks = 10;
+  const int kNumTrials = 10;
+  const int kMinBlockSize = 1;
+  const int kMaxBlockSize = 5;
+
+  for (int num_blocks = kMinNumBlocks; num_blocks < kMaxNumBlocks;
+       ++num_blocks) {
+    for (int trial = 0; trial < kNumTrials; ++trial) {
+      const double block_density = std::max(0.1, RandDouble());
+      Param param = GetParam();
+      SparseCholeskySolverUnitTest(::testing::get<0>(param),
+                                   ::testing::get<1>(param),
+                                   ::testing::get<2>(param),
+                                   num_blocks,
+                                   kMinBlockSize,
+                                   kMaxBlockSize,
+                                   block_density);
+    }
+  }
+}
+
+#ifndef CERES_NO_SUITESPARSE
+INSTANTIATE_TEST_CASE_P(SuiteSparseCholesky,
+                        SparseCholeskyTest,
+                        ::testing::Combine(::testing::Values(SUITE_SPARSE),
+                                           ::testing::Values(AMD, NATURAL),
+                                           ::testing::Values(true, false)),
+                        ParamInfoToString);
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+INSTANTIATE_TEST_CASE_P(CXSparseCholesky,
+                        SparseCholeskyTest,
+                        ::testing::Combine(::testing::Values(CX_SPARSE),
+                                           ::testing::Values(AMD, NATURAL),
+                                           ::testing::Values(true, false)),
+                        ParamInfoToString);
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+INSTANTIATE_TEST_CASE_P(EigenSparseCholesky,
+                        SparseCholeskyTest,
+                        ::testing::Combine(::testing::Values(EIGEN_SPARSE),
+                                           ::testing::Values(AMD, NATURAL),
+                                           ::testing::Values(true, false)),
+                        ParamInfoToString);
+#endif
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/sparse_matrix.cc b/internal/ceres/sparse_matrix.cc
new file mode 100644
index 0000000..f95ff32
--- /dev/null
+++ b/internal/ceres/sparse_matrix.cc
@@ -0,0 +1,40 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+SparseMatrix::~SparseMatrix() {
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/sparse_matrix.h b/internal/ceres/sparse_matrix.h
new file mode 100644
index 0000000..b3af1d0
--- /dev/null
+++ b/internal/ceres/sparse_matrix.h
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Interface definition for sparse matrices.
+
+#ifndef CERES_INTERNAL_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_SPARSE_MATRIX_H_
+
+#include <cstdio>
+#include "ceres/linear_operator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// This class defines the interface for storing and manipulating
+// sparse matrices. The key property that differentiates different
+// sparse matrices is how they are organized in memory and how the
+// information about the sparsity structure of the matrix is
+// stored. This has significant implications for linear solvers
+// operating on these matrices.
+//
+// To deal with the different kinds of layouts, we will assume that a
+// sparse matrix will have a two part representation. A values array
+// that will be used to store the entries of the sparse matrix and
+// some sort of a layout object that tells the user the sparsity
+// structure and layout of the values array. For example in case of
+// the TripletSparseMatrix, this information is carried in the rows
+// and cols arrays and for the BlockSparseMatrix, this information is
+// carried in the CompressedRowBlockStructure object.
+//
+// This interface deliberately does not contain any information about
+// the structure of the sparse matrix as that seems to be highly
+// matrix type dependent and we are at this stage unable to come up
+// with an efficient high level interface that spans multiple sparse
+// matrix types.
+class SparseMatrix : public LinearOperator {
+ public:
+  virtual ~SparseMatrix();
+
+  // y += Ax;
+  virtual void RightMultiply(const double* x, double* y) const = 0;
+  // y += A'x;
+  virtual void LeftMultiply(const double* x, double* y) const = 0;
+
+  // In MATLAB notation sum(A.*A, 1)
+  virtual void SquaredColumnNorm(double* x) const = 0;
+  // A = A * diag(scale)
+  virtual void ScaleColumns(const double* scale) = 0;
+
+  // A = 0. A->num_nonzeros() == 0 is true after this call. The
+  // sparsity pattern is preserved.
+  virtual void SetZero() = 0;
+
+  // Resize and populate dense_matrix with a dense version of the
+  // sparse matrix.
+  virtual void ToDenseMatrix(Matrix* dense_matrix) const = 0;
+
+  // Write out the matrix as a sequence of (i,j,s) triplets. This
+  // format is useful for loading the matrix into MATLAB/octave as a
+  // sparse matrix.
+  virtual void ToTextFile(FILE* file) const = 0;
+
+  // Accessors for the values array that stores the entries of the
+  // sparse matrix. The exact interpreptation of the values of this
+  // array depends on the particular kind of SparseMatrix being
+  // accessed.
+  virtual double* mutable_values() = 0;
+  virtual const double* values() const = 0;
+
+  virtual int num_rows() const = 0;
+  virtual int num_cols() const = 0;
+  virtual int num_nonzeros() const = 0;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SPARSE_MATRIX_H_
diff --git a/internal/ceres/sparse_normal_cholesky_solver.cc b/internal/ceres/sparse_normal_cholesky_solver.cc
new file mode 100644
index 0000000..37f5a8e
--- /dev/null
+++ b/internal/ceres/sparse_normal_cholesky_solver.cc
@@ -0,0 +1,110 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/sparse_normal_cholesky_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <ctime>
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/inner_product_computer.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+SparseNormalCholeskySolver::SparseNormalCholeskySolver(
+    const LinearSolver::Options& options)
+    : options_(options) {
+  sparse_cholesky_.reset(
+      SparseCholesky::Create(options_.sparse_linear_algebra_library_type,
+                             options_.use_postordering ? AMD : NATURAL));
+}
+
+SparseNormalCholeskySolver::~SparseNormalCholeskySolver() {}
+
+LinearSolver::Summary SparseNormalCholeskySolver::SolveImpl(
+    BlockSparseMatrix* A,
+    const double* b,
+    const LinearSolver::PerSolveOptions& per_solve_options,
+    double* x) {
+  EventLogger event_logger("SparseNormalCholeskySolver::Solve");
+  LinearSolver::Summary summary;
+  summary.num_iterations = 1;
+  summary.termination_type = LINEAR_SOLVER_SUCCESS;
+  summary.message = "Success.";
+
+  const int num_cols = A->num_cols();
+  VectorRef(x, num_cols).setZero();
+  A->LeftMultiply(b, x);
+  event_logger.AddEvent("Compute RHS");
+
+  if (per_solve_options.D != NULL) {
+    // Temporarily append a diagonal block to the A matrix, but undo
+    // it before returning the matrix to the user.
+    scoped_ptr<BlockSparseMatrix> regularizer;
+    regularizer.reset(BlockSparseMatrix::CreateDiagonalMatrix(
+        per_solve_options.D, A->block_structure()->cols));
+    event_logger.AddEvent("Diagonal");
+    A->AppendRows(*regularizer);
+    event_logger.AddEvent("Append");
+  }
+  event_logger.AddEvent("Append Rows");
+
+  if (inner_product_computer_.get() == NULL) {
+    inner_product_computer_.reset(
+        InnerProductComputer::Create(*A, sparse_cholesky_->StorageType()));
+
+    event_logger.AddEvent("InnerProductComputer::Create");
+  }
+
+  inner_product_computer_->Compute();
+  event_logger.AddEvent("InnerProductComputer::Compute");
+
+  // TODO(sameeragarwal):
+
+  if (per_solve_options.D != NULL) {
+    A->DeleteRowBlocks(A->block_structure()->cols.size());
+  }
+  summary.termination_type = sparse_cholesky_->FactorAndSolve(
+      inner_product_computer_->mutable_result(), x, x, &summary.message);
+  event_logger.AddEvent("Factor & Solve");
+  return summary;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/sparse_normal_cholesky_solver.h b/internal/ceres/sparse_normal_cholesky_solver.h
new file mode 100644
index 0000000..e24799d
--- /dev/null
+++ b/internal/ceres/sparse_normal_cholesky_solver.h
@@ -0,0 +1,74 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A solver for sparse linear least squares problem based on solving
+// the normal equations via a sparse cholesky factorization.
+
+#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class InnerProductComputer;
+class SparseCholesky;
+
+// Solves the normal equations (A'A + D'D) x = A'b, using the sparse
+// linear algebra library of the user's choice.
+class SparseNormalCholeskySolver : public BlockSparseMatrixSolver {
+ public:
+  explicit SparseNormalCholeskySolver(const LinearSolver::Options& options);
+  virtual ~SparseNormalCholeskySolver();
+
+ private:
+  virtual LinearSolver::Summary SolveImpl(
+      BlockSparseMatrix* A,
+      const double* b,
+      const LinearSolver::PerSolveOptions& options,
+      double* x);
+
+  const LinearSolver::Options options_;
+  scoped_ptr<SparseCholesky> sparse_cholesky_;
+  scoped_ptr<InnerProductComputer> inner_product_computer_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
diff --git a/internal/ceres/sparse_normal_cholesky_solver_test.cc b/internal/ceres/sparse_normal_cholesky_solver_test.cc
new file mode 100644
index 0000000..ec59897
--- /dev/null
+++ b/internal/ceres/sparse_normal_cholesky_solver_test.cc
@@ -0,0 +1,169 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "Eigen/Cholesky"
+
+namespace ceres {
+namespace internal {
+
+// TODO(sameeragarwal): These tests needs to be re-written, since
+// SparseNormalCholeskySolver is a composition of two classes now,
+// InnerProductComputer and SparseCholesky.
+//
+// So the test should exercise the composition, rather than the
+// numerics of the solver, which are well covered by tests for those
+// classes.
+class SparseNormalCholeskySolverTest : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    scoped_ptr<LinearLeastSquaresProblem> problem(
+        CreateLinearLeastSquaresProblemFromId(2));
+
+    CHECK_NOTNULL(problem.get());
+    A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+    b_.reset(problem->b.release());
+    D_.reset(problem->D.release());
+  }
+
+  void TestSolver(const LinearSolver::Options& options, double* D) {
+    Matrix dense_A;
+    A_->ToDenseMatrix(&dense_A);
+    Matrix lhs = dense_A.transpose() * dense_A;
+    if (D != NULL) {
+      lhs += (ConstVectorRef(D, A_->num_cols()).array() *
+              ConstVectorRef(D, A_->num_cols()).array())
+                 .matrix()
+                 .asDiagonal();
+    }
+
+    Vector rhs(A_->num_cols());
+    rhs.setZero();
+    A_->LeftMultiply(b_.get(), rhs.data());
+    Vector expected_solution = lhs.llt().solve(rhs);
+
+    scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+    LinearSolver::PerSolveOptions per_solve_options;
+    per_solve_options.D = D;
+    Vector actual_solution(A_->num_cols());
+    LinearSolver::Summary summary;
+    summary = solver->Solve(
+        A_.get(), b_.get(), per_solve_options, actual_solution.data());
+
+    EXPECT_EQ(summary.termination_type, LINEAR_SOLVER_SUCCESS);
+
+    for (int i = 0; i < A_->num_cols(); ++i) {
+      EXPECT_NEAR(expected_solution(i), actual_solution(i), 1e-8)
+          << "\nExpected: " << expected_solution.transpose()
+          << "\nActual: " << actual_solution.transpose();
+    }
+  }
+
+  void TestSolver(const LinearSolver::Options& options) {
+    TestSolver(options, NULL);
+    TestSolver(options, D_.get());
+  }
+
+  scoped_ptr<BlockSparseMatrix> A_;
+  scoped_array<double> b_;
+  scoped_array<double> D_;
+};
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(SparseNormalCholeskySolverTest,
+       SparseNormalCholeskyUsingSuiteSparsePreOrdering) {
+  LinearSolver::Options options;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  options.type = SPARSE_NORMAL_CHOLESKY;
+  options.use_postordering = false;
+  TestSolver(options);
+}
+
+TEST_F(SparseNormalCholeskySolverTest,
+       SparseNormalCholeskyUsingSuiteSparsePostOrdering) {
+  LinearSolver::Options options;
+  options.sparse_linear_algebra_library_type = SUITE_SPARSE;
+  options.type = SPARSE_NORMAL_CHOLESKY;
+  options.use_postordering = true;
+  TestSolver(options);
+}
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(SparseNormalCholeskySolverTest,
+       SparseNormalCholeskyUsingCXSparsePreOrdering) {
+  LinearSolver::Options options;
+  options.sparse_linear_algebra_library_type = CX_SPARSE;
+  options.type = SPARSE_NORMAL_CHOLESKY;
+  options.use_postordering = false;
+  TestSolver(options);
+}
+
+TEST_F(SparseNormalCholeskySolverTest,
+       SparseNormalCholeskyUsingCXSparsePostOrdering) {
+  LinearSolver::Options options;
+  options.sparse_linear_algebra_library_type = CX_SPARSE;
+  options.type = SPARSE_NORMAL_CHOLESKY;
+  options.use_postordering = true;
+  TestSolver(options);
+}
+#endif
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(SparseNormalCholeskySolverTest,
+       SparseNormalCholeskyUsingEigenPreOrdering) {
+  LinearSolver::Options options;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  options.type = SPARSE_NORMAL_CHOLESKY;
+  options.use_postordering = false;
+  TestSolver(options);
+}
+
+TEST_F(SparseNormalCholeskySolverTest,
+       SparseNormalCholeskyUsingEigenPostOrdering) {
+  LinearSolver::Options options;
+  options.sparse_linear_algebra_library_type = EIGEN_SPARSE;
+  options.type = SPARSE_NORMAL_CHOLESKY;
+  options.use_postordering = true;
+  TestSolver(options);
+}
+#endif  // CERES_USE_EIGEN_SPARSE
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/split.cc b/internal/ceres/split.cc
new file mode 100644
index 0000000..296c09a
--- /dev/null
+++ b/internal/ceres/split.cc
@@ -0,0 +1,123 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/split.h"
+
+#include <iterator>
+#include <string>
+#include <vector>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+// If we know how much to allocate for a vector of strings, we can allocate the
+// vector<string> only once and directly to the right size. This saves in
+// between 33-66 % of memory space needed for the result, and runs faster in the
+// microbenchmarks.
+//
+// The reserve is only implemented for the single character delim.
+//
+// The implementation for counting is cut-and-pasted from
+// SplitStringToIteratorUsing. I could have written my own counting iterator,
+// and use the existing template function, but probably this is more clear and
+// more sure to get optimized to reasonable code.
+static int CalculateReserveForVector(const string& full, const char* delim) {
+  int count = 0;
+  if (delim[0] != '\0' && delim[1] == '\0') {
+    // Optimize the common case where delim is a single character.
+    char c = delim[0];
+    const char* p = full.data();
+    const char* end = p + full.size();
+    while (p != end) {
+      if (*p == c) {  // This could be optimized with hasless(v,1) trick.
+        ++p;
+      } else {
+        while (++p != end && *p != c) {
+          // Skip to the next occurence of the delimiter.
+        }
+        ++count;
+      }
+    }
+  }
+  return count;
+}
+
+template <typename StringType, typename ITR>
+static inline
+void SplitStringToIteratorUsing(const StringType& full,
+                                const char* delim,
+                                ITR& result) {
+  // Optimize the common case where delim is a single character.
+  if (delim[0] != '\0' && delim[1] == '\0') {
+    char c = delim[0];
+    const char* p = full.data();
+    const char* end = p + full.size();
+    while (p != end) {
+      if (*p == c) {
+        ++p;
+      } else {
+        const char* start = p;
+        while (++p != end && *p != c) {
+          // Skip to the next occurence of the delimiter.
+        }
+        *result++ = StringType(start, p - start);
+      }
+    }
+    return;
+  }
+
+  string::size_type begin_index, end_index;
+  begin_index = full.find_first_not_of(delim);
+  while (begin_index != string::npos) {
+    end_index = full.find_first_of(delim, begin_index);
+    if (end_index == string::npos) {
+      *result++ = full.substr(begin_index);
+      return;
+    }
+    *result++ = full.substr(begin_index, (end_index - begin_index));
+    begin_index = full.find_first_not_of(delim, end_index);
+  }
+}
+
+void SplitStringUsing(const string& full,
+                      const char* delim,
+                      vector<string>* result) {
+  result->reserve(result->size() + CalculateReserveForVector(full, delim));
+  std::back_insert_iterator<vector<string> > it(*result);
+  SplitStringToIteratorUsing(full, delim, it);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/split.h b/internal/ceres/split.h
new file mode 100644
index 0000000..94b773d
--- /dev/null
+++ b/internal/ceres/split.h
@@ -0,0 +1,50 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_SPLIT_H_
+#define CERES_INTERNAL_SPLIT_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+// Split a string using one or more character delimiters, presented as a
+// nul-terminated c string. Append the components to 'result'. If there are
+// consecutive delimiters, this function skips over all of them.
+void SplitStringUsing(const std::string& full, const char* delim,
+                      std::vector<std::string>* res);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_SPLIT_H_
diff --git a/internal/ceres/stl_util.h b/internal/ceres/stl_util.h
new file mode 100644
index 0000000..0595a4c
--- /dev/null
+++ b/internal/ceres/stl_util.h
@@ -0,0 +1,91 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_STL_UTIL_H_
+#define CERES_INTERNAL_STL_UTIL_H_
+
+#include <algorithm>
+
+namespace ceres {
+
+// STLDeleteContainerPointers()
+//  For a range within a container of pointers, calls delete
+//  (non-array version) on these pointers.
+// NOTE: for these three functions, we could just implement a DeleteObject
+// functor and then call for_each() on the range and functor, but this
+// requires us to pull in all of algorithm.h, which seems expensive.
+// For hash_[multi]set, it is important that this deletes behind the iterator
+// because the hash_set may call the hash function on the iterator when it is
+// advanced, which could result in the hash function trying to deference a
+// stale pointer.
+template <class ForwardIterator>
+void STLDeleteContainerPointers(ForwardIterator begin,
+                                ForwardIterator end) {
+  while (begin != end) {
+    ForwardIterator temp = begin;
+    ++begin;
+    delete *temp;
+  }
+}
+
+// Variant of STLDeleteContainerPointers which allows the container to
+// contain duplicates.
+template <class ForwardIterator>
+void STLDeleteUniqueContainerPointers(ForwardIterator begin,
+                                      ForwardIterator end) {
+  sort(begin, end);
+  ForwardIterator new_end = unique(begin, end);
+  while (begin != new_end) {
+    ForwardIterator temp = begin;
+    ++begin;
+    delete *temp;
+  }
+}
+
+// STLDeleteElements() deletes all the elements in an STL container and clears
+// the container.  This function is suitable for use with a vector, set,
+// hash_set, or any other STL container which defines sensible begin(), end(),
+// and clear() methods.
+//
+// If container is NULL, this function is a no-op.
+//
+// As an alternative to calling STLDeleteElements() directly, consider
+// ElementDeleter (defined below), which ensures that your container's elements
+// are deleted when the ElementDeleter goes out of scope.
+template <class T>
+void STLDeleteElements(T *container) {
+  if (!container) return;
+  STLDeleteContainerPointers(container->begin(), container->end());
+  container->clear();
+}
+
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_STL_UTIL_H_
diff --git a/internal/ceres/stringprintf.cc b/internal/ceres/stringprintf.cc
new file mode 100644
index 0000000..b3b7474
--- /dev/null
+++ b/internal/ceres/stringprintf.cc
@@ -0,0 +1,145 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Sanjay Ghemawat
+
+#include "ceres/stringprintf.h"
+
+#include <cerrno>
+#include <cstdarg>  // For va_list and related operations
+#include <cstdio>   // MSVC requires this for _vsnprintf
+#include <string>
+#include <vector>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+// va_copy() was defined in the C99 standard.  However, it did not appear in the
+// C++ standard until C++11.  This means that if Ceres is being compiled with a
+// strict pre-C++11 standard (e.g. -std=c++03), va_copy() will NOT be defined,
+// as we are using the C++ compiler (it would however be defined if we were
+// using the C compiler).  Note however that both GCC & Clang will in fact
+// define va_copy() when compiling for C++ if the C++ standard is not explicitly
+// specified (i.e. no -std=c++<XX> arg), even though it should not strictly be
+// defined unless -std=c++11 (or greater) was passed.
+#if !defined(va_copy)
+#if defined (__GNUC__)
+// On GCC/Clang, if va_copy() is not defined (C++ standard < C++11 explicitly
+// specified), use the internal __va_copy() version, which should be present
+// in even very old GCC versions.
+#define va_copy(d, s) __va_copy(d, s)
+#else
+// Some older versions of MSVC do not have va_copy(), in which case define it.
+// Although this is required for older MSVC versions, it should also work for
+// other non-GCC/Clang compilers which also do not defined va_copy().
+#define va_copy(d, s) ((d) = (s))
+#endif  // defined (__GNUC__)
+#endif  // !defined(va_copy)
+
+void StringAppendV(string* dst, const char* format, va_list ap) {
+  // First try with a small fixed size buffer
+  char space[1024];
+
+  // It's possible for methods that use a va_list to invalidate
+  // the data in it upon use.  The fix is to make a copy
+  // of the structure before using it and use that copy instead.
+  va_list backup_ap;
+  va_copy(backup_ap, ap);
+  int result = vsnprintf(space, sizeof(space), format, backup_ap);
+  va_end(backup_ap);
+
+  if (result < sizeof(space)) {
+    if (result >= 0) {
+      // Normal case -- everything fit.
+      dst->append(space, result);
+      return;
+    }
+
+#if defined (_MSC_VER)
+    // Error or MSVC running out of space.  MSVC 8.0 and higher
+    // can be asked about space needed with the special idiom below:
+    va_copy(backup_ap, ap);
+    result = vsnprintf(NULL, 0, format, backup_ap);
+    va_end(backup_ap);
+#endif
+
+    if (result < 0) {
+      // Just an error.
+      return;
+    }
+  }
+
+  // Increase the buffer size to the size requested by vsnprintf,
+  // plus one for the closing \0.
+  int length = result+1;
+  char* buf = new char[length];
+
+  // Restore the va_list before we use it again
+  va_copy(backup_ap, ap);
+  result = vsnprintf(buf, length, format, backup_ap);
+  va_end(backup_ap);
+
+  if (result >= 0 && result < length) {
+    // It fit
+    dst->append(buf, result);
+  }
+  delete[] buf;
+}
+
+
+string StringPrintf(const char* format, ...) {
+  va_list ap;
+  va_start(ap, format);
+  string result;
+  StringAppendV(&result, format, ap);
+  va_end(ap);
+  return result;
+}
+
+const string& SStringPrintf(string* dst, const char* format, ...) {
+  va_list ap;
+  va_start(ap, format);
+  dst->clear();
+  StringAppendV(dst, format, ap);
+  va_end(ap);
+  return *dst;
+}
+
+void StringAppendF(string* dst, const char* format, ...) {
+  va_list ap;
+  va_start(ap, format);
+  StringAppendV(dst, format, ap);
+  va_end(ap);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/stringprintf.h b/internal/ceres/stringprintf.h
new file mode 100644
index 0000000..feeb9c2
--- /dev/null
+++ b/internal/ceres/stringprintf.h
@@ -0,0 +1,89 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Sanjay Ghemawat
+//
+// Printf variants that place their output in a C++ string.
+//
+// Usage:
+//      string result = StringPrintf("%d %s\n", 10, "hello");
+//      SStringPrintf(&result, "%d %s\n", 10, "hello");
+//      StringAppendF(&result, "%d %s\n", 20, "there");
+
+#ifndef CERES_INTERNAL_STRINGPRINTF_H_
+#define CERES_INTERNAL_STRINGPRINTF_H_
+
+#include <cstdarg>
+#include <string>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+#if (defined(__GNUC__) || defined(__clang__))
+// Tell the compiler to do printf format string checking if the compiler
+// supports it; see the 'format' attribute in
+// <http://gcc.gnu.org/onlinedocs/gcc-4.3.0/gcc/Function-Attributes.html>.
+//
+// N.B.: As the GCC manual states, "[s]ince non-static C++ methods
+// have an implicit 'this' argument, the arguments of such methods
+// should be counted from two, not one."
+#define CERES_PRINTF_ATTRIBUTE(string_index, first_to_check) \
+    __attribute__((__format__ (__printf__, string_index, first_to_check)))
+#define CERES_SCANF_ATTRIBUTE(string_index, first_to_check) \
+    __attribute__((__format__ (__scanf__, string_index, first_to_check)))
+#else
+#define CERES_PRINTF_ATTRIBUTE(string_index, first_to_check)
+#endif
+
+// Return a C++ string.
+extern std::string StringPrintf(const char* format, ...)
+    // Tell the compiler to do printf format string checking.
+    CERES_PRINTF_ATTRIBUTE(1, 2);
+
+// Store result into a supplied string and return it.
+extern const std::string& SStringPrintf(std::string* dst, const char* format, ...)
+    // Tell the compiler to do printf format string checking.
+    CERES_PRINTF_ATTRIBUTE(2, 3);
+
+// Append result to a supplied string.
+extern void StringAppendF(std::string* dst, const char* format, ...)
+    // Tell the compiler to do printf format string checking.
+    CERES_PRINTF_ATTRIBUTE(2, 3);
+
+// Lower-level routine that takes a va_list and appends to a specified string.
+// All other routines are just convenience wrappers around it.
+extern void StringAppendV(std::string* dst, const char* format, va_list ap);
+
+#undef CERES_PRINTF_ATTRIBUTE
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_STRINGPRINTF_H_
diff --git a/internal/ceres/suitesparse.cc b/internal/ceres/suitesparse.cc
new file mode 100644
index 0000000..5e93d2e
--- /dev/null
+++ b/internal/ceres/suitesparse.cc
@@ -0,0 +1,416 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_SUITESPARSE
+#include "ceres/suitesparse.h"
+
+#include <vector>
+
+#include "ceres/compressed_col_sparse_matrix_utils.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "cholmod.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+using std::vector;
+
+SuiteSparse::SuiteSparse() { cholmod_start(&cc_); }
+
+SuiteSparse::~SuiteSparse() { cholmod_finish(&cc_); }
+
+cholmod_sparse* SuiteSparse::CreateSparseMatrix(TripletSparseMatrix* A) {
+  cholmod_triplet triplet;
+
+  triplet.nrow = A->num_rows();
+  triplet.ncol = A->num_cols();
+  triplet.nzmax = A->max_num_nonzeros();
+  triplet.nnz = A->num_nonzeros();
+  triplet.i = reinterpret_cast<void*>(A->mutable_rows());
+  triplet.j = reinterpret_cast<void*>(A->mutable_cols());
+  triplet.x = reinterpret_cast<void*>(A->mutable_values());
+  triplet.stype = 0;  // Matrix is not symmetric.
+  triplet.itype = CHOLMOD_INT;
+  triplet.xtype = CHOLMOD_REAL;
+  triplet.dtype = CHOLMOD_DOUBLE;
+
+  return cholmod_triplet_to_sparse(&triplet, triplet.nnz, &cc_);
+}
+
+cholmod_sparse* SuiteSparse::CreateSparseMatrixTranspose(
+    TripletSparseMatrix* A) {
+  cholmod_triplet triplet;
+
+  triplet.ncol = A->num_rows();  // swap row and columns
+  triplet.nrow = A->num_cols();
+  triplet.nzmax = A->max_num_nonzeros();
+  triplet.nnz = A->num_nonzeros();
+
+  // swap rows and columns
+  triplet.j = reinterpret_cast<void*>(A->mutable_rows());
+  triplet.i = reinterpret_cast<void*>(A->mutable_cols());
+  triplet.x = reinterpret_cast<void*>(A->mutable_values());
+  triplet.stype = 0;  // Matrix is not symmetric.
+  triplet.itype = CHOLMOD_INT;
+  triplet.xtype = CHOLMOD_REAL;
+  triplet.dtype = CHOLMOD_DOUBLE;
+
+  return cholmod_triplet_to_sparse(&triplet, triplet.nnz, &cc_);
+}
+
+cholmod_sparse SuiteSparse::CreateSparseMatrixTransposeView(
+    CompressedRowSparseMatrix* A) {
+  cholmod_sparse m;
+  m.nrow = A->num_cols();
+  m.ncol = A->num_rows();
+  m.nzmax = A->num_nonzeros();
+  m.nz = NULL;
+  m.p = reinterpret_cast<void*>(A->mutable_rows());
+  m.i = reinterpret_cast<void*>(A->mutable_cols());
+  m.x = reinterpret_cast<void*>(A->mutable_values());
+  m.z = NULL;
+
+  if (A->storage_type() == CompressedRowSparseMatrix::LOWER_TRIANGULAR) {
+    m.stype = 1;
+  } else if (A->storage_type() == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+    m.stype = -1;
+  } else {
+    m.stype = 0;
+  }
+
+  m.itype = CHOLMOD_INT;
+  m.xtype = CHOLMOD_REAL;
+  m.dtype = CHOLMOD_DOUBLE;
+  m.sorted = 1;
+  m.packed = 1;
+
+  return m;
+}
+
+cholmod_dense* SuiteSparse::CreateDenseVector(const double* x,
+                                              int in_size,
+                                              int out_size) {
+  CHECK_LE(in_size, out_size);
+  cholmod_dense* v = cholmod_zeros(out_size, 1, CHOLMOD_REAL, &cc_);
+  if (x != NULL) {
+    memcpy(v->x, x, in_size * sizeof(*x));
+  }
+  return v;
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholesky(cholmod_sparse* A,
+                                             string* message) {
+  // Cholmod can try multiple re-ordering strategies to find a fill
+  // reducing ordering. Here we just tell it use AMD with automatic
+  // matrix dependence choice of supernodal versus simplicial
+  // factorization.
+  cc_.nmethods = 1;
+  cc_.method[0].ordering = CHOLMOD_AMD;
+  cc_.supernodal = CHOLMOD_AUTO;
+
+  cholmod_factor* factor = cholmod_analyze(A, &cc_);
+  if (VLOG_IS_ON(2)) {
+    cholmod_print_common(const_cast<char*>("Symbolic Analysis"), &cc_);
+  }
+
+  if (cc_.status != CHOLMOD_OK) {
+    *message =
+        StringPrintf("cholmod_analyze failed. error code: %d", cc_.status);
+    return NULL;
+  }
+
+  return CHECK_NOTNULL(factor);
+}
+
+cholmod_factor* SuiteSparse::BlockAnalyzeCholesky(cholmod_sparse* A,
+                                                  const vector<int>& row_blocks,
+                                                  const vector<int>& col_blocks,
+                                                  string* message) {
+  vector<int> ordering;
+  if (!BlockAMDOrdering(A, row_blocks, col_blocks, &ordering)) {
+    return NULL;
+  }
+  return AnalyzeCholeskyWithUserOrdering(A, ordering, message);
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholeskyWithUserOrdering(
+    cholmod_sparse* A, const vector<int>& ordering, string* message) {
+  CHECK_EQ(ordering.size(), A->nrow);
+
+  cc_.nmethods = 1;
+  cc_.method[0].ordering = CHOLMOD_GIVEN;
+
+  cholmod_factor* factor =
+      cholmod_analyze_p(A, const_cast<int*>(&ordering[0]), NULL, 0, &cc_);
+  if (VLOG_IS_ON(2)) {
+    cholmod_print_common(const_cast<char*>("Symbolic Analysis"), &cc_);
+  }
+  if (cc_.status != CHOLMOD_OK) {
+    *message =
+        StringPrintf("cholmod_analyze failed. error code: %d", cc_.status);
+    return NULL;
+  }
+
+  return CHECK_NOTNULL(factor);
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholeskyWithNaturalOrdering(
+    cholmod_sparse* A, string* message) {
+  cc_.nmethods = 1;
+  cc_.method[0].ordering = CHOLMOD_NATURAL;
+  cc_.postorder = 0;
+
+  cholmod_factor* factor = cholmod_analyze(A, &cc_);
+  if (VLOG_IS_ON(2)) {
+    cholmod_print_common(const_cast<char*>("Symbolic Analysis"), &cc_);
+  }
+  if (cc_.status != CHOLMOD_OK) {
+    *message =
+        StringPrintf("cholmod_analyze failed. error code: %d", cc_.status);
+    return NULL;
+  }
+
+  return CHECK_NOTNULL(factor);
+}
+
+bool SuiteSparse::BlockAMDOrdering(const cholmod_sparse* A,
+                                   const vector<int>& row_blocks,
+                                   const vector<int>& col_blocks,
+                                   vector<int>* ordering) {
+  const int num_row_blocks = row_blocks.size();
+  const int num_col_blocks = col_blocks.size();
+
+  // Arrays storing the compressed column structure of the matrix
+  // incoding the block sparsity of A.
+  vector<int> block_cols;
+  vector<int> block_rows;
+
+  CompressedColumnScalarMatrixToBlockMatrix(reinterpret_cast<const int*>(A->i),
+                                            reinterpret_cast<const int*>(A->p),
+                                            row_blocks,
+                                            col_blocks,
+                                            &block_rows,
+                                            &block_cols);
+  cholmod_sparse_struct block_matrix;
+  block_matrix.nrow = num_row_blocks;
+  block_matrix.ncol = num_col_blocks;
+  block_matrix.nzmax = block_rows.size();
+  block_matrix.p = reinterpret_cast<void*>(&block_cols[0]);
+  block_matrix.i = reinterpret_cast<void*>(&block_rows[0]);
+  block_matrix.x = NULL;
+  block_matrix.stype = A->stype;
+  block_matrix.itype = CHOLMOD_INT;
+  block_matrix.xtype = CHOLMOD_PATTERN;
+  block_matrix.dtype = CHOLMOD_DOUBLE;
+  block_matrix.sorted = 1;
+  block_matrix.packed = 1;
+
+  vector<int> block_ordering(num_row_blocks);
+  if (!cholmod_amd(&block_matrix, NULL, 0, &block_ordering[0], &cc_)) {
+    return false;
+  }
+
+  BlockOrderingToScalarOrdering(row_blocks, block_ordering, ordering);
+  return true;
+}
+
+LinearSolverTerminationType SuiteSparse::Cholesky(cholmod_sparse* A,
+                                                  cholmod_factor* L,
+                                                  string* message) {
+  CHECK_NOTNULL(A);
+  CHECK_NOTNULL(L);
+
+  // Save the current print level and silence CHOLMOD, otherwise
+  // CHOLMOD is prone to dumping stuff to stderr, which can be
+  // distracting when the error (matrix is indefinite) is not a fatal
+  // failure.
+  const int old_print_level = cc_.print;
+  cc_.print = 0;
+
+  cc_.quick_return_if_not_posdef = 1;
+  int cholmod_status = cholmod_factorize(A, L, &cc_);
+  cc_.print = old_print_level;
+
+  switch (cc_.status) {
+    case CHOLMOD_NOT_INSTALLED:
+      *message = "CHOLMOD failure: Method not installed.";
+      return LINEAR_SOLVER_FATAL_ERROR;
+    case CHOLMOD_OUT_OF_MEMORY:
+      *message = "CHOLMOD failure: Out of memory.";
+      return LINEAR_SOLVER_FATAL_ERROR;
+    case CHOLMOD_TOO_LARGE:
+      *message = "CHOLMOD failure: Integer overflow occurred.";
+      return LINEAR_SOLVER_FATAL_ERROR;
+    case CHOLMOD_INVALID:
+      *message = "CHOLMOD failure: Invalid input.";
+      return LINEAR_SOLVER_FATAL_ERROR;
+    case CHOLMOD_NOT_POSDEF:
+      *message = "CHOLMOD warning: Matrix not positive definite.";
+      return LINEAR_SOLVER_FAILURE;
+    case CHOLMOD_DSMALL:
+      *message =
+          "CHOLMOD warning: D for LDL' or diag(L) or "
+          "LL' has tiny absolute value.";
+      return LINEAR_SOLVER_FAILURE;
+    case CHOLMOD_OK:
+      if (cholmod_status != 0) {
+        return LINEAR_SOLVER_SUCCESS;
+      }
+
+      *message =
+          "CHOLMOD failure: cholmod_factorize returned false "
+          "but cholmod_common::status is CHOLMOD_OK."
+          "Please report this to ceres-solver@googlegroups.com.";
+      return LINEAR_SOLVER_FATAL_ERROR;
+    default:
+      *message = StringPrintf(
+          "Unknown cholmod return code: %d. "
+          "Please report this to ceres-solver@googlegroups.com.",
+          cc_.status);
+      return LINEAR_SOLVER_FATAL_ERROR;
+  }
+
+  return LINEAR_SOLVER_FATAL_ERROR;
+}
+
+cholmod_dense* SuiteSparse::Solve(cholmod_factor* L,
+                                  cholmod_dense* b,
+                                  string* message) {
+  if (cc_.status != CHOLMOD_OK) {
+    *message = "cholmod_solve failed. CHOLMOD status is not CHOLMOD_OK";
+    return NULL;
+  }
+
+  return cholmod_solve(CHOLMOD_A, L, b, &cc_);
+}
+
+bool SuiteSparse::ApproximateMinimumDegreeOrdering(cholmod_sparse* matrix,
+                                                   int* ordering) {
+  return cholmod_amd(matrix, NULL, 0, ordering, &cc_);
+}
+
+bool SuiteSparse::ConstrainedApproximateMinimumDegreeOrdering(
+    cholmod_sparse* matrix, int* constraints, int* ordering) {
+#ifndef CERES_NO_CAMD
+  return cholmod_camd(matrix, NULL, 0, constraints, ordering, &cc_);
+#else
+  LOG(FATAL) << "Congratulations you have found a bug in Ceres."
+             << "Ceres Solver was compiled with SuiteSparse "
+             << "version 4.1.0 or less. Calling this function "
+             << "in that case is a bug. Please contact the"
+             << "the Ceres Solver developers.";
+  return false;
+#endif
+}
+
+SuiteSparseCholesky* SuiteSparseCholesky::Create(
+    const OrderingType ordering_type) {
+  return new SuiteSparseCholesky(ordering_type);
+}
+
+SuiteSparseCholesky::SuiteSparseCholesky(const OrderingType ordering_type)
+    : ordering_type_(ordering_type), factor_(NULL) {}
+
+SuiteSparseCholesky::~SuiteSparseCholesky() {
+  if (factor_ != NULL) {
+    ss_.Free(factor_);
+  }
+}
+
+LinearSolverTerminationType SuiteSparseCholesky::Factorize(
+    CompressedRowSparseMatrix* lhs, string* message) {
+  if (lhs == NULL) {
+    *message = "Failure: Input lhs is NULL.";
+    return LINEAR_SOLVER_FATAL_ERROR;
+  }
+
+  cholmod_sparse cholmod_lhs = ss_.CreateSparseMatrixTransposeView(lhs);
+
+  if (factor_ == NULL) {
+    if (ordering_type_ == NATURAL) {
+      factor_ = ss_.AnalyzeCholeskyWithNaturalOrdering(&cholmod_lhs, message);
+    } else {
+      if (!lhs->col_blocks().empty() && !(lhs->row_blocks().empty())) {
+        factor_ = ss_.BlockAnalyzeCholesky(
+            &cholmod_lhs, lhs->col_blocks(), lhs->row_blocks(), message);
+      } else {
+        factor_ = ss_.AnalyzeCholesky(&cholmod_lhs, message);
+      }
+    }
+
+    if (factor_ == NULL) {
+      return LINEAR_SOLVER_FATAL_ERROR;
+    }
+  }
+
+  return ss_.Cholesky(&cholmod_lhs, factor_, message);
+}
+
+CompressedRowSparseMatrix::StorageType SuiteSparseCholesky::StorageType()
+    const {
+  return ((ordering_type_ == NATURAL)
+              ? CompressedRowSparseMatrix::UPPER_TRIANGULAR
+              : CompressedRowSparseMatrix::LOWER_TRIANGULAR);
+}
+
+LinearSolverTerminationType SuiteSparseCholesky::Solve(const double* rhs,
+                                                       double* solution,
+                                                       string* message) {
+  // Error checking
+  if (factor_ == NULL) {
+    *message = "Solve called without a call to Factorize first.";
+    return LINEAR_SOLVER_FATAL_ERROR;
+  }
+
+  const int num_cols = factor_->n;
+  cholmod_dense* cholmod_dense_rhs =
+      ss_.CreateDenseVector(rhs, num_cols, num_cols);
+  cholmod_dense* cholmod_dense_solution =
+      ss_.Solve(factor_, cholmod_dense_rhs, message);
+  ss_.Free(cholmod_dense_rhs);
+  if (cholmod_dense_solution == NULL) {
+    return LINEAR_SOLVER_FAILURE;
+  }
+
+  memcpy(solution, cholmod_dense_solution->x, num_cols * sizeof(*solution));
+  ss_.Free(cholmod_dense_solution);
+  return LINEAR_SOLVER_SUCCESS;
+}
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_NO_SUITESPARSE
diff --git a/internal/ceres/suitesparse.h b/internal/ceres/suitesparse.h
new file mode 100644
index 0000000..0646602
--- /dev/null
+++ b/internal/ceres/suitesparse.h
@@ -0,0 +1,332 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A simple C++ interface to the SuiteSparse and CHOLMOD libraries.
+
+#ifndef CERES_INTERNAL_SUITESPARSE_H_
+#define CERES_INTERNAL_SUITESPARSE_H_
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_NO_SUITESPARSE
+
+#include <cstring>
+#include <string>
+#include <vector>
+#include "SuiteSparseQR.hpp"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_cholesky.h"
+#include "cholmod.h"
+#include "glog/logging.h"
+
+// Before SuiteSparse version 4.2.0, cholmod_camd was only enabled
+// if SuiteSparse was compiled with Metis support. This makes
+// calling and linking into cholmod_camd problematic even though it
+// has nothing to do with Metis. This has been fixed reliably in
+// 4.2.0.
+//
+// The fix was actually committed in 4.1.0, but there is
+// some confusion about a silent update to the tar ball, so we are
+// being conservative and choosing the next minor version where
+// things are stable.
+#if (SUITESPARSE_VERSION < 4002)
+#define CERES_NO_CAMD
+#endif
+
+// UF_long is deprecated but SuiteSparse_long is only available in
+// newer versions of SuiteSparse. So for older versions of
+// SuiteSparse, we define SuiteSparse_long to be the same as UF_long,
+// which is what recent versions of SuiteSparse do anyways.
+#ifndef SuiteSparse_long
+#define SuiteSparse_long UF_long
+#endif
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class TripletSparseMatrix;
+
+// The raw CHOLMOD and SuiteSparseQR libraries have a slightly
+// cumbersome c like calling format. This object abstracts it away and
+// provides the user with a simpler interface. The methods here cannot
+// be static as a cholmod_common object serves as a global variable
+// for all cholmod function calls.
+class SuiteSparse {
+ public:
+  SuiteSparse();
+  ~SuiteSparse();
+
+  // Functions for building cholmod_sparse objects from sparse
+  // matrices stored in triplet form. The matrix A is not
+  // modifed. Called owns the result.
+  cholmod_sparse* CreateSparseMatrix(TripletSparseMatrix* A);
+
+  // This function works like CreateSparseMatrix, except that the
+  // return value corresponds to A' rather than A.
+  cholmod_sparse* CreateSparseMatrixTranspose(TripletSparseMatrix* A);
+
+  // Create a cholmod_sparse wrapper around the contents of A. This is
+  // a shallow object, which refers to the contents of A and does not
+  // use the SuiteSparse machinery to allocate memory.
+  cholmod_sparse CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A);
+
+  // Given a vector x, build a cholmod_dense vector of size out_size
+  // with the first in_size entries copied from x. If x is NULL, then
+  // an all zeros vector is returned. Caller owns the result.
+  cholmod_dense* CreateDenseVector(const double* x, int in_size, int out_size);
+
+  // The matrix A is scaled using the matrix whose diagonal is the
+  // vector scale. mode describes how scaling is applied. Possible
+  // values are CHOLMOD_ROW for row scaling - diag(scale) * A,
+  // CHOLMOD_COL for column scaling - A * diag(scale) and CHOLMOD_SYM
+  // for symmetric scaling which scales both the rows and the columns
+  // - diag(scale) * A * diag(scale).
+  void Scale(cholmod_dense* scale, int mode, cholmod_sparse* A) {
+     cholmod_scale(scale, mode, A, &cc_);
+  }
+
+  // Create and return a matrix m = A * A'. Caller owns the
+  // result. The matrix A is not modified.
+  cholmod_sparse* AATranspose(cholmod_sparse* A) {
+    cholmod_sparse*m =  cholmod_aat(A, NULL, A->nrow, 1, &cc_);
+    m->stype = 1;  // Pay attention to the upper triangular part.
+    return m;
+  }
+
+  // y = alpha * A * x + beta * y. Only y is modified.
+  void SparseDenseMultiply(cholmod_sparse* A, double alpha, double beta,
+                           cholmod_dense* x, cholmod_dense* y) {
+    double alpha_[2] = {alpha, 0};
+    double beta_[2] = {beta, 0};
+    cholmod_sdmult(A, 0, alpha_, beta_, x, y, &cc_);
+  }
+
+  // Find an ordering of A or AA' (if A is unsymmetric) that minimizes
+  // the fill-in in the Cholesky factorization of the corresponding
+  // matrix. This is done by using the AMD algorithm.
+  //
+  // Using this ordering, the symbolic Cholesky factorization of A (or
+  // AA') is computed and returned.
+  //
+  // A is not modified, only the pattern of non-zeros of A is used,
+  // the actual numerical values in A are of no consequence.
+  //
+  // message contains an explanation of the failures if any.
+  //
+  // Caller owns the result.
+  cholmod_factor* AnalyzeCholesky(cholmod_sparse* A, std::string* message);
+
+  cholmod_factor* BlockAnalyzeCholesky(cholmod_sparse* A,
+                                       const std::vector<int>& row_blocks,
+                                       const std::vector<int>& col_blocks,
+                                       std::string* message);
+
+  // If A is symmetric, then compute the symbolic Cholesky
+  // factorization of A(ordering, ordering). If A is unsymmetric, then
+  // compute the symbolic factorization of
+  // A(ordering,:) A(ordering,:)'.
+  //
+  // A is not modified, only the pattern of non-zeros of A is used,
+  // the actual numerical values in A are of no consequence.
+  //
+  // message contains an explanation of the failures if any.
+  //
+  // Caller owns the result.
+  cholmod_factor* AnalyzeCholeskyWithUserOrdering(
+      cholmod_sparse* A,
+      const std::vector<int>& ordering,
+      std::string* message);
+
+  // Perform a symbolic factorization of A without re-ordering A. No
+  // postordering of the elimination tree is performed. This ensures
+  // that the symbolic factor does not introduce an extra permutation
+  // on the matrix. See the documentation for CHOLMOD for more details.
+  //
+  // message contains an explanation of the failures if any.
+  cholmod_factor* AnalyzeCholeskyWithNaturalOrdering(cholmod_sparse* A,
+                                                     std::string* message);
+
+  // Use the symbolic factorization in L, to find the numerical
+  // factorization for the matrix A or AA^T. Return true if
+  // successful, false otherwise. L contains the numeric factorization
+  // on return.
+  //
+  // message contains an explanation of the failures if any.
+  LinearSolverTerminationType Cholesky(cholmod_sparse* A,
+                                       cholmod_factor* L,
+                                       std::string* message);
+
+  // Given a Cholesky factorization of a matrix A = LL^T, solve the
+  // linear system Ax = b, and return the result. If the Solve fails
+  // NULL is returned. Caller owns the result.
+  //
+  // message contains an explanation of the failures if any.
+  cholmod_dense* Solve(cholmod_factor* L, cholmod_dense* b, std::string* message);
+
+  // By virtue of the modeling layer in Ceres being block oriented,
+  // all the matrices used by Ceres are also block oriented. When
+  // doing sparse direct factorization of these matrices the
+  // fill-reducing ordering algorithms (in particular AMD) can either
+  // be run on the block or the scalar form of these matrices. The two
+  // SuiteSparse::AnalyzeCholesky methods allows the the client to
+  // compute the symbolic factorization of a matrix by either using
+  // AMD on the matrix or a user provided ordering of the rows.
+  //
+  // But since the underlying matrices are block oriented, it is worth
+  // running AMD on just the block structre of these matrices and then
+  // lifting these block orderings to a full scalar ordering. This
+  // preserves the block structure of the permuted matrix, and exposes
+  // more of the super-nodal structure of the matrix to the numerical
+  // factorization routines.
+  //
+  // Find the block oriented AMD ordering of a matrix A, whose row and
+  // column blocks are given by row_blocks, and col_blocks
+  // respectively. The matrix may or may not be symmetric. The entries
+  // of col_blocks do not need to sum to the number of columns in
+  // A. If this is the case, only the first sum(col_blocks) are used
+  // to compute the ordering.
+  bool BlockAMDOrdering(const cholmod_sparse* A,
+                        const std::vector<int>& row_blocks,
+                        const std::vector<int>& col_blocks,
+                        std::vector<int>* ordering);
+
+  // Find a fill reducing approximate minimum degree
+  // ordering. ordering is expected to be large enough to hold the
+  // ordering.
+  bool ApproximateMinimumDegreeOrdering(cholmod_sparse* matrix, int* ordering);
+
+
+  // Before SuiteSparse version 4.2.0, cholmod_camd was only enabled
+  // if SuiteSparse was compiled with Metis support. This makes
+  // calling and linking into cholmod_camd problematic even though it
+  // has nothing to do with Metis. This has been fixed reliably in
+  // 4.2.0.
+  //
+  // The fix was actually committed in 4.1.0, but there is
+  // some confusion about a silent update to the tar ball, so we are
+  // being conservative and choosing the next minor version where
+  // things are stable.
+  static bool IsConstrainedApproximateMinimumDegreeOrderingAvailable() {
+    return (SUITESPARSE_VERSION > 4001);
+  }
+
+  // Find a fill reducing approximate minimum degree
+  // ordering. constraints is an array which associates with each
+  // column of the matrix an elimination group. i.e., all columns in
+  // group 0 are eliminated first, all columns in group 1 are
+  // eliminated next etc. This function finds a fill reducing ordering
+  // that obeys these constraints.
+  //
+  // Calling ApproximateMinimumDegreeOrdering is equivalent to calling
+  // ConstrainedApproximateMinimumDegreeOrdering with a constraint
+  // array that puts all columns in the same elimination group.
+  //
+  // If CERES_NO_CAMD is defined then calling this function will
+  // result in a crash.
+  bool ConstrainedApproximateMinimumDegreeOrdering(cholmod_sparse* matrix,
+                                                   int* constraints,
+                                                   int* ordering);
+
+  void Free(cholmod_sparse* m) { cholmod_free_sparse(&m, &cc_); }
+  void Free(cholmod_dense* m)  { cholmod_free_dense(&m, &cc_);  }
+  void Free(cholmod_factor* m) { cholmod_free_factor(&m, &cc_); }
+
+  void Print(cholmod_sparse* m, const std::string& name) {
+    cholmod_print_sparse(m, const_cast<char*>(name.c_str()), &cc_);
+  }
+
+  void Print(cholmod_dense* m, const std::string& name) {
+    cholmod_print_dense(m, const_cast<char*>(name.c_str()), &cc_);
+  }
+
+  void Print(cholmod_triplet* m, const std::string& name) {
+    cholmod_print_triplet(m, const_cast<char*>(name.c_str()), &cc_);
+  }
+
+  cholmod_common* mutable_cc() { return &cc_; }
+
+ private:
+  cholmod_common cc_;
+};
+
+class SuiteSparseCholesky : public SparseCholesky {
+ public:
+  static SuiteSparseCholesky* Create(const OrderingType ordering_type);
+
+  // SparseCholesky interface.
+  virtual ~SuiteSparseCholesky();
+  virtual CompressedRowSparseMatrix::StorageType StorageType() const;
+  virtual LinearSolverTerminationType Factorize(
+      CompressedRowSparseMatrix* lhs, std::string* message);
+  virtual LinearSolverTerminationType Solve(const double* rhs,
+                                            double* solution,
+                                            std::string* message);
+ private:
+  SuiteSparseCholesky(const OrderingType ordering_type);
+
+  const OrderingType ordering_type_;
+  SuiteSparse ss_;
+  cholmod_factor* factor_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#else  // CERES_NO_SUITESPARSE
+
+typedef void cholmod_factor;
+
+namespace ceres {
+namespace internal {
+
+class SuiteSparse {
+ public:
+  // Defining this static function even when SuiteSparse is not
+  // available, allows client code to check for the presence of CAMD
+  // without checking for the absence of the CERES_NO_CAMD symbol.
+  //
+  // This is safer because the symbol maybe missing due to a user
+  // accidently not including suitesparse.h in their code when
+  // checking for the symbol.
+  static bool IsConstrainedApproximateMinimumDegreeOrderingAvailable() {
+    return false;
+  }
+
+  void Free(void* arg) {}
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_NO_SUITESPARSE
+
+#endif  // CERES_INTERNAL_SUITESPARSE_H_
diff --git a/internal/ceres/system_test.cc b/internal/ceres/system_test.cc
new file mode 100644
index 0000000..7f26a98
--- /dev/null
+++ b/internal/ceres/system_test.cc
@@ -0,0 +1,191 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// End-to-end tests for Ceres using Powell's function.
+
+#include <cmath>
+#include <cstdlib>
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/problem.h"
+#include "ceres/solver.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// This class implements the SystemTestProblem interface and provides
+// access to an implementation of Powell's singular function.
+//
+//   F = 1/2 (f1^2 + f2^2 + f3^2 + f4^2)
+//
+//   f1 = x1 + 10*x2;
+//   f2 = sqrt(5) * (x3 - x4)
+//   f3 = (x2 - 2*x3)^2
+//   f4 = sqrt(10) * (x1 - x4)^2
+//
+// The starting values are x1 = 3, x2 = -1, x3 = 0, x4 = 1.
+// The minimum is 0 at (x1, x2, x3, x4) = 0.
+//
+// From: Testing Unconstrained Optimization Software by Jorge J. More, Burton S.
+// Garbow and Kenneth E. Hillstrom in ACM Transactions on Mathematical Software,
+// Vol 7(1), March 1981.
+class PowellsFunction {
+ public:
+  PowellsFunction() {
+    x_[0] =  3.0;
+    x_[1] = -1.0;
+    x_[2] =  0.0;
+    x_[3] =  1.0;
+
+    problem_.AddResidualBlock(
+        new AutoDiffCostFunction<F1, 1, 1, 1>(new F1), NULL, &x_[0], &x_[1]);
+    problem_.AddResidualBlock(
+        new AutoDiffCostFunction<F2, 1, 1, 1>(new F2), NULL, &x_[2], &x_[3]);
+    problem_.AddResidualBlock(
+        new AutoDiffCostFunction<F3, 1, 1, 1>(new F3), NULL, &x_[1], &x_[2]);
+    problem_.AddResidualBlock(
+        new AutoDiffCostFunction<F4, 1, 1, 1>(new F4), NULL, &x_[0], &x_[3]);
+
+    // Settings for the reference solution.
+    options_.linear_solver_type = ceres::DENSE_QR;
+    options_.max_num_iterations = 10;
+    options_.num_threads = 1;
+  }
+
+  Problem* mutable_problem() { return &problem_; }
+  Solver::Options* mutable_solver_options() { return &options_; }
+
+  static double kResidualTolerance;
+
+ private:
+  // Templated functions used for automatically differentiated cost
+  // functions.
+  class F1 {
+   public:
+    template <typename T> bool operator()(const T* const x1,
+                                          const T* const x2,
+                                          T* residual) const {
+      // f1 = x1 + 10 * x2;
+      *residual = *x1 + 10.0 * *x2;
+      return true;
+    }
+  };
+
+  class F2 {
+   public:
+    template <typename T> bool operator()(const T* const x3,
+                                          const T* const x4,
+                                          T* residual) const {
+      // f2 = sqrt(5) (x3 - x4)
+      *residual = sqrt(5.0) * (*x3 - *x4);
+      return true;
+    }
+  };
+
+  class F3 {
+   public:
+    template <typename T> bool operator()(const T* const x2,
+                                          const T* const x4,
+                                          T* residual) const {
+      // f3 = (x2 - 2 x3)^2
+      residual[0] = (x2[0] - 2.0 * x4[0]) * (x2[0] - 2.0 * x4[0]);
+      return true;
+    }
+  };
+
+  class F4 {
+   public:
+    template <typename T> bool operator()(const T* const x1,
+                                          const T* const x4,
+                                          T* residual) const {
+      // f4 = sqrt(10) (x1 - x4)^2
+      residual[0] = sqrt(10.0) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+      return true;
+    }
+  };
+
+  double x_[4];
+  Problem problem_;
+  Solver::Options options_;
+};
+
+double PowellsFunction::kResidualTolerance = 1e-8;
+
+typedef SystemTest<PowellsFunction> PowellTest;
+const bool kAutomaticOrdering = true;
+
+TEST_F(PowellTest, DenseQR) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(DENSE_QR, NO_SPARSE));
+}
+
+TEST_F(PowellTest, DenseNormalCholesky) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(DENSE_NORMAL_CHOLESKY));
+}
+
+TEST_F(PowellTest, DenseSchur) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(DENSE_SCHUR));
+}
+
+TEST_F(PowellTest, IterativeSchurWithJacobi) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(ITERATIVE_SCHUR, NO_SPARSE, kAutomaticOrdering, JACOBI));
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(PowellTest, SparseNormalCholeskyUsingSuiteSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering));
+}
+#endif  // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(PowellTest, SparseNormalCholeskyUsingCXSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering));
+}
+#endif  // CERES_NO_CXSPARSE
+
+#ifdef CERES_USE_EIGEN_SPARSE
+TEST_F(PowellTest, SparseNormalCholeskyUsingEigenSparse) {
+  RunSolverForConfigAndExpectResidualsMatch(
+      SolverConfig(SPARSE_NORMAL_CHOLESKY, EIGEN_SPARSE, kAutomaticOrdering));
+}
+#endif  // CERES_USE_EIGEN_SPARSE
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/test_util.cc b/internal/ceres/test_util.cc
new file mode 100644
index 0000000..3866eb5
--- /dev/null
+++ b/internal/ceres/test_util.cc
@@ -0,0 +1,146 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Utility functions useful for testing.
+
+#include "ceres/test_util.h"
+
+#include <algorithm>
+#include <cmath>
+#include "ceres/file.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+DECLARE_string(test_srcdir);
+
+// This macro is used to inject additional path information specific
+// to the build system.
+
+#ifndef CERES_TEST_SRCDIR_SUFFIX
+#define CERES_TEST_SRCDIR_SUFFIX ""
+#endif
+
+namespace ceres {
+namespace internal {
+
+bool ExpectClose(double x, double y, double max_abs_relative_difference) {
+  double absolute_difference = fabs(x - y);
+  double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
+  if (x == 0 || y == 0) {
+    // If x or y is exactly zero, then relative difference doesn't have any
+    // meaning. Take the absolute difference instead.
+    relative_difference = absolute_difference;
+  }
+  if (relative_difference > max_abs_relative_difference) {
+    VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
+                            x, y, absolute_difference, relative_difference);
+  }
+
+  EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
+  return relative_difference <= max_abs_relative_difference;
+}
+
+void ExpectArraysCloseUptoScale(int n,
+                                const double* p,
+                                const double* q,
+                                double tol) {
+  CHECK_GT(n, 0);
+  CHECK(p);
+  CHECK(q);
+
+  double p_max = 0;
+  double q_max = 0;
+  int p_i = 0;
+  int q_i = 0;
+
+  for (int i = 0; i < n; ++i) {
+    if (std::abs(p[i]) > p_max) {
+      p_max = std::abs(p[i]);
+      p_i = i;
+    }
+    if (std::abs(q[i]) > q_max) {
+      q_max = std::abs(q[i]);
+      q_i = i;
+    }
+  }
+
+  // If both arrays are all zeros, they are equal up to scale, but
+  // for testing purposes, that's more likely to be an error than
+  // a desired result.
+  CHECK_NE(p_max, 0.0);
+  CHECK_NE(q_max, 0.0);
+
+  for (int i = 0; i < n; ++i) {
+    double p_norm = p[i] / p[p_i];
+    double q_norm = q[i] / q[q_i];
+
+    EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i;
+  }
+}
+
+void ExpectArraysClose(int n,
+                       const double* p,
+                       const double* q,
+                       double tol) {
+  CHECK_GT(n, 0);
+  CHECK(p);
+  CHECK(q);
+
+  for (int i = 0; i < n; ++i) {
+    EXPECT_TRUE(ExpectClose(p[i], q[i], tol))
+        << "p[" << i << "]" << p[i] << " "
+        << "q[" << i << "]" << q[i] << " "
+        << "tol: " << tol;
+  }
+}
+
+std::string TestFileAbsolutePath(const std::string& filename) {
+  return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
+                  filename);
+}
+
+SolverConfig ThreadedSolverConfig(
+    LinearSolverType linear_solver_type,
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type,
+    bool use_automatic_ordering,
+    PreconditionerType preconditioner_type) {
+  const int kNumThreads = 4;
+  return SolverConfig(linear_solver_type,
+                      sparse_linear_algebra_library_type,
+                      use_automatic_ordering,
+                      preconditioner_type,
+                      kNumThreads);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/test_util.h b/internal/ceres/test_util.h
new file mode 100644
index 0000000..0b92559
--- /dev/null
+++ b/internal/ceres/test_util.h
@@ -0,0 +1,189 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/problem.h"
+#include "ceres/solver.h"
+#include "ceres/stringprintf.h"
+#include "gtest/gtest.h"
+
+
+#ifndef CERES_INTERNAL_TEST_UTIL_H_
+#define CERES_INTERNAL_TEST_UTIL_H_
+
+namespace ceres {
+namespace internal {
+
+// Expects that x and y have a relative difference of no more than
+// max_abs_relative_difference. If either x or y is zero, then the relative
+// difference is interpreted as an absolute difference.
+bool ExpectClose(double x, double y, double max_abs_relative_difference);
+
+// Expects that for all i = 1,.., n - 1
+//
+//   |p[i] - q[i]| / max(|p[i]|, |q[i]|) < tolerance
+void ExpectArraysClose(int n,
+                       const double* p,
+                       const double* q,
+                       double tolerance);
+
+// Expects that for all i = 1,.., n - 1
+//
+//   |p[i] / max_norm_p - q[i] / max_norm_q| < tolerance
+//
+// where max_norm_p and max_norm_q are the max norms of the arrays p
+// and q respectively.
+void ExpectArraysCloseUptoScale(int n,
+                                const double* p,
+                                const double* q,
+                                double tolerance);
+
+// Construct a fully qualified path for the test file depending on the
+// local build/testing environment.
+std::string TestFileAbsolutePath(const std::string& filename);
+
+// Struct used for configuring the solver. Used by end-to-end tests.
+struct SolverConfig {
+  SolverConfig(
+      LinearSolverType linear_solver_type,
+      SparseLinearAlgebraLibraryType
+      sparse_linear_algebra_library_type = NO_SPARSE,
+      bool use_automatic_ordering = true,
+      PreconditionerType preconditioner_type = IDENTITY,
+      int num_threads = 1)
+      : linear_solver_type(linear_solver_type),
+        sparse_linear_algebra_library_type(sparse_linear_algebra_library_type),
+        use_automatic_ordering(use_automatic_ordering),
+        preconditioner_type(preconditioner_type),
+        num_threads(num_threads) {
+  }
+
+  std::string ToString() const {
+    return StringPrintf(
+        "(%s, %s, %s, %s, %d)",
+        LinearSolverTypeToString(linear_solver_type),
+        SparseLinearAlgebraLibraryTypeToString(
+            sparse_linear_algebra_library_type),
+        use_automatic_ordering ? "AUTOMATIC" : "USER",
+        PreconditionerTypeToString(preconditioner_type),
+        num_threads);
+  }
+
+  void UpdateOptions(Solver::Options* options) const {
+    options->linear_solver_type = linear_solver_type;
+    options->sparse_linear_algebra_library_type =
+        sparse_linear_algebra_library_type;
+    options->preconditioner_type = preconditioner_type;
+    options->num_threads = num_threads;
+    options->num_linear_solver_threads = num_threads;
+
+    if (use_automatic_ordering) {
+      options->linear_solver_ordering.reset();
+    }
+  }
+
+  LinearSolverType linear_solver_type;
+  SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
+  bool use_automatic_ordering;
+  PreconditionerType preconditioner_type;
+  int num_threads;
+};
+
+SolverConfig ThreadedSolverConfig(
+    LinearSolverType linear_solver_type,
+    SparseLinearAlgebraLibraryType
+    sparse_linear_algebra_library_type = NO_SPARSE,
+    bool use_automatic_ordering = true,
+    PreconditionerType preconditioner_type = IDENTITY);
+
+// A templated test fixture, that is used for testing Ceres end to end
+// by computing a solution to the problem for a given solver
+// configuration and comparing it to a reference solver configuration.
+//
+// It is assumed that the SystemTestProblem has an Solver::Options
+// struct that contains the reference Solver configuration.
+template <class SystemTestProblem>
+class SystemTest : public::testing::Test {
+ protected:
+  virtual void SetUp() {
+    SystemTestProblem system_test_problem;
+    SolveAndEvaluateFinalResiduals(
+        *system_test_problem.mutable_solver_options(),
+        system_test_problem.mutable_problem(),
+        &expected_final_residuals_);
+  }
+
+  void RunSolverForConfigAndExpectResidualsMatch(const SolverConfig& config) {
+    LOG(INFO) << "Running solver configuration: "
+              << config.ToString();
+
+    SystemTestProblem system_test_problem;
+    config.UpdateOptions(system_test_problem.mutable_solver_options());
+    std::vector<double> final_residuals;
+    SolveAndEvaluateFinalResiduals(
+        *system_test_problem.mutable_solver_options(),
+        system_test_problem.mutable_problem(),
+        &final_residuals);
+
+    // We compare solutions by comparing their residual vectors. We do
+    // not compare parameter vectors because it is much more brittle
+    // and error prone to do so, since the same problem can have
+    // nearly the same residuals at two completely different positions
+    // in parameter space.
+    CHECK_EQ(expected_final_residuals_.size(), final_residuals.size());
+    for (int i = 0; i < final_residuals.size(); ++i) {
+      EXPECT_NEAR(final_residuals[i],
+                  expected_final_residuals_[i],
+                  SystemTestProblem::kResidualTolerance)
+          << "Not close enough residual:" << i;
+    }
+  }
+
+  void SolveAndEvaluateFinalResiduals(const Solver::Options& options,
+                                      Problem* problem,
+                                      std::vector<double>* final_residuals) {
+    Solver::Summary summary;
+    Solve(options, problem, &summary);
+    CHECK_NE(summary.termination_type, ceres::FAILURE);
+    problem->Evaluate(Problem::EvaluateOptions(),
+                      NULL,
+                      final_residuals,
+                      NULL,
+                      NULL);
+  }
+
+  std::vector<double> expected_final_residuals_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_TEST_UTIL_H_
diff --git a/internal/ceres/triplet_sparse_matrix.cc b/internal/ceres/triplet_sparse_matrix.cc
new file mode 100644
index 0000000..cd19444
--- /dev/null
+++ b/internal/ceres/triplet_sparse_matrix.cc
@@ -0,0 +1,317 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/triplet_sparse_matrix.h"
+
+#include <algorithm>
+#include <cstddef>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/random.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+TripletSparseMatrix::TripletSparseMatrix()
+    : num_rows_(0),
+      num_cols_(0),
+      max_num_nonzeros_(0),
+      num_nonzeros_(0),
+      rows_(NULL),
+      cols_(NULL),
+      values_(NULL) {}
+
+TripletSparseMatrix::~TripletSparseMatrix() {}
+
+TripletSparseMatrix::TripletSparseMatrix(int num_rows,
+                                         int num_cols,
+                                         int max_num_nonzeros)
+    : num_rows_(num_rows),
+      num_cols_(num_cols),
+      max_num_nonzeros_(max_num_nonzeros),
+      num_nonzeros_(0),
+      rows_(NULL),
+      cols_(NULL),
+      values_(NULL) {
+  // All the sizes should at least be zero
+  CHECK_GE(num_rows, 0);
+  CHECK_GE(num_cols, 0);
+  CHECK_GE(max_num_nonzeros, 0);
+  AllocateMemory();
+}
+
+TripletSparseMatrix::TripletSparseMatrix(const int num_rows,
+                                         const int num_cols,
+                                         const std::vector<int>& rows,
+                                         const std::vector<int>& cols,
+                                         const std::vector<double>& values)
+    : num_rows_(num_rows),
+      num_cols_(num_cols),
+      max_num_nonzeros_(values.size()),
+      num_nonzeros_(values.size()),
+      rows_(NULL),
+      cols_(NULL),
+      values_(NULL) {
+  // All the sizes should at least be zero
+  CHECK_GE(num_rows, 0);
+  CHECK_GE(num_cols, 0);
+  CHECK_EQ(rows.size(), cols.size());
+  CHECK_EQ(rows.size(), values.size());
+  AllocateMemory();
+  std::copy(rows.begin(), rows.end(), rows_.get());
+  std::copy(cols.begin(), cols.end(), cols_.get());
+  std::copy(values.begin(), values.end(), values_.get());
+}
+
+TripletSparseMatrix::TripletSparseMatrix(const TripletSparseMatrix& orig)
+    : SparseMatrix(),
+      num_rows_(orig.num_rows_),
+      num_cols_(orig.num_cols_),
+      max_num_nonzeros_(orig.max_num_nonzeros_),
+      num_nonzeros_(orig.num_nonzeros_),
+      rows_(NULL),
+      cols_(NULL),
+      values_(NULL) {
+  AllocateMemory();
+  CopyData(orig);
+}
+
+TripletSparseMatrix& TripletSparseMatrix::operator=(
+    const TripletSparseMatrix& rhs) {
+  num_rows_ = rhs.num_rows_;
+  num_cols_ = rhs.num_cols_;
+  num_nonzeros_ = rhs.num_nonzeros_;
+  max_num_nonzeros_ = rhs.max_num_nonzeros_;
+  AllocateMemory();
+  CopyData(rhs);
+  return *this;
+}
+
+bool TripletSparseMatrix::AllTripletsWithinBounds() const {
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    if ((rows_[i] < 0) || (rows_[i] >= num_rows_) ||
+        (cols_[i] < 0) || (cols_[i] >= num_cols_))
+      return false;
+  }
+  return true;
+}
+
+void TripletSparseMatrix::Reserve(int new_max_num_nonzeros) {
+  CHECK_LE(num_nonzeros_, new_max_num_nonzeros)
+      << "Reallocation will cause data loss";
+
+  // Nothing to do if we have enough space already.
+  if (new_max_num_nonzeros <= max_num_nonzeros_)
+    return;
+
+  int* new_rows = new int[new_max_num_nonzeros];
+  int* new_cols = new int[new_max_num_nonzeros];
+  double* new_values = new double[new_max_num_nonzeros];
+
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    new_rows[i] = rows_[i];
+    new_cols[i] = cols_[i];
+    new_values[i] = values_[i];
+  }
+
+  rows_.reset(new_rows);
+  cols_.reset(new_cols);
+  values_.reset(new_values);
+
+  max_num_nonzeros_ = new_max_num_nonzeros;
+}
+
+void TripletSparseMatrix::SetZero() {
+  std::fill(values_.get(), values_.get() + max_num_nonzeros_, 0.0);
+  num_nonzeros_ = 0;
+}
+
+void TripletSparseMatrix::set_num_nonzeros(int num_nonzeros) {
+  CHECK_GE(num_nonzeros, 0);
+  CHECK_LE(num_nonzeros, max_num_nonzeros_);
+  num_nonzeros_ = num_nonzeros;
+}
+
+void TripletSparseMatrix::AllocateMemory() {
+  rows_.reset(new int[max_num_nonzeros_]);
+  cols_.reset(new int[max_num_nonzeros_]);
+  values_.reset(new double[max_num_nonzeros_]);
+}
+
+void TripletSparseMatrix::CopyData(const TripletSparseMatrix& orig) {
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    rows_[i] = orig.rows_[i];
+    cols_[i] = orig.cols_[i];
+    values_[i] = orig.values_[i];
+  }
+}
+
+void TripletSparseMatrix::RightMultiply(const double* x,  double* y) const {
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    y[rows_[i]] += values_[i]*x[cols_[i]];
+  }
+}
+
+void TripletSparseMatrix::LeftMultiply(const double* x, double* y) const {
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    y[cols_[i]] += values_[i]*x[rows_[i]];
+  }
+}
+
+void TripletSparseMatrix::SquaredColumnNorm(double* x) const {
+  CHECK_NOTNULL(x);
+  VectorRef(x, num_cols_).setZero();
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    x[cols_[i]] += values_[i] * values_[i];
+  }
+}
+
+void TripletSparseMatrix::ScaleColumns(const double* scale) {
+  CHECK_NOTNULL(scale);
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    values_[i] = values_[i] * scale[cols_[i]];
+  }
+}
+
+void TripletSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+  dense_matrix->resize(num_rows_, num_cols_);
+  dense_matrix->setZero();
+  Matrix& m = *dense_matrix;
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    m(rows_[i], cols_[i]) += values_[i];
+  }
+}
+
+void TripletSparseMatrix::AppendRows(const TripletSparseMatrix& B) {
+  CHECK_EQ(B.num_cols(), num_cols_);
+  Reserve(num_nonzeros_ + B.num_nonzeros_);
+  for (int i = 0; i < B.num_nonzeros_; ++i) {
+    rows_.get()[num_nonzeros_] = B.rows()[i] + num_rows_;
+    cols_.get()[num_nonzeros_] = B.cols()[i];
+    values_.get()[num_nonzeros_++] = B.values()[i];
+  }
+  num_rows_ = num_rows_ + B.num_rows();
+}
+
+void TripletSparseMatrix::AppendCols(const TripletSparseMatrix& B) {
+  CHECK_EQ(B.num_rows(), num_rows_);
+  Reserve(num_nonzeros_ + B.num_nonzeros_);
+  for (int i = 0; i < B.num_nonzeros_; ++i, ++num_nonzeros_) {
+    rows_.get()[num_nonzeros_] = B.rows()[i];
+    cols_.get()[num_nonzeros_] = B.cols()[i] + num_cols_;
+    values_.get()[num_nonzeros_] = B.values()[i];
+  }
+  num_cols_ = num_cols_ + B.num_cols();
+}
+
+
+void TripletSparseMatrix::Resize(int new_num_rows, int new_num_cols) {
+  if ((new_num_rows >= num_rows_) && (new_num_cols >= num_cols_)) {
+    num_rows_  = new_num_rows;
+    num_cols_ = new_num_cols;
+    return;
+  }
+
+  num_rows_ = new_num_rows;
+  num_cols_ = new_num_cols;
+
+  int* r_ptr = rows_.get();
+  int* c_ptr = cols_.get();
+  double* v_ptr = values_.get();
+
+  int dropped_terms = 0;
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    if ((r_ptr[i] < num_rows_) && (c_ptr[i] < num_cols_)) {
+      if (dropped_terms) {
+        r_ptr[i-dropped_terms] = r_ptr[i];
+        c_ptr[i-dropped_terms] = c_ptr[i];
+        v_ptr[i-dropped_terms] = v_ptr[i];
+      }
+    } else {
+      ++dropped_terms;
+    }
+  }
+  num_nonzeros_ -= dropped_terms;
+}
+
+TripletSparseMatrix* TripletSparseMatrix::CreateSparseDiagonalMatrix(
+    const double* values, int num_rows) {
+  TripletSparseMatrix* m =
+      new TripletSparseMatrix(num_rows, num_rows, num_rows);
+  for (int i = 0; i < num_rows; ++i) {
+    m->mutable_rows()[i] = i;
+    m->mutable_cols()[i] = i;
+    m->mutable_values()[i] = values[i];
+  }
+  m->set_num_nonzeros(num_rows);
+  return m;
+}
+
+void TripletSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    fprintf(file, "% 10d % 10d %17f\n", rows_[i], cols_[i], values_[i]);
+  }
+}
+
+TripletSparseMatrix* TripletSparseMatrix::CreateRandomMatrix(
+    const TripletSparseMatrix::RandomMatrixOptions& options) {
+  CHECK_GT(options.num_rows, 0);
+  CHECK_GT(options.num_cols, 0);
+  CHECK_GT(options.density, 0.0);
+  CHECK_LE(options.density, 1.0);
+
+  std::vector<int> rows;
+  std::vector<int> cols;
+  std::vector<double> values;
+  while (rows.empty()) {
+    rows.clear();
+    cols.clear();
+    values.clear();
+    for (int r = 0; r < options.num_rows; ++r) {
+      for (int c = 0; c < options.num_cols; ++c) {
+        if (RandDouble() <= options.density) {
+          rows.push_back(r);
+          cols.push_back(c);
+          values.push_back(RandNormal());
+        }
+      }
+    }
+  }
+
+  return new TripletSparseMatrix(
+      options.num_rows, options.num_cols, rows, cols, values);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/triplet_sparse_matrix.h b/internal/ceres/triplet_sparse_matrix.h
new file mode 100644
index 0000000..1d82e14
--- /dev/null
+++ b/internal/ceres/triplet_sparse_matrix.h
@@ -0,0 +1,155 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+
+#include <vector>
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// An implementation of the SparseMatrix interface to store and
+// manipulate sparse matrices in triplet (i,j,s) form.  This object is
+// inspired by the design of the cholmod_triplet struct used in the
+// SuiteSparse package and is memory layout compatible with it.
+class TripletSparseMatrix : public SparseMatrix {
+ public:
+  TripletSparseMatrix();
+  TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros);
+  TripletSparseMatrix(int num_rows,
+                      int num_cols,
+                      const std::vector<int>& rows,
+                      const std::vector<int>& cols,
+                      const std::vector<double>& values);
+
+  explicit TripletSparseMatrix(const TripletSparseMatrix& orig);
+
+  TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs);
+
+  ~TripletSparseMatrix();
+
+  // Implementation of the SparseMatrix interface.
+  virtual void SetZero();
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual void LeftMultiply(const double* x, double* y) const;
+  virtual void SquaredColumnNorm(double* x) const;
+  virtual void ScaleColumns(const double* scale);
+  virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+  virtual void ToTextFile(FILE* file) const;
+  virtual int num_rows()        const { return num_rows_;     }
+  virtual int num_cols()        const { return num_cols_;     }
+  virtual int num_nonzeros()    const { return num_nonzeros_; }
+  virtual const double* values()  const { return values_.get(); }
+  virtual double* mutable_values()      { return values_.get(); }
+  virtual void set_num_nonzeros(int num_nonzeros);
+
+  // Increase max_num_nonzeros and correspondingly increase the size
+  // of rows_, cols_ and values_. If new_max_num_nonzeros is smaller
+  // than max_num_nonzeros_, then num_non_zeros should be less than or
+  // equal to new_max_num_nonzeros, otherwise data loss is possible
+  // and the method crashes.
+  void Reserve(int new_max_num_nonzeros);
+
+  // Append the matrix B at the bottom of this matrix. B should have
+  // the same number of columns as num_cols_.
+  void AppendRows(const TripletSparseMatrix& B);
+
+  // Append the matrix B at the right of this matrix. B should have
+  // the same number of rows as num_rows_;
+  void AppendCols(const TripletSparseMatrix& B);
+
+  // Resize the matrix. Entries which fall outside the new matrix
+  // bounds are dropped and the num_non_zeros changed accordingly.
+  void Resize(int new_num_rows, int new_num_cols);
+
+  int max_num_nonzeros() const { return max_num_nonzeros_; }
+  const int* rows()      const { return rows_.get();       }
+  const int* cols()      const { return cols_.get();       }
+  int* mutable_rows()          { return rows_.get();       }
+  int* mutable_cols()          { return cols_.get();       }
+
+  // Returns true if the entries of the matrix obey the row, column,
+  // and column size bounds and false otherwise.
+  bool AllTripletsWithinBounds() const;
+
+  bool IsValid() const { return AllTripletsWithinBounds(); }
+
+  // Build a sparse diagonal matrix of size num_rows x num_rows from
+  // the array values. Entries of the values array are copied into the
+  // sparse matrix.
+  static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values,
+                                                         int num_rows);
+
+  // Options struct to control the generation of random
+  // TripletSparseMatrix objects.
+  struct RandomMatrixOptions {
+    int num_rows;
+    int num_cols;
+    // 0 < density <= 1 is the probability of an entry being
+    // structurally non-zero. A given random matrix will not have
+    // precisely this density.
+    double density;
+  };
+
+  // Create a random CompressedRowSparseMatrix whose entries are
+  // normally distributed and whose structure is determined by
+  // RandomMatrixOptions.
+  //
+  // Caller owns the result.
+  static TripletSparseMatrix* CreateRandomMatrix(
+      const TripletSparseMatrix::RandomMatrixOptions& options);
+
+ private:
+  void AllocateMemory();
+  void CopyData(const TripletSparseMatrix& orig);
+
+  int num_rows_;
+  int num_cols_;
+  int max_num_nonzeros_;
+  int num_nonzeros_;
+
+  // The data is stored as three arrays. For each i, values_[i] is
+  // stored at the location (rows_[i], cols_[i]). If the there are
+  // multiple entries with the same (rows_[i], cols_[i]), the values_
+  // entries corresponding to them are summed up.
+  scoped_array<int> rows_;
+  scoped_array<int> cols_;
+  scoped_array<double> values_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__
diff --git a/internal/ceres/triplet_sparse_matrix_test.cc b/internal/ceres/triplet_sparse_matrix_test.cc
new file mode 100644
index 0000000..730272e
--- /dev/null
+++ b/internal/ceres/triplet_sparse_matrix_test.cc
@@ -0,0 +1,319 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/triplet_sparse_matrix.h"
+
+#include "gtest/gtest.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(TripletSparseMatrix, DefaultConstructorReturnsEmptyObject) {
+  TripletSparseMatrix m;
+  EXPECT_EQ(m.num_rows(), 0);
+  EXPECT_EQ(m.num_cols(), 0);
+  EXPECT_EQ(m.num_nonzeros(), 0);
+  EXPECT_EQ(m.max_num_nonzeros(), 0);
+}
+
+TEST(TripletSparseMatrix, SimpleConstructorAndBasicOperations) {
+  // Build a matrix
+  TripletSparseMatrix m(2, 5, 4);
+  EXPECT_EQ(m.num_rows(), 2);
+  EXPECT_EQ(m.num_cols(), 5);
+  EXPECT_EQ(m.num_nonzeros(), 0);
+  EXPECT_EQ(m.max_num_nonzeros(), 4);
+
+  m.mutable_rows()[0] = 0;
+  m.mutable_cols()[0] = 1;
+  m.mutable_values()[0] = 2.5;
+
+  m.mutable_rows()[1] = 1;
+  m.mutable_cols()[1] = 4;
+  m.mutable_values()[1] = 5.2;
+  m.set_num_nonzeros(2);
+
+  EXPECT_EQ(m.num_nonzeros(), 2);
+
+  ASSERT_TRUE(m.AllTripletsWithinBounds());
+
+  // We should never be able resize and lose data
+  EXPECT_DEATH_IF_SUPPORTED(m.Reserve(1), "Reallocation will cause data loss");
+
+  // We should be able to resize while preserving data
+  m.Reserve(50);
+  EXPECT_EQ(m.max_num_nonzeros(), 50);
+
+  m.Reserve(3);
+  EXPECT_EQ(m.max_num_nonzeros(), 50);  // The space is already reserved.
+
+  EXPECT_EQ(m.rows()[0], 0);
+  EXPECT_EQ(m.rows()[1], 1);
+
+  EXPECT_EQ(m.cols()[0], 1);
+  EXPECT_EQ(m.cols()[1], 4);
+
+  EXPECT_DOUBLE_EQ(m.values()[0], 2.5);
+  EXPECT_DOUBLE_EQ(m.values()[1], 5.2);
+
+  // Bounds check should fail
+  m.mutable_rows()[0] = 10;
+  EXPECT_FALSE(m.AllTripletsWithinBounds());
+
+  m.mutable_rows()[0] = 1;
+  m.mutable_cols()[0] = 100;
+  EXPECT_FALSE(m.AllTripletsWithinBounds());
+
+  // Remove all data and then resize the data store
+  m.SetZero();
+  EXPECT_EQ(m.num_nonzeros(), 0);
+  m.Reserve(1);
+}
+
+TEST(TripletSparseMatrix, CopyConstructor) {
+  TripletSparseMatrix orig(2, 5, 4);
+  orig.mutable_rows()[0] = 0;
+  orig.mutable_cols()[0] = 1;
+  orig.mutable_values()[0] = 2.5;
+
+  orig.mutable_rows()[1] = 1;
+  orig.mutable_cols()[1] = 4;
+  orig.mutable_values()[1] = 5.2;
+  orig.set_num_nonzeros(2);
+
+  TripletSparseMatrix cpy(orig);
+
+  EXPECT_EQ(cpy.num_rows(), 2);
+  EXPECT_EQ(cpy.num_cols(), 5);
+  ASSERT_EQ(cpy.num_nonzeros(), 2);
+  EXPECT_EQ(cpy.max_num_nonzeros(), 4);
+
+  EXPECT_EQ(cpy.rows()[0], 0);
+  EXPECT_EQ(cpy.rows()[1], 1);
+
+  EXPECT_EQ(cpy.cols()[0], 1);
+  EXPECT_EQ(cpy.cols()[1], 4);
+
+  EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
+  EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
+}
+
+TEST(TripletSparseMatrix, AssignmentOperator) {
+  TripletSparseMatrix orig(2, 5, 4);
+  orig.mutable_rows()[0] = 0;
+  orig.mutable_cols()[0] = 1;
+  orig.mutable_values()[0] = 2.5;
+
+  orig.mutable_rows()[1] = 1;
+  orig.mutable_cols()[1] = 4;
+  orig.mutable_values()[1] = 5.2;
+  orig.set_num_nonzeros(2);
+
+  TripletSparseMatrix cpy(3, 50, 40);
+  cpy.mutable_rows()[0] = 0;
+  cpy.mutable_cols()[0] = 10;
+  cpy.mutable_values()[0] = 10.22;
+
+  cpy.mutable_rows()[1] = 2;
+  cpy.mutable_cols()[1] = 23;
+  cpy.mutable_values()[1] = 34.45;
+
+  cpy.mutable_rows()[0] = 0;
+  cpy.mutable_cols()[0] = 10;
+  cpy.mutable_values()[0] = 10.22;
+
+  cpy.mutable_rows()[1] = 0;
+  cpy.mutable_cols()[1] = 3;
+  cpy.mutable_values()[1] = 4.4;
+  cpy.set_num_nonzeros(3);
+
+  cpy = orig;
+
+  EXPECT_EQ(cpy.num_rows(), 2);
+  EXPECT_EQ(cpy.num_cols(), 5);
+  ASSERT_EQ(cpy.num_nonzeros(), 2);
+  EXPECT_EQ(cpy.max_num_nonzeros(), 4);
+
+  EXPECT_EQ(cpy.rows()[0], 0);
+  EXPECT_EQ(cpy.rows()[1], 1);
+
+  EXPECT_EQ(cpy.cols()[0], 1);
+  EXPECT_EQ(cpy.cols()[1], 4);
+
+  EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
+  EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
+}
+
+TEST(TripletSparseMatrix, AppendRows) {
+  // Build one matrix.
+  TripletSparseMatrix m(2, 5, 4);
+  m.mutable_rows()[0] = 0;
+  m.mutable_cols()[0] = 1;
+  m.mutable_values()[0] = 2.5;
+
+  m.mutable_rows()[1] = 1;
+  m.mutable_cols()[1] = 4;
+  m.mutable_values()[1] = 5.2;
+  m.set_num_nonzeros(2);
+
+  // Build another matrix.
+  TripletSparseMatrix a(10, 5, 4);
+  a.mutable_rows()[0] = 0;
+  a.mutable_cols()[0] = 1;
+  a.mutable_values()[0] = 3.5;
+
+  a.mutable_rows()[1] = 1;
+  a.mutable_cols()[1] = 4;
+  a.mutable_values()[1] = 6.2;
+
+  a.mutable_rows()[2] = 9;
+  a.mutable_cols()[2] = 5;
+  a.mutable_values()[2] = 1;
+  a.set_num_nonzeros(3);
+
+  // Glue the second matrix to the bottom of the first.
+  m.AppendRows(a);
+
+  EXPECT_EQ(m.num_rows(), 12);
+  EXPECT_EQ(m.num_cols(), 5);
+  ASSERT_EQ(m.num_nonzeros(), 5);
+
+  EXPECT_EQ(m.values()[0], 2.5);
+  EXPECT_EQ(m.values()[1], 5.2);
+  EXPECT_EQ(m.values()[2], 3.5);
+  EXPECT_EQ(m.values()[3], 6.2);
+  EXPECT_EQ(m.values()[4], 1);
+
+  EXPECT_EQ(m.rows()[0], 0);
+  EXPECT_EQ(m.rows()[1], 1);
+  EXPECT_EQ(m.rows()[2], 2);
+  EXPECT_EQ(m.rows()[3], 3);
+  EXPECT_EQ(m.rows()[4], 11);
+
+  EXPECT_EQ(m.cols()[0], 1);
+  EXPECT_EQ(m.cols()[1], 4);
+  EXPECT_EQ(m.cols()[2], 1);
+  EXPECT_EQ(m.cols()[3], 4);
+  EXPECT_EQ(m.cols()[4], 5);
+}
+
+TEST(TripletSparseMatrix, AppendCols) {
+  // Build one matrix.
+  TripletSparseMatrix m(2, 5, 4);
+  m.mutable_rows()[0] = 0;
+  m.mutable_cols()[0] = 1;
+  m.mutable_values()[0] = 2.5;
+
+  m.mutable_rows()[1] = 1;
+  m.mutable_cols()[1] = 4;
+  m.mutable_values()[1] = 5.2;
+  m.set_num_nonzeros(2);
+
+  // Build another matrix.
+  TripletSparseMatrix a(2, 15, 4);
+  a.mutable_rows()[0] = 0;
+  a.mutable_cols()[0] = 1;
+  a.mutable_values()[0] = 3.5;
+
+  a.mutable_rows()[1] = 1;
+  a.mutable_cols()[1] = 4;
+  a.mutable_values()[1] = 6.2;
+
+  a.mutable_rows()[2] = 0;
+  a.mutable_cols()[2] = 10;
+  a.mutable_values()[2] = 1;
+  a.set_num_nonzeros(3);
+
+  // Glue the second matrix to the left of the first.
+  m.AppendCols(a);
+
+  EXPECT_EQ(m.num_rows(), 2);
+  EXPECT_EQ(m.num_cols(), 20);
+  ASSERT_EQ(m.num_nonzeros(), 5);
+
+  EXPECT_EQ(m.values()[0], 2.5);
+  EXPECT_EQ(m.values()[1], 5.2);
+  EXPECT_EQ(m.values()[2], 3.5);
+  EXPECT_EQ(m.values()[3], 6.2);
+  EXPECT_EQ(m.values()[4], 1);
+
+  EXPECT_EQ(m.rows()[0], 0);
+  EXPECT_EQ(m.rows()[1], 1);
+  EXPECT_EQ(m.rows()[2], 0);
+  EXPECT_EQ(m.rows()[3], 1);
+  EXPECT_EQ(m.rows()[4], 0);
+
+  EXPECT_EQ(m.cols()[0], 1);
+  EXPECT_EQ(m.cols()[1], 4);
+  EXPECT_EQ(m.cols()[2], 6);
+  EXPECT_EQ(m.cols()[3], 9);
+  EXPECT_EQ(m.cols()[4], 15);
+}
+
+TEST(TripletSparseMatrix, CreateDiagonalMatrix) {
+  scoped_array<double> values(new double[10]);
+  for (int i = 0; i < 10; ++i)
+    values[i] = i;
+
+  scoped_ptr<TripletSparseMatrix> m(
+      TripletSparseMatrix::CreateSparseDiagonalMatrix(values.get(), 10));
+  EXPECT_EQ(m->num_rows(), 10);
+  EXPECT_EQ(m->num_cols(), 10);
+  ASSERT_EQ(m->num_nonzeros(), 10);
+  for (int i = 0; i < 10 ; ++i) {
+    EXPECT_EQ(m->rows()[i], i);
+    EXPECT_EQ(m->cols()[i], i);
+    EXPECT_EQ(m->values()[i], i);
+  }
+}
+
+TEST(TripletSparseMatrix, Resize) {
+  TripletSparseMatrix m(10, 20, 200);
+  int nnz = 0;
+  for (int i = 0; i < 10; ++i) {
+    for (int j = 0; j < 20; ++j) {
+      m.mutable_rows()[nnz] = i;
+      m.mutable_cols()[nnz] = j;
+      m.mutable_values()[nnz++] = i+j;
+    }
+  }
+  m.set_num_nonzeros(nnz);
+  m.Resize(5, 6);
+  EXPECT_EQ(m.num_rows(), 5);
+  EXPECT_EQ(m.num_cols(), 6);
+  ASSERT_EQ(m.num_nonzeros(), 30);
+  for (int i = 0; i < 30; ++i) {
+    EXPECT_EQ(m.values()[i], m.rows()[i] + m.cols()[i]);
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/trust_region_minimizer.cc b/internal/ceres/trust_region_minimizer.cc
new file mode 100644
index 0000000..3a779c6
--- /dev/null
+++ b/internal/ceres/trust_region_minimizer.cc
@@ -0,0 +1,789 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/trust_region_minimizer.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstdlib>
+#include <cstring>
+#include <limits>
+#include <string>
+#include <vector>
+
+#include "Eigen/Core"
+#include "ceres/array_utils.h"
+#include "ceres/coordinate_descent_minimizer.h"
+#include "ceres/evaluator.h"
+#include "ceres/file.h"
+#include "ceres/line_search.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+// Helper macro to simplify some of the control flow.
+#define RETURN_IF_ERROR_AND_LOG(expr)                            \
+  do {                                                           \
+    if (!(expr)) {                                               \
+      LOG(ERROR) << "Terminating: " << solver_summary_->message; \
+      return;                                                    \
+    }                                                            \
+  } while (0)
+
+namespace ceres {
+namespace internal {
+
+TrustRegionMinimizer::~TrustRegionMinimizer() {}
+
+void TrustRegionMinimizer::Minimize(const Minimizer::Options& options,
+                                    double* parameters,
+                                    Solver::Summary* solver_summary) {
+  start_time_in_secs_ = WallTimeInSeconds();
+  iteration_start_time_in_secs_ = start_time_in_secs_;
+  Init(options, parameters, solver_summary);
+  RETURN_IF_ERROR_AND_LOG(IterationZero());
+
+  // Create the TrustRegionStepEvaluator. The construction needs to be
+  // delayed to this point because we need the cost for the starting
+  // point to initialize the step evaluator.
+  step_evaluator_.reset(new TrustRegionStepEvaluator(
+      x_cost_,
+      options_.use_nonmonotonic_steps
+          ? options_.max_consecutive_nonmonotonic_steps
+          : 0));
+
+  while (FinalizeIterationAndCheckIfMinimizerCanContinue()) {
+    iteration_start_time_in_secs_ = WallTimeInSeconds();
+    iteration_summary_ = IterationSummary();
+    iteration_summary_.iteration =
+        solver_summary->iterations.back().iteration + 1;
+
+    RETURN_IF_ERROR_AND_LOG(ComputeTrustRegionStep());
+    if (!iteration_summary_.step_is_valid) {
+      RETURN_IF_ERROR_AND_LOG(HandleInvalidStep());
+      continue;
+    }
+
+    if (options_.is_constrained) {
+      // Use a projected line search to enforce the bounds constraints
+      // and improve the quality of the step.
+      DoLineSearch(x_, gradient_, x_cost_, &delta_);
+    }
+
+    ComputeCandidatePointAndEvaluateCost();
+    DoInnerIterationsIfNeeded();
+
+    if (ParameterToleranceReached()) {
+      return;
+    }
+
+    if (FunctionToleranceReached()) {
+      return;
+    }
+
+    if (IsStepSuccessful()) {
+      RETURN_IF_ERROR_AND_LOG(HandleSuccessfulStep());
+      continue;
+    }
+
+    HandleUnsuccessfulStep();
+  }
+}
+
+// Initialize the minimizer, allocate working space and set some of
+// the fields in the solver_summary.
+void TrustRegionMinimizer::Init(const Minimizer::Options& options,
+                                double* parameters,
+                                Solver::Summary* solver_summary) {
+  options_ = options;
+  sort(options_.trust_region_minimizer_iterations_to_dump.begin(),
+       options_.trust_region_minimizer_iterations_to_dump.end());
+
+  parameters_ = parameters;
+
+  solver_summary_ = solver_summary;
+  solver_summary_->termination_type = NO_CONVERGENCE;
+  solver_summary_->num_successful_steps = 0;
+  solver_summary_->num_unsuccessful_steps = 0;
+  solver_summary_->is_constrained = options.is_constrained;
+
+  evaluator_ = CHECK_NOTNULL(options_.evaluator.get());
+  jacobian_ = CHECK_NOTNULL(options_.jacobian.get());
+  strategy_ = CHECK_NOTNULL(options_.trust_region_strategy.get());
+
+  is_not_silent_ = !options.is_silent;
+  inner_iterations_are_enabled_ =
+      options.inner_iteration_minimizer.get() != NULL;
+  inner_iterations_were_useful_ = false;
+
+  num_parameters_ = evaluator_->NumParameters();
+  num_effective_parameters_ = evaluator_->NumEffectiveParameters();
+  num_residuals_ = evaluator_->NumResiduals();
+  num_consecutive_invalid_steps_ = 0;
+
+  x_ = ConstVectorRef(parameters_, num_parameters_);
+  x_norm_ = x_.norm();
+  residuals_.resize(num_residuals_);
+  trust_region_step_.resize(num_effective_parameters_);
+  delta_.resize(num_effective_parameters_);
+  candidate_x_.resize(num_parameters_);
+  gradient_.resize(num_effective_parameters_);
+  model_residuals_.resize(num_residuals_);
+  negative_gradient_.resize(num_effective_parameters_);
+  projected_gradient_step_.resize(num_parameters_);
+
+  // By default scaling is one, if the user requests Jacobi scaling of
+  // the Jacobian, we will compute and overwrite this vector.
+  jacobian_scaling_ = Vector::Ones(num_effective_parameters_);
+
+  x_norm_ = -1;  // Invalid value
+  x_cost_ = std::numeric_limits<double>::max();
+  minimum_cost_ = x_cost_;
+  model_cost_change_ = 0.0;
+}
+
+// 1. Project the initial solution onto the feasible set if needed.
+// 2. Compute the initial cost, jacobian & gradient.
+//
+// Return true if all computations can be performed successfully.
+bool TrustRegionMinimizer::IterationZero() {
+  iteration_summary_ = IterationSummary();
+  iteration_summary_.iteration = 0;
+  iteration_summary_.step_is_valid = false;
+  iteration_summary_.step_is_successful = false;
+  iteration_summary_.cost_change = 0.0;
+  iteration_summary_.gradient_max_norm = 0.0;
+  iteration_summary_.gradient_norm = 0.0;
+  iteration_summary_.step_norm = 0.0;
+  iteration_summary_.relative_decrease = 0.0;
+  iteration_summary_.eta = options_.eta;
+  iteration_summary_.linear_solver_iterations = 0;
+  iteration_summary_.step_solver_time_in_seconds = 0;
+
+  if (options_.is_constrained) {
+    delta_.setZero();
+    if (!evaluator_->Plus(x_.data(), delta_.data(), candidate_x_.data())) {
+      solver_summary_->message =
+          "Unable to project initial point onto the feasible set.";
+      solver_summary_->termination_type = FAILURE;
+      return false;
+    }
+
+    x_ = candidate_x_;
+    x_norm_ = x_.norm();
+  }
+
+  if (!EvaluateGradientAndJacobian()) {
+    return false;
+  }
+
+  solver_summary_->initial_cost = x_cost_ + solver_summary_->fixed_cost;
+  iteration_summary_.step_is_valid = true;
+  iteration_summary_.step_is_successful = true;
+  return true;
+}
+
+// For the current x_, compute
+//
+//  1. Cost
+//  2. Jacobian
+//  3. Gradient
+//  4. Scale the Jacobian if needed (and compute the scaling if we are
+//     in iteration zero).
+//  5. Compute the 2 and max norm of the gradient.
+//
+// Returns true if all computations could be performed
+// successfully. Any failures are considered fatal and the
+// Solver::Summary is updated to indicate this.
+bool TrustRegionMinimizer::EvaluateGradientAndJacobian() {
+  if (!evaluator_->Evaluate(x_.data(),
+                            &x_cost_,
+                            residuals_.data(),
+                            gradient_.data(),
+                            jacobian_)) {
+    solver_summary_->message = "Residual and Jacobian evaluation failed.";
+    solver_summary_->termination_type = FAILURE;
+    return false;
+  }
+
+  iteration_summary_.cost = x_cost_ + solver_summary_->fixed_cost;
+
+  if (options_.jacobi_scaling) {
+    if (iteration_summary_.iteration == 0) {
+      // Compute a scaling vector that is used to improve the
+      // conditioning of the Jacobian.
+      //
+      // jacobian_scaling_ = diag(J'J)^{-1}
+      jacobian_->SquaredColumnNorm(jacobian_scaling_.data());
+      for (int i = 0; i < jacobian_->num_cols(); ++i) {
+        // Add one to the denominator to prevent division by zero.
+        jacobian_scaling_[i] = 1.0 / (1.0 + sqrt(jacobian_scaling_[i]));
+      }
+    }
+
+    // jacobian = jacobian * diag(J'J) ^{-1}
+    jacobian_->ScaleColumns(jacobian_scaling_.data());
+  }
+
+  // The gradient exists in the local tangent space. To account for
+  // the bounds constraints correctly, instead of just computing the
+  // norm of the gradient vector, we compute
+  //
+  // |Plus(x, -gradient) - x|
+  //
+  // Where the Plus operator lifts the negative gradient to the
+  // ambient space, adds it to x and projects it on the hypercube
+  // defined by the bounds.
+  negative_gradient_ = -gradient_;
+  if (!evaluator_->Plus(x_.data(),
+                        negative_gradient_.data(),
+                        projected_gradient_step_.data())) {
+    solver_summary_->message =
+        "projected_gradient_step = Plus(x, -gradient) failed.";
+    solver_summary_->termination_type = FAILURE;
+    return false;
+  }
+
+  iteration_summary_.gradient_max_norm =
+      (x_ - projected_gradient_step_).lpNorm<Eigen::Infinity>();
+  iteration_summary_.gradient_norm = (x_ - projected_gradient_step_).norm();
+  return true;
+}
+
+// 1. Add the final timing information to the iteration summary.
+// 2. Run the callbacks
+// 3. Check for termination based on
+//    a. Run time
+//    b. Iteration count
+//    c. Max norm of the gradient
+//    d. Size of the trust region radius.
+//
+// Returns true if user did not terminate the solver and none of these
+// termination criterion are met.
+bool TrustRegionMinimizer::FinalizeIterationAndCheckIfMinimizerCanContinue() {
+  if (iteration_summary_.step_is_successful) {
+    ++solver_summary_->num_successful_steps;
+    if (x_cost_ < minimum_cost_) {
+      minimum_cost_ = x_cost_;
+      VectorRef(parameters_, num_parameters_) = x_;
+      iteration_summary_.step_is_nonmonotonic = false;
+    } else {
+      iteration_summary_.step_is_nonmonotonic = true;
+    }
+  } else {
+    ++solver_summary_->num_unsuccessful_steps;
+  }
+
+  iteration_summary_.trust_region_radius = strategy_->Radius();
+  iteration_summary_.iteration_time_in_seconds =
+      WallTimeInSeconds() - iteration_start_time_in_secs_;
+  iteration_summary_.cumulative_time_in_seconds =
+      WallTimeInSeconds() - start_time_in_secs_ +
+      solver_summary_->preprocessor_time_in_seconds;
+
+  solver_summary_->iterations.push_back(iteration_summary_);
+
+  if (!RunCallbacks(options_, iteration_summary_, solver_summary_)) {
+    return false;
+  }
+
+  if (MaxSolverTimeReached()) {
+    return false;
+  }
+
+  if (MaxSolverIterationsReached()) {
+    return false;
+  }
+
+  if (GradientToleranceReached()) {
+    return false;
+  }
+
+  if (MinTrustRegionRadiusReached()) {
+    return false;
+  }
+
+  return true;
+}
+
+// Compute the trust region step using the TrustRegionStrategy chosen
+// by the user.
+//
+// If the strategy returns with LINEAR_SOLVER_FATAL_ERROR, which
+// indicates an unrecoverable error, return false. This is the only
+// condition that returns false.
+//
+// If the strategy returns with LINEAR_SOLVER_FAILURE, which indicates
+// a numerical failure that could be recovered from by retrying
+// (e.g. by increasing the strength of the regularization), we set
+// iteration_summary_.step_is_valid to false and return true.
+//
+// In all other cases, we compute the decrease in the trust region
+// model problem. In exact arithmetic, this should always be
+// positive, but due to numerical problems in the TrustRegionStrategy
+// or round off error when computing the decrease it may be
+// negative. In which case again, we set
+// iteration_summary_.step_is_valid to false.
+bool TrustRegionMinimizer::ComputeTrustRegionStep() {
+  const double strategy_start_time = WallTimeInSeconds();
+  iteration_summary_.step_is_valid = false;
+  TrustRegionStrategy::PerSolveOptions per_solve_options;
+  per_solve_options.eta = options_.eta;
+  if (find(options_.trust_region_minimizer_iterations_to_dump.begin(),
+           options_.trust_region_minimizer_iterations_to_dump.end(),
+           iteration_summary_.iteration) !=
+      options_.trust_region_minimizer_iterations_to_dump.end()) {
+    per_solve_options.dump_format_type =
+        options_.trust_region_problem_dump_format_type;
+    per_solve_options.dump_filename_base =
+        JoinPath(options_.trust_region_problem_dump_directory,
+                 StringPrintf("ceres_solver_iteration_%03d",
+                              iteration_summary_.iteration));
+  }
+
+  TrustRegionStrategy::Summary strategy_summary =
+      strategy_->ComputeStep(per_solve_options,
+                             jacobian_,
+                             residuals_.data(),
+                             trust_region_step_.data());
+
+  if (strategy_summary.termination_type == LINEAR_SOLVER_FATAL_ERROR) {
+    solver_summary_->message =
+        "Linear solver failed due to unrecoverable "
+        "non-numeric causes. Please see the error log for clues. ";
+    solver_summary_->termination_type = FAILURE;
+    return false;
+  }
+
+  iteration_summary_.step_solver_time_in_seconds =
+      WallTimeInSeconds() - strategy_start_time;
+  iteration_summary_.linear_solver_iterations = strategy_summary.num_iterations;
+
+  if (strategy_summary.termination_type == LINEAR_SOLVER_FAILURE) {
+    return true;
+  }
+
+  // new_model_cost
+  //  = 1/2 [f + J * step]^2
+  //  = 1/2 [ f'f + 2f'J * step + step' * J' * J * step ]
+  // model_cost_change
+  //  = cost - new_model_cost
+  //  = f'f/2  - 1/2 [ f'f + 2f'J * step + step' * J' * J * step]
+  //  = -f'J * step - step' * J' * J * step / 2
+  //  = -(J * step)'(f + J * step / 2)
+  model_residuals_.setZero();
+  jacobian_->RightMultiply(trust_region_step_.data(), model_residuals_.data());
+  model_cost_change_ =
+      -model_residuals_.dot(residuals_ + model_residuals_ / 2.0);
+
+  // TODO(sameeragarwal)
+  //
+  //  1. What happens if model_cost_change_ = 0
+  //  2. What happens if -epsilon <= model_cost_change_ < 0 for some
+  //     small epsilon due to round off error.
+  iteration_summary_.step_is_valid = (model_cost_change_ > 0.0);
+  if (iteration_summary_.step_is_valid) {
+    // Undo the Jacobian column scaling.
+    delta_ = (trust_region_step_.array() * jacobian_scaling_.array()).matrix();
+    num_consecutive_invalid_steps_ = 0;
+  }
+
+  VLOG_IF(1, is_not_silent_ && !iteration_summary_.step_is_valid)
+      << "Invalid step: current_cost: " << x_cost_
+      << " absolute model cost change: " << model_cost_change_
+      << " relative model cost change: " << (model_cost_change_ / x_cost_);
+  return true;
+}
+
+// Invalid steps can happen due to a number of reasons, and we allow a
+// limited number of consecutive failures, and return false if this
+// limit is exceeded.
+bool TrustRegionMinimizer::HandleInvalidStep() {
+  // TODO(sameeragarwal): Should we be returning FAILURE or
+  // NO_CONVERGENCE? The solution value is still usable in many cases,
+  // it is not clear if we should declare the solver a failure
+  // entirely. For example the case where model_cost_change ~ 0.0, but
+  // just slightly negative.
+  if (++num_consecutive_invalid_steps_ >=
+      options_.max_num_consecutive_invalid_steps) {
+    solver_summary_->message = StringPrintf(
+        "Number of consecutive invalid steps more "
+        "than Solver::Options::max_num_consecutive_invalid_steps: %d",
+        options_.max_num_consecutive_invalid_steps);
+    solver_summary_->termination_type = FAILURE;
+    return false;
+  }
+
+  strategy_->StepIsInvalid();
+
+  // We are going to try and reduce the trust region radius and
+  // solve again. To do this, we are going to treat this iteration
+  // as an unsuccessful iteration. Since the various callbacks are
+  // still executed, we are going to fill the iteration summary
+  // with data that assumes a step of length zero and no progress.
+  iteration_summary_.cost = x_cost_ + solver_summary_->fixed_cost;
+  iteration_summary_.cost_change = 0.0;
+  iteration_summary_.gradient_max_norm =
+      solver_summary_->iterations.back().gradient_max_norm;
+  iteration_summary_.gradient_norm =
+      solver_summary_->iterations.back().gradient_norm;
+  iteration_summary_.step_norm = 0.0;
+  iteration_summary_.relative_decrease = 0.0;
+  iteration_summary_.eta = options_.eta;
+  return true;
+}
+
+// Use the supplied coordinate descent minimizer to perform inner
+// iterations and compute the improvement due to it. Returns the cost
+// after performing the inner iterations.
+//
+// The optimization is performed with candidate_x_ as the starting
+// point, and if the optimization is successful, candidate_x_ will be
+// updated with the optimized parameters.
+void TrustRegionMinimizer::DoInnerIterationsIfNeeded() {
+  inner_iterations_were_useful_ = false;
+  if (!inner_iterations_are_enabled_ ||
+      candidate_cost_ >= std::numeric_limits<double>::max()) {
+    return;
+  }
+
+  double inner_iteration_start_time = WallTimeInSeconds();
+  ++solver_summary_->num_inner_iteration_steps;
+  inner_iteration_x_ = candidate_x_;
+  Solver::Summary inner_iteration_summary;
+  options_.inner_iteration_minimizer->Minimize(
+      options_, inner_iteration_x_.data(), &inner_iteration_summary);
+  double inner_iteration_cost;
+  if (!evaluator_->Evaluate(
+          inner_iteration_x_.data(), &inner_iteration_cost, NULL, NULL, NULL)) {
+    VLOG_IF(2, is_not_silent_) << "Inner iteration failed.";
+    return;
+  }
+
+  VLOG_IF(2, is_not_silent_)
+      << "Inner iteration succeeded; Current cost: " << x_cost_
+      << " Trust region step cost: " << candidate_cost_
+      << " Inner iteration cost: " << inner_iteration_cost;
+
+  candidate_x_ = inner_iteration_x_;
+
+  // Normally, the quality of a trust region step is measured by
+  // the ratio
+  //
+  //              cost_change
+  //    r =    -----------------
+  //           model_cost_change
+  //
+  // All the change in the nonlinear objective is due to the trust
+  // region step so this ratio is a good measure of the quality of
+  // the trust region radius. However, when inner iterations are
+  // being used, cost_change includes the contribution of the
+  // inner iterations and its not fair to credit it all to the
+  // trust region algorithm. So we change the ratio to be
+  //
+  //                              cost_change
+  //    r =    ------------------------------------------------
+  //           (model_cost_change + inner_iteration_cost_change)
+  //
+  // Practically we do this by increasing model_cost_change by
+  // inner_iteration_cost_change.
+
+  const double inner_iteration_cost_change =
+      candidate_cost_ - inner_iteration_cost;
+  model_cost_change_ += inner_iteration_cost_change;
+  inner_iterations_were_useful_ = inner_iteration_cost < x_cost_;
+  const double inner_iteration_relative_progress =
+      1.0 - inner_iteration_cost / candidate_cost_;
+
+  // Disable inner iterations once the relative improvement
+  // drops below tolerance.
+  inner_iterations_are_enabled_ =
+      (inner_iteration_relative_progress > options_.inner_iteration_tolerance);
+  VLOG_IF(2, is_not_silent_ && !inner_iterations_are_enabled_)
+      << "Disabling inner iterations. Progress : "
+      << inner_iteration_relative_progress;
+  candidate_cost_ = inner_iteration_cost;
+
+  solver_summary_->inner_iteration_time_in_seconds +=
+      WallTimeInSeconds() - inner_iteration_start_time;
+}
+
+// Perform a projected line search to improve the objective function
+// value along delta.
+//
+// TODO(sameeragarwal): The current implementation does not do
+// anything illegal but is incorrect and not terribly effective.
+//
+// https://github.com/ceres-solver/ceres-solver/issues/187
+void TrustRegionMinimizer::DoLineSearch(const Vector& x,
+                                        const Vector& gradient,
+                                        const double cost,
+                                        Vector* delta) {
+  LineSearchFunction line_search_function(evaluator_);
+
+  LineSearch::Options line_search_options;
+  line_search_options.is_silent = true;
+  line_search_options.interpolation_type =
+      options_.line_search_interpolation_type;
+  line_search_options.min_step_size = options_.min_line_search_step_size;
+  line_search_options.sufficient_decrease =
+      options_.line_search_sufficient_function_decrease;
+  line_search_options.max_step_contraction =
+      options_.max_line_search_step_contraction;
+  line_search_options.min_step_contraction =
+      options_.min_line_search_step_contraction;
+  line_search_options.max_num_iterations =
+      options_.max_num_line_search_step_size_iterations;
+  line_search_options.sufficient_curvature_decrease =
+      options_.line_search_sufficient_curvature_decrease;
+  line_search_options.max_step_expansion =
+      options_.max_line_search_step_expansion;
+  line_search_options.function = &line_search_function;
+
+  std::string message;
+  scoped_ptr<LineSearch> line_search(CHECK_NOTNULL(
+      LineSearch::Create(ceres::ARMIJO, line_search_options, &message)));
+  LineSearch::Summary line_search_summary;
+  line_search_function.Init(x, *delta);
+  line_search->Search(1.0, cost, gradient.dot(*delta), &line_search_summary);
+
+  solver_summary_->num_line_search_steps += line_search_summary.num_iterations;
+  solver_summary_->line_search_cost_evaluation_time_in_seconds +=
+      line_search_summary.cost_evaluation_time_in_seconds;
+  solver_summary_->line_search_gradient_evaluation_time_in_seconds +=
+      line_search_summary.gradient_evaluation_time_in_seconds;
+  solver_summary_->line_search_polynomial_minimization_time_in_seconds +=
+      line_search_summary.polynomial_minimization_time_in_seconds;
+  solver_summary_->line_search_total_time_in_seconds +=
+      line_search_summary.total_time_in_seconds;
+
+  if (line_search_summary.success) {
+    *delta *= line_search_summary.optimal_point.x;
+  }
+}
+
+// Check if the maximum amount of time allowed by the user for the
+// solver has been exceeded, and if so return false after updating
+// Solver::Summary::message.
+bool TrustRegionMinimizer::MaxSolverTimeReached() {
+  const double total_solver_time =
+      WallTimeInSeconds() - start_time_in_secs_ +
+      solver_summary_->preprocessor_time_in_seconds;
+  if (total_solver_time < options_.max_solver_time_in_seconds) {
+    return false;
+  }
+
+  solver_summary_->message = StringPrintf("Maximum solver time reached. "
+                                          "Total solver time: %e >= %e.",
+                                          total_solver_time,
+                                          options_.max_solver_time_in_seconds);
+  solver_summary_->termination_type = NO_CONVERGENCE;
+  VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+  return true;
+}
+
+// Check if the maximum number of iterations allowed by the user for
+// the solver has been exceeded, and if so return false after updating
+// Solver::Summary::message.
+bool TrustRegionMinimizer::MaxSolverIterationsReached() {
+  if (iteration_summary_.iteration < options_.max_num_iterations) {
+    return false;
+  }
+
+  solver_summary_->message =
+      StringPrintf("Maximum number of iterations reached. "
+                   "Number of iterations: %d.",
+                   iteration_summary_.iteration);
+
+  solver_summary_->termination_type = NO_CONVERGENCE;
+  VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+  return true;
+}
+
+// Check convergence based on the max norm of the gradient (only for
+// iterations where the step was declared successful).
+bool TrustRegionMinimizer::GradientToleranceReached() {
+  if (!iteration_summary_.step_is_successful ||
+      iteration_summary_.gradient_max_norm > options_.gradient_tolerance) {
+    return false;
+  }
+
+  solver_summary_->message = StringPrintf(
+      "Gradient tolerance reached. "
+      "Gradient max norm: %e <= %e",
+      iteration_summary_.gradient_max_norm,
+      options_.gradient_tolerance);
+  solver_summary_->termination_type = CONVERGENCE;
+  VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+  return true;
+}
+
+// Check convergence based the size of the trust region radius.
+bool TrustRegionMinimizer::MinTrustRegionRadiusReached() {
+  if (iteration_summary_.trust_region_radius >
+      options_.min_trust_region_radius) {
+    return false;
+  }
+
+  solver_summary_->message =
+      StringPrintf("Minimum trust region radius reached. "
+                   "Trust region radius: %e <= %e",
+                   iteration_summary_.trust_region_radius,
+                   options_.min_trust_region_radius);
+  solver_summary_->termination_type = CONVERGENCE;
+  VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+  return true;
+}
+
+// Solver::Options::parameter_tolerance based convergence check.
+bool TrustRegionMinimizer::ParameterToleranceReached() {
+  // Compute the norm of the step in the ambient space.
+  iteration_summary_.step_norm = (x_ - candidate_x_).norm();
+  const double step_size_tolerance =
+      options_.parameter_tolerance * (x_norm_ + options_.parameter_tolerance);
+
+  if (iteration_summary_.step_norm > step_size_tolerance) {
+    return false;
+  }
+
+  solver_summary_->message = StringPrintf(
+      "Parameter tolerance reached. "
+      "Relative step_norm: %e <= %e.",
+      (iteration_summary_.step_norm / (x_norm_ + options_.parameter_tolerance)),
+      options_.parameter_tolerance);
+  solver_summary_->termination_type = CONVERGENCE;
+  VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+  return true;
+}
+
+// Solver::Options::function_tolerance based convergence check.
+bool TrustRegionMinimizer::FunctionToleranceReached() {
+  iteration_summary_.cost_change = x_cost_ - candidate_cost_;
+  const double absolute_function_tolerance =
+      options_.function_tolerance * x_cost_;
+
+  if (fabs(iteration_summary_.cost_change) > absolute_function_tolerance) {
+    return false;
+  }
+
+  solver_summary_->message = StringPrintf(
+      "Function tolerance reached. "
+      "|cost_change|/cost: %e <= %e",
+      fabs(iteration_summary_.cost_change) / x_cost_,
+      options_.function_tolerance);
+  solver_summary_->termination_type = CONVERGENCE;
+  VLOG_IF(1, is_not_silent_) << "Terminating: " << solver_summary_->message;
+  return true;
+}
+
+// Compute candidate_x_ = Plus(x_, delta_)
+// Evaluate the cost of candidate_x_ as candidate_cost_.
+//
+// Failure to compute the step or the cost mean that candidate_cost_
+// is set to std::numeric_limits<double>::max(). Unlike
+// EvaluateGradientAndJacobian, failure in this function is not fatal
+// as we are only computing and evaluating a candidate point, and if
+// for some reason we are unable to evaluate it, we consider it to be
+// a point with very high cost. This allows the user to deal with edge
+// cases/constraints as part of the LocalParameterization and
+// CostFunction objects.
+void TrustRegionMinimizer::ComputeCandidatePointAndEvaluateCost() {
+  if (!evaluator_->Plus(x_.data(), delta_.data(), candidate_x_.data())) {
+    LOG_IF(WARNING, is_not_silent_)
+        << "x_plus_delta = Plus(x, delta) failed. "
+        << "Treating it as a step with infinite cost";
+    candidate_cost_ = std::numeric_limits<double>::max();
+    return;
+  }
+
+  if (!evaluator_->Evaluate(
+          candidate_x_.data(), &candidate_cost_, NULL, NULL, NULL)) {
+    LOG_IF(WARNING, is_not_silent_)
+        << "Step failed to evaluate. "
+        << "Treating it as a step with infinite cost";
+    candidate_cost_ = std::numeric_limits<double>::max();
+  }
+}
+
+bool TrustRegionMinimizer::IsStepSuccessful() {
+  iteration_summary_.relative_decrease =
+      step_evaluator_->StepQuality(candidate_cost_, model_cost_change_);
+
+  // In most cases, boosting the model_cost_change by the
+  // improvement caused by the inner iterations is fine, but it can
+  // be the case that the original trust region step was so bad that
+  // the resulting improvement in the cost was negative, and the
+  // change caused by the inner iterations was large enough to
+  // improve the step, but also to make relative decrease quite
+  // small.
+  //
+  // This can cause the trust region loop to reject this step. To
+  // get around this, we expicitly check if the inner iterations
+  // led to a net decrease in the objective function value. If
+  // they did, we accept the step even if the trust region ratio
+  // is small.
+  //
+  // Notice that we do not just check that cost_change is positive
+  // which is a weaker condition and would render the
+  // min_relative_decrease threshold useless. Instead, we keep
+  // track of inner_iterations_were_useful, which is true only
+  // when inner iterations lead to a net decrease in the cost.
+  return (inner_iterations_were_useful_ ||
+          iteration_summary_.relative_decrease >
+              options_.min_relative_decrease);
+}
+
+// Declare the step successful, move to candidate_x, update the
+// derivatives and let the trust region strategy and the step
+// evaluator know that the step has been accepted.
+bool TrustRegionMinimizer::HandleSuccessfulStep() {
+  x_ = candidate_x_;
+  x_norm_ = x_.norm();
+
+  if (!EvaluateGradientAndJacobian()) {
+    return false;
+  }
+
+  iteration_summary_.step_is_successful = true;
+  strategy_->StepAccepted(iteration_summary_.relative_decrease);
+  step_evaluator_->StepAccepted(candidate_cost_, model_cost_change_);
+  return true;
+}
+
+// Declare the step unsuccessful and inform the trust region strategy.
+void TrustRegionMinimizer::HandleUnsuccessfulStep() {
+  iteration_summary_.step_is_successful = false;
+  strategy_->StepRejected(iteration_summary_.relative_decrease);
+  iteration_summary_.cost = candidate_cost_ + solver_summary_->fixed_cost;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/trust_region_minimizer.h b/internal/ceres/trust_region_minimizer.h
new file mode 100644
index 0000000..43141da
--- /dev/null
+++ b/internal/ceres/trust_region_minimizer.h
@@ -0,0 +1,166 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
+#define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
+
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_step_evaluator.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// Generic trust region minimization algorithm.
+//
+// For example usage, see SolverImpl::Minimize.
+class TrustRegionMinimizer : public Minimizer {
+ public:
+  ~TrustRegionMinimizer();
+
+  // This method is not thread safe.
+  virtual void Minimize(const Minimizer::Options& options,
+                        double* parameters,
+                        Solver::Summary* solver_summary);
+
+ private:
+  void Init(const Minimizer::Options& options,
+            double* parameters,
+            Solver::Summary* solver_summary);
+  bool IterationZero();
+  bool FinalizeIterationAndCheckIfMinimizerCanContinue();
+  bool ComputeTrustRegionStep();
+
+  bool EvaluateGradientAndJacobian();
+  void ComputeCandidatePointAndEvaluateCost();
+
+  void DoLineSearch(const Vector& x,
+                    const Vector& gradient,
+                    const double cost,
+                    Vector* delta);
+  void DoInnerIterationsIfNeeded();
+
+  bool ParameterToleranceReached();
+  bool FunctionToleranceReached();
+  bool GradientToleranceReached();
+  bool MaxSolverTimeReached();
+  bool MaxSolverIterationsReached();
+  bool MinTrustRegionRadiusReached();
+
+  bool IsStepSuccessful();
+  void HandleUnsuccessfulStep();
+  bool HandleSuccessfulStep();
+  bool HandleInvalidStep();
+
+  Minimizer::Options options_;
+
+  // These pointers are shortcuts to objects passed to the
+  // TrustRegionMinimizer. The TrustRegionMinimizer does not own them.
+  double* parameters_;
+  Solver::Summary* solver_summary_;
+  Evaluator* evaluator_;
+  SparseMatrix* jacobian_;
+  TrustRegionStrategy* strategy_;
+
+  scoped_ptr<TrustRegionStepEvaluator> step_evaluator_;
+
+  bool is_not_silent_;
+  bool inner_iterations_are_enabled_;
+  bool inner_iterations_were_useful_;
+
+  // Summary of the current iteration.
+  IterationSummary iteration_summary_;
+
+  // Dimensionality of the problem in the ambient space.
+  int num_parameters_;
+  // Dimensionality of the problem in the tangent space. This is the
+  // number of columns in the Jacobian.
+  int num_effective_parameters_;
+  // Length of the residual vector, also the number of rows in the Jacobian.
+  int num_residuals_;
+
+  // Current point.
+  Vector x_;
+  // Residuals at x_;
+  Vector residuals_;
+  // Gradient at x_.
+  Vector gradient_;
+  // Solution computed by the inner iterations.
+  Vector inner_iteration_x_;
+  // model_residuals = J * trust_region_step
+  Vector model_residuals_;
+  Vector negative_gradient_;
+  // projected_gradient_step = Plus(x, -gradient), an intermediate
+  // quantity used to compute the projected gradient norm.
+  Vector projected_gradient_step_;
+  // The step computed by the trust region strategy. If Jacobi scaling
+  // is enabled, this is a vector in the scaled space.
+  Vector trust_region_step_;
+  // The current proposal for how far the trust region algorithm
+  // thinks we should move. In the most basic case, it is just the
+  // trust_region_step_ with the Jacobi scaling undone. If bounds
+  // constraints are present, then it is the result of the projected
+  // line search.
+  Vector delta_;
+  // candidate_x  = Plus(x, delta)
+  Vector candidate_x_;
+  // Scaling vector to scale the columns of the Jacobian.
+  Vector jacobian_scaling_;
+
+  // Euclidean norm of x_.
+  double x_norm_;
+  // Cost at x_.
+  double x_cost_;
+  // Minimum cost encountered up till now.
+  double minimum_cost_;
+  // How much did the trust region strategy reduce the cost of the
+  // linearized Gauss-Newton model.
+  double model_cost_change_;
+  // Cost at candidate_x_.
+  double candidate_cost_;
+
+  // Time at which the minimizer was started.
+  double start_time_in_secs_;
+  // Time at which the current iteration was started.
+  double iteration_start_time_in_secs_;
+  // Number of consecutive steps where the minimizer loop computed a
+  // numerically invalid step.
+  int num_consecutive_invalid_steps_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
diff --git a/internal/ceres/trust_region_minimizer_test.cc b/internal/ceres/trust_region_minimizer_test.cc
new file mode 100644
index 0000000..0c4ea29
--- /dev/null
+++ b/internal/ceres/trust_region_minimizer_test.cc
@@ -0,0 +1,425 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// This tests the TrustRegionMinimizer loop using a direct Evaluator
+// implementation, rather than having a test that goes through all the
+// Program and Problem machinery.
+
+#include <cmath>
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/cost_function.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/trust_region_strategy.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Templated Evaluator for Powell's function. The template parameters
+// indicate which of the four variables/columns of the jacobian are
+// active. This is equivalent to constructing a problem and using the
+// SubsetLocalParameterization. This allows us to test the support for
+// the Evaluator::Plus operation besides checking for the basic
+// performance of the trust region algorithm.
+template <bool col1, bool col2, bool col3, bool col4>
+class PowellEvaluator2 : public Evaluator {
+ public:
+  PowellEvaluator2()
+      : num_active_cols_(
+          (col1 ? 1 : 0) +
+          (col2 ? 1 : 0) +
+          (col3 ? 1 : 0) +
+          (col4 ? 1 : 0)) {
+    VLOG(1) << "Columns: "
+            << col1 << " "
+            << col2 << " "
+            << col3 << " "
+            << col4;
+  }
+
+  virtual ~PowellEvaluator2() {}
+
+  // Implementation of Evaluator interface.
+  virtual SparseMatrix* CreateJacobian() const {
+    CHECK(col1 || col2 || col3 || col4);
+    DenseSparseMatrix* dense_jacobian =
+        new DenseSparseMatrix(NumResiduals(), NumEffectiveParameters());
+    dense_jacobian->SetZero();
+    return dense_jacobian;
+  }
+
+  virtual bool Evaluate(const Evaluator::EvaluateOptions& evaluate_options,
+                        const double* state,
+                        double* cost,
+                        double* residuals,
+                        double* gradient,
+                        SparseMatrix* jacobian) {
+    const double x1 = state[0];
+    const double x2 = state[1];
+    const double x3 = state[2];
+    const double x4 = state[3];
+
+    VLOG(1) << "State: "
+            << "x1=" << x1 << ", "
+            << "x2=" << x2 << ", "
+            << "x3=" << x3 << ", "
+            << "x4=" << x4 << ".";
+
+    const double f1 = x1 + 10.0 * x2;
+    const double f2 = sqrt(5.0) * (x3 - x4);
+    const double f3 = pow(x2 - 2.0 * x3, 2.0);
+    const double f4 = sqrt(10.0) * pow(x1 - x4, 2.0);
+
+    VLOG(1) << "Function: "
+            << "f1=" << f1 << ", "
+            << "f2=" << f2 << ", "
+            << "f3=" << f3 << ", "
+            << "f4=" << f4 << ".";
+
+    *cost = (f1*f1 + f2*f2 + f3*f3 + f4*f4) / 2.0;
+
+    VLOG(1) << "Cost: " << *cost;
+
+    if (residuals != NULL) {
+      residuals[0] = f1;
+      residuals[1] = f2;
+      residuals[2] = f3;
+      residuals[3] = f4;
+    }
+
+    if (jacobian != NULL) {
+      DenseSparseMatrix* dense_jacobian;
+      dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
+      dense_jacobian->SetZero();
+
+      ColMajorMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
+      CHECK_EQ(jacobian_matrix.cols(), num_active_cols_);
+
+      int column_index = 0;
+      if (col1) {
+        jacobian_matrix.col(column_index++) <<
+            1.0,
+            0.0,
+            0.0,
+            sqrt(10.0) * 2.0 * (x1 - x4) * (1.0 - x4);
+      }
+      if (col2) {
+        jacobian_matrix.col(column_index++) <<
+            10.0,
+            0.0,
+            2.0*(x2 - 2.0*x3)*(1.0 - 2.0*x3),
+            0.0;
+      }
+
+      if (col3) {
+        jacobian_matrix.col(column_index++) <<
+            0.0,
+            sqrt(5.0),
+            2.0*(x2 - 2.0*x3)*(x2 - 2.0),
+            0.0;
+      }
+
+      if (col4) {
+        jacobian_matrix.col(column_index++) <<
+            0.0,
+            -sqrt(5.0),
+            0.0,
+            sqrt(10.0) * 2.0 * (x1 - x4) * (x1 - 1.0);
+      }
+      VLOG(1) << "\n" << jacobian_matrix;
+    }
+
+    if (gradient != NULL) {
+      int column_index = 0;
+      if (col1) {
+        gradient[column_index++] = f1  + f4 * sqrt(10.0) * 2.0 * (x1 - x4);
+      }
+
+      if (col2) {
+        gradient[column_index++] = f1 * 10.0 + f3 * 2.0 * (x2 - 2.0 * x3);
+      }
+
+      if (col3) {
+        gradient[column_index++] =
+            f2 * sqrt(5.0) + f3 * (2.0 * 2.0 * (2.0 * x3 - x2));
+      }
+
+      if (col4) {
+        gradient[column_index++] =
+            -f2 * sqrt(5.0) + f4 * sqrt(10.0) * 2.0 * (x4 - x1);
+      }
+    }
+
+    return true;
+  }
+
+  virtual bool Plus(const double* state,
+                    const double* delta,
+                    double* state_plus_delta) const {
+    int delta_index = 0;
+    state_plus_delta[0] = (col1  ? state[0] + delta[delta_index++] : state[0]);
+    state_plus_delta[1] = (col2  ? state[1] + delta[delta_index++] : state[1]);
+    state_plus_delta[2] = (col3  ? state[2] + delta[delta_index++] : state[2]);
+    state_plus_delta[3] = (col4  ? state[3] + delta[delta_index++] : state[3]);
+    return true;
+  }
+
+  virtual int NumEffectiveParameters() const { return num_active_cols_; }
+  virtual int NumParameters()          const { return 4; }
+  virtual int NumResiduals()           const { return 4; }
+
+ private:
+  const int num_active_cols_;
+};
+
+// Templated function to hold a subset of the columns fixed and check
+// if the solver converges to the optimal values or not.
+template<bool col1, bool col2, bool col3, bool col4>
+void IsTrustRegionSolveSuccessful(TrustRegionStrategyType strategy_type) {
+  Solver::Options solver_options;
+  LinearSolver::Options linear_solver_options;
+  DenseQRSolver linear_solver(linear_solver_options);
+
+  double parameters[4] = { 3, -1, 0, 1.0 };
+
+  // If the column is inactive, then set its value to the optimal
+  // value.
+  parameters[0] = (col1 ? parameters[0] : 0.0);
+  parameters[1] = (col2 ? parameters[1] : 0.0);
+  parameters[2] = (col3 ? parameters[2] : 0.0);
+  parameters[3] = (col4 ? parameters[3] : 0.0);
+
+  Minimizer::Options minimizer_options(solver_options);
+  minimizer_options.gradient_tolerance = 1e-26;
+  minimizer_options.function_tolerance = 1e-26;
+  minimizer_options.parameter_tolerance = 1e-26;
+  minimizer_options.evaluator.reset(
+      new PowellEvaluator2<col1, col2, col3, col4>);
+  minimizer_options.jacobian.reset(
+      minimizer_options.evaluator->CreateJacobian());
+
+  TrustRegionStrategy::Options trust_region_strategy_options;
+  trust_region_strategy_options.trust_region_strategy_type = strategy_type;
+  trust_region_strategy_options.linear_solver = &linear_solver;
+  trust_region_strategy_options.initial_radius = 1e4;
+  trust_region_strategy_options.max_radius = 1e20;
+  trust_region_strategy_options.min_lm_diagonal = 1e-6;
+  trust_region_strategy_options.max_lm_diagonal = 1e32;
+  minimizer_options.trust_region_strategy.reset(
+      TrustRegionStrategy::Create(trust_region_strategy_options));
+
+  TrustRegionMinimizer minimizer;
+  Solver::Summary summary;
+  minimizer.Minimize(minimizer_options, parameters, &summary);
+
+  // The minimum is at x1 = x2 = x3 = x4 = 0.
+  EXPECT_NEAR(0.0, parameters[0], 0.001);
+  EXPECT_NEAR(0.0, parameters[1], 0.001);
+  EXPECT_NEAR(0.0, parameters[2], 0.001);
+  EXPECT_NEAR(0.0, parameters[3], 0.001);
+}
+
+TEST(TrustRegionMinimizer, PowellsSingularFunctionUsingLevenbergMarquardt) {
+  // This case is excluded because this has a local minimum and does
+  // not find the optimum. This should not affect the correctness of
+  // this test since we are testing all the other 14 combinations of
+  // column activations.
+  //
+  //   IsSolveSuccessful<true, true, false, true>();
+
+  const TrustRegionStrategyType kStrategy = LEVENBERG_MARQUARDT;
+  IsTrustRegionSolveSuccessful<true,  true,  true,  true >(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  true,  true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, true,  true >(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  true,  true >(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  true,  false, false>(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, false, true >(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  false, true >(kStrategy);
+  IsTrustRegionSolveSuccessful<false, false, true,  true >(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, false, false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  false, false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, false, true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, false, false, true >(kStrategy);
+}
+
+TEST(TrustRegionMinimizer, PowellsSingularFunctionUsingDogleg) {
+  // The following two cases are excluded because they encounter a
+  // local minimum.
+  //
+  //  IsTrustRegionSolveSuccessful<true, true, false, true >(kStrategy);
+  //  IsTrustRegionSolveSuccessful<true,  true,  true,  true >(kStrategy);
+
+  const TrustRegionStrategyType kStrategy = DOGLEG;
+  IsTrustRegionSolveSuccessful<true,  true,  true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, true,  true >(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  true,  true >(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  true,  false, false>(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, false, true >(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  false, true >(kStrategy);
+  IsTrustRegionSolveSuccessful<false, false, true,  true >(kStrategy);
+  IsTrustRegionSolveSuccessful<true,  false, false, false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, true,  false, false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, false, true,  false>(kStrategy);
+  IsTrustRegionSolveSuccessful<false, false, false, true >(kStrategy);
+}
+
+
+class CurveCostFunction : public CostFunction {
+ public:
+  CurveCostFunction(int num_vertices, double target_length)
+      : num_vertices_(num_vertices), target_length_(target_length) {
+    set_num_residuals(1);
+    for (int i = 0; i < num_vertices_; ++i) {
+      mutable_parameter_block_sizes()->push_back(2);
+    }
+  }
+
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    residuals[0] = target_length_;
+
+    for (int i = 0; i < num_vertices_; ++i) {
+      int prev = (num_vertices_ + i - 1) % num_vertices_;
+      double length = 0.0;
+      for (int dim = 0; dim < 2; dim++) {
+        const double diff = parameters[prev][dim] - parameters[i][dim];
+        length += diff * diff;
+      }
+      residuals[0] -= sqrt(length);
+    }
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    for (int i = 0; i < num_vertices_; ++i) {
+      if (jacobians[i] != NULL) {
+        int prev = (num_vertices_ + i - 1) % num_vertices_;
+        int next = (i + 1) % num_vertices_;
+
+        double u[2], v[2];
+        double norm_u = 0., norm_v = 0.;
+        for (int dim = 0; dim < 2; dim++) {
+          u[dim] = parameters[i][dim] - parameters[prev][dim];
+          norm_u += u[dim] * u[dim];
+          v[dim] = parameters[next][dim] - parameters[i][dim];
+          norm_v += v[dim] * v[dim];
+        }
+
+        norm_u = sqrt(norm_u);
+        norm_v = sqrt(norm_v);
+
+        for (int dim = 0; dim < 2; dim++) {
+          jacobians[i][dim] = 0.;
+
+          if (norm_u > std::numeric_limits< double >::min()) {
+            jacobians[i][dim] -= u[dim] / norm_u;
+          }
+
+          if (norm_v > std::numeric_limits< double >::min()) {
+            jacobians[i][dim] += v[dim] / norm_v;
+          }
+        }
+      }
+    }
+
+    return true;
+  }
+
+ private:
+  int     num_vertices_;
+  double  target_length_;
+};
+
+TEST(TrustRegionMinimizer, JacobiScalingTest) {
+  int N = 6;
+  std::vector<double*> y(N);
+  const double pi = 3.1415926535897932384626433;
+  for (int i = 0; i < N; i++) {
+    double theta = i * 2. * pi/ static_cast< double >(N);
+    y[i] = new double[2];
+    y[i][0] = cos(theta);
+    y[i][1] = sin(theta);
+  }
+
+  Problem problem;
+  problem.AddResidualBlock(new CurveCostFunction(N, 10.), NULL, y);
+  Solver::Options options;
+  options.linear_solver_type = ceres::DENSE_QR;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_LE(summary.final_cost, 1e-10);
+
+  for (int i = 0; i < N; i++) {
+    delete []y[i];
+  }
+}
+
+struct ExpCostFunctor {
+  template <typename T>
+  bool operator()(const T* const x, T* residual) const {
+    residual[0] = T(10.0) - exp(x[0]);
+    return true;
+  }
+
+  static CostFunction* Create() {
+    return new AutoDiffCostFunction<ExpCostFunctor, 1, 1>(
+        new ExpCostFunctor);
+  }
+};
+
+TEST(TrustRegionMinimizer, GradientToleranceConvergenceUpdatesStep) {
+  double x = 5;
+  Problem problem;
+  problem.AddResidualBlock(ExpCostFunctor::Create(), NULL, &x);
+  problem.SetParameterLowerBound(&x, 0, 3.0);
+  Solver::Options options;
+  Solver::Summary summary;
+  Solve(options, &problem, &summary);
+  EXPECT_NEAR(3.0, x, 1e-12);
+  const double expected_final_cost = 0.5 * pow(10.0 - exp(3.0), 2);
+  EXPECT_NEAR(expected_final_cost, summary.final_cost, 1e-12);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/trust_region_preprocessor.cc b/internal/ceres/trust_region_preprocessor.cc
new file mode 100644
index 0000000..d3f912c
--- /dev/null
+++ b/internal/ceres/trust_region_preprocessor.cc
@@ -0,0 +1,375 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/trust_region_preprocessor.h"
+
+#include <numeric>
+#include <string>
+#include "ceres/callbacks.h"
+#include "ceres/evaluator.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/parameter_block.h"
+#include "ceres/preconditioner.h"
+#include "ceres/preprocessor.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/reorder_program.h"
+#include "ceres/suitesparse.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+
+using std::vector;
+
+namespace {
+
+ParameterBlockOrdering* CreateDefaultLinearSolverOrdering(
+    const Program& program) {
+  ParameterBlockOrdering* ordering = new ParameterBlockOrdering;
+  const vector<ParameterBlock*>& parameter_blocks =
+      program.parameter_blocks();
+  for (int i = 0; i < parameter_blocks.size(); ++i) {
+    ordering->AddElementToGroup(
+        const_cast<double*>(parameter_blocks[i]->user_state()), 0);
+  }
+  return ordering;
+}
+
+// Check if all the user supplied values in the parameter blocks are
+// sane or not, and if the program is feasible or not.
+bool IsProgramValid(const Program& program, std::string* error) {
+  return (program.ParameterBlocksAreFinite(error) &&
+          program.IsFeasible(error));
+}
+
+void AlternateLinearSolverAndPreconditionerForSchurTypeLinearSolver(
+    Solver::Options* options) {
+  if (!IsSchurType(options->linear_solver_type)) {
+    return;
+  }
+
+  const LinearSolverType linear_solver_type_given = options->linear_solver_type;
+  const PreconditionerType preconditioner_type_given =
+      options->preconditioner_type;
+  options->linear_solver_type = LinearSolver::LinearSolverForZeroEBlocks(
+      linear_solver_type_given);
+
+  std::string message;
+  if (linear_solver_type_given == ITERATIVE_SCHUR) {
+    options->preconditioner_type = Preconditioner::PreconditionerForZeroEBlocks(
+        preconditioner_type_given);
+
+    message =
+        StringPrintf(
+            "No E blocks. Switching from %s(%s) to %s(%s).",
+            LinearSolverTypeToString(linear_solver_type_given),
+            PreconditionerTypeToString(preconditioner_type_given),
+            LinearSolverTypeToString(options->linear_solver_type),
+            PreconditionerTypeToString(options->preconditioner_type));
+  } else {
+    message =
+        StringPrintf(
+            "No E blocks. Switching from %s to %s.",
+            LinearSolverTypeToString(linear_solver_type_given),
+            LinearSolverTypeToString(options->linear_solver_type));
+  }
+
+  VLOG_IF(1, options->logging_type != SILENT) << message;
+}
+
+// For Schur type and SPARSE_NORMAL_CHOLESKY linear solvers, reorder
+// the program to reduce fill-in and increase cache coherency.
+bool ReorderProgram(PreprocessedProblem* pp) {
+  Solver::Options& options = pp->options;
+  if (IsSchurType(options.linear_solver_type)) {
+    return ReorderProgramForSchurTypeLinearSolver(
+        options.linear_solver_type,
+        options.sparse_linear_algebra_library_type,
+        pp->problem->parameter_map(),
+        options.linear_solver_ordering.get(),
+        pp->reduced_program.get(),
+        &pp->error);
+  }
+
+
+  if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY &&
+      !options.dynamic_sparsity) {
+    return ReorderProgramForSparseNormalCholesky(
+        options.sparse_linear_algebra_library_type,
+        *options.linear_solver_ordering,
+        pp->reduced_program.get(),
+        &pp->error);
+  }
+
+  return true;
+}
+
+// Configure and create a linear solver object. In doing so, if a
+// sparse direct factorization based linear solver is being used, then
+// find a fill reducing ordering and reorder the program as needed
+// too.
+bool SetupLinearSolver(PreprocessedProblem* pp) {
+  Solver::Options& options = pp->options;
+  if (options.linear_solver_ordering.get() == NULL) {
+    // If the user has not supplied a linear solver ordering, then we
+    // assume that they are giving all the freedom to us in choosing
+    // the best possible ordering. This intent can be indicated by
+    // putting all the parameter blocks in the same elimination group.
+    options.linear_solver_ordering.reset(
+        CreateDefaultLinearSolverOrdering(*pp->reduced_program));
+  } else {
+    // If the user supplied an ordering, then check if the first
+    // elimination group is still non-empty after the reduced problem
+    // has been constructed.
+    //
+    // This is important for Schur type linear solvers, where the
+    // first elimination group is special -- it needs to be an
+    // independent set.
+    //
+    // If the first elimination group is empty, then we cannot use the
+    // user's requested linear solver (and a preconditioner as the
+    // case may be) so we must use a different one.
+    ParameterBlockOrdering* ordering = options.linear_solver_ordering.get();
+    const int min_group_id = ordering->MinNonZeroGroup();
+    ordering->Remove(pp->removed_parameter_blocks);
+    if (IsSchurType(options.linear_solver_type) &&
+        min_group_id != ordering->MinNonZeroGroup()) {
+      AlternateLinearSolverAndPreconditionerForSchurTypeLinearSolver(
+          &options);
+    }
+  }
+
+  // Reorder the program to reduce fill in and improve cache coherency
+  // of the Jacobian.
+  if (!ReorderProgram(pp)) {
+    return false;
+  }
+
+  // Configure the linear solver.
+  pp->linear_solver_options = LinearSolver::Options();
+  pp->linear_solver_options.min_num_iterations =
+      options.min_linear_solver_iterations;
+  pp->linear_solver_options.max_num_iterations =
+      options.max_linear_solver_iterations;
+  pp->linear_solver_options.type = options.linear_solver_type;
+  pp->linear_solver_options.preconditioner_type = options.preconditioner_type;
+  pp->linear_solver_options.visibility_clustering_type =
+      options.visibility_clustering_type;
+  pp->linear_solver_options.sparse_linear_algebra_library_type =
+      options.sparse_linear_algebra_library_type;
+  pp->linear_solver_options.dense_linear_algebra_library_type =
+      options.dense_linear_algebra_library_type;
+  pp->linear_solver_options.use_explicit_schur_complement =
+      options.use_explicit_schur_complement;
+  pp->linear_solver_options.dynamic_sparsity = options.dynamic_sparsity;
+  pp->linear_solver_options.num_threads = options.num_linear_solver_threads;
+  pp->linear_solver_options.use_postordering = options.use_postordering;
+
+  if (IsSchurType(pp->linear_solver_options.type)) {
+    OrderingToGroupSizes(options.linear_solver_ordering.get(),
+                         &pp->linear_solver_options.elimination_groups);
+
+    // Schur type solvers expect at least two elimination groups. If
+    // there is only one elimination group, then it is guaranteed that
+    // this group only contains e_blocks. Thus we add a dummy
+    // elimination group with zero blocks in it.
+    if (pp->linear_solver_options.elimination_groups.size() == 1) {
+      pp->linear_solver_options.elimination_groups.push_back(0);
+    }
+
+    if (options.linear_solver_type == SPARSE_SCHUR) {
+      // When using SPARSE_SCHUR, we ignore the user's postordering
+      // preferences in certain cases.
+      //
+      // 1. SUITE_SPARSE is the sparse linear algebra library requested
+      //    but cholmod_camd is not available.
+      // 2. CX_SPARSE is the sparse linear algebra library requested.
+      //
+      // This ensures that the linear solver does not assume that a
+      // fill-reducing pre-ordering has been done.
+      //
+      // TODO(sameeragarwal): Implement the reordering of parameter
+      // blocks for CX_SPARSE.
+      if ((options.sparse_linear_algebra_library_type == SUITE_SPARSE &&
+           !SuiteSparse::
+           IsConstrainedApproximateMinimumDegreeOrderingAvailable()) ||
+          (options.sparse_linear_algebra_library_type == CX_SPARSE)) {
+        pp->linear_solver_options.use_postordering = true;
+      }
+    }
+  }
+
+  pp->linear_solver.reset(LinearSolver::Create(pp->linear_solver_options));
+  return (pp->linear_solver.get() != NULL);
+}
+
+// Configure and create the evaluator.
+bool SetupEvaluator(PreprocessedProblem* pp) {
+  const Solver::Options& options = pp->options;
+  pp->evaluator_options = Evaluator::Options();
+  pp->evaluator_options.linear_solver_type = options.linear_solver_type;
+  pp->evaluator_options.num_eliminate_blocks = 0;
+  if (IsSchurType(options.linear_solver_type)) {
+    pp->evaluator_options.num_eliminate_blocks =
+        options
+        .linear_solver_ordering
+        ->group_to_elements().begin()
+        ->second.size();
+  }
+
+  pp->evaluator_options.num_threads = options.num_threads;
+  pp->evaluator_options.dynamic_sparsity = options.dynamic_sparsity;
+  pp->evaluator.reset(Evaluator::Create(pp->evaluator_options,
+                                        pp->reduced_program.get(),
+                                        &pp->error));
+
+  return (pp->evaluator.get() != NULL);
+}
+
+// If the user requested inner iterations, then find an inner
+// iteration ordering as needed and configure and create a
+// CoordinateDescentMinimizer object to perform the inner iterations.
+bool SetupInnerIterationMinimizer(PreprocessedProblem* pp) {
+  Solver::Options& options = pp->options;
+  if (!options.use_inner_iterations) {
+    return true;
+  }
+
+  // With just one parameter block, the outer iteration of the trust
+  // region method and inner iterations are doing exactly the same
+  // thing, and thus inner iterations are not needed.
+  if (pp->reduced_program->NumParameterBlocks() == 1) {
+    LOG(WARNING) << "Reduced problem only contains one parameter block."
+                 << "Disabling inner iterations.";
+    return true;
+  }
+
+  if (options.inner_iteration_ordering.get() != NULL) {
+    // If the user supplied an ordering, then remove the set of
+    // inactive parameter blocks from it
+    options.inner_iteration_ordering->Remove(pp->removed_parameter_blocks);
+    if (options.inner_iteration_ordering->NumElements() == 0) {
+      LOG(WARNING) << "No remaining elements in the inner iteration ordering.";
+      return true;
+    }
+
+    // Validate the reduced ordering.
+    if (!CoordinateDescentMinimizer::IsOrderingValid(
+            *pp->reduced_program,
+            *options.inner_iteration_ordering,
+            &pp->error)) {
+      return false;
+    }
+  } else {
+    // The user did not supply an ordering, so create one.
+    options.inner_iteration_ordering.reset(
+        CoordinateDescentMinimizer::CreateOrdering(*pp->reduced_program));
+  }
+
+  pp->inner_iteration_minimizer.reset(new CoordinateDescentMinimizer);
+  return pp->inner_iteration_minimizer->Init(*pp->reduced_program,
+                                             pp->problem->parameter_map(),
+                                             *options.inner_iteration_ordering,
+                                             &pp->error);
+}
+
+// Configure and create a TrustRegionMinimizer object.
+void SetupMinimizerOptions(PreprocessedProblem* pp) {
+  const Solver::Options& options = pp->options;
+
+  SetupCommonMinimizerOptions(pp);
+  pp->minimizer_options.is_constrained =
+      pp->reduced_program->IsBoundsConstrained();
+  pp->minimizer_options.jacobian.reset(pp->evaluator->CreateJacobian());
+  pp->minimizer_options.inner_iteration_minimizer =
+      pp->inner_iteration_minimizer;
+
+  TrustRegionStrategy::Options strategy_options;
+  strategy_options.linear_solver = pp->linear_solver.get();
+  strategy_options.initial_radius =
+      options.initial_trust_region_radius;
+  strategy_options.max_radius = options.max_trust_region_radius;
+  strategy_options.min_lm_diagonal = options.min_lm_diagonal;
+  strategy_options.max_lm_diagonal = options.max_lm_diagonal;
+  strategy_options.trust_region_strategy_type =
+      options.trust_region_strategy_type;
+  strategy_options.dogleg_type = options.dogleg_type;
+  pp->minimizer_options.trust_region_strategy.reset(
+      CHECK_NOTNULL(TrustRegionStrategy::Create(strategy_options)));
+}
+
+}  // namespace
+
+TrustRegionPreprocessor::~TrustRegionPreprocessor() {
+}
+
+bool TrustRegionPreprocessor::Preprocess(const Solver::Options& options,
+                                         ProblemImpl* problem,
+                                         PreprocessedProblem* pp) {
+  CHECK_NOTNULL(pp);
+  pp->options = options;
+  ChangeNumThreadsIfNeeded(&pp->options);
+
+  pp->problem = problem;
+  Program* program = problem->mutable_program();
+  if (!IsProgramValid(*program, &pp->error)) {
+    return false;
+  }
+
+  pp->reduced_program.reset(
+      program->CreateReducedProgram(&pp->removed_parameter_blocks,
+                                    &pp->fixed_cost,
+                                    &pp->error));
+
+  if (pp->reduced_program.get() == NULL) {
+    return false;
+  }
+
+  if (pp->reduced_program->NumParameterBlocks() == 0) {
+    // The reduced problem has no parameter or residual blocks. There
+    // is nothing more to do.
+    return true;
+  }
+
+  if (!SetupLinearSolver(pp) ||
+      !SetupEvaluator(pp) ||
+      !SetupInnerIterationMinimizer(pp)) {
+    return false;
+  }
+
+  SetupMinimizerOptions(pp);
+  return true;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/trust_region_preprocessor.h b/internal/ceres/trust_region_preprocessor.h
new file mode 100644
index 0000000..a6631ab
--- /dev/null
+++ b/internal/ceres/trust_region_preprocessor.h
@@ -0,0 +1,50 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_PREPROCESSOR_H_
+#define CERES_INTERNAL_TRUST_REGION_PREPROCESSOR_H_
+
+#include "ceres/preprocessor.h"
+
+namespace ceres {
+namespace internal {
+
+class TrustRegionPreprocessor : public Preprocessor {
+ public:
+  virtual ~TrustRegionPreprocessor();
+  virtual bool Preprocess(const Solver::Options& options,
+                          ProblemImpl* problem,
+                          PreprocessedProblem* preprocessed_problem);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_TRUST_REGION_PREPROCESSOR_H_
diff --git a/internal/ceres/trust_region_preprocessor_test.cc b/internal/ceres/trust_region_preprocessor_test.cc
new file mode 100644
index 0000000..92162c1
--- /dev/null
+++ b/internal/ceres/trust_region_preprocessor_test.cc
@@ -0,0 +1,376 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <map>
+
+#include "ceres/ordered_groups.h"
+#include "ceres/problem_impl.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+#include "ceres/trust_region_preprocessor.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(TrustRegionPreprocessor, ZeroProblem) {
+  ProblemImpl problem;
+  Solver::Options options;
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, ProblemWithInvalidParameterBlock) {
+  ProblemImpl problem;
+  double x = std::numeric_limits<double>::quiet_NaN();
+  problem.AddParameterBlock(&x, 1);
+  Solver::Options options;
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, ParameterBlockBoundsAreInvalid) {
+  ProblemImpl problem;
+  double x = 1.0;
+  problem.AddParameterBlock(&x, 1);
+  problem.SetParameterUpperBound(&x, 0, 1.0);
+  problem.SetParameterLowerBound(&x, 0, 2.0);
+  Solver::Options options;
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, ParamterBlockIsInfeasible) {
+  ProblemImpl problem;
+  double x = 3.0;
+  problem.AddParameterBlock(&x, 1);
+  problem.SetParameterUpperBound(&x, 0, 1.0);
+  problem.SetParameterLowerBound(&x, 0, 2.0);
+  problem.SetParameterBlockConstant(&x);
+  Solver::Options options;
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+class FailingCostFunction : public SizedCostFunction<1, 1> {
+ public:
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    return false;
+  }
+};
+
+TEST(TrustRegionPreprocessor, RemoveParameterBlocksFailed) {
+  ProblemImpl problem;
+  double x = 3.0;
+  problem.AddResidualBlock(new FailingCostFunction, NULL, &x);
+  problem.SetParameterBlockConstant(&x);
+  Solver::Options options;
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+TEST(TrustRegionPreprocessor, RemoveParameterBlocksSucceeds) {
+  ProblemImpl problem;
+  double x = 3.0;
+  problem.AddParameterBlock(&x, 1);
+  Solver::Options options;
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+}
+
+template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
+ public:
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const {
+    for (int i = 0; i < kNumResiduals; ++i) {
+      residuals[i] = kNumResiduals * kNumResiduals + i;
+    }
+
+    if (jacobians == NULL) {
+      return true;
+    }
+
+    if (jacobians[0] != NULL) {
+      MatrixRef j(jacobians[0], kNumResiduals, N1);
+      j.setOnes();
+      j *= kNumResiduals * N1;
+    }
+
+    if (N2 == 0) {
+      return true;
+    }
+
+    if (jacobians[1] != NULL) {
+      MatrixRef j(jacobians[1], kNumResiduals, N2);
+      j.setOnes();
+      j *= kNumResiduals * N2;
+    }
+
+    if (N3 == 0) {
+      return true;
+    }
+
+    if (jacobians[2] != NULL) {
+      MatrixRef j(jacobians[2], kNumResiduals, N3);
+      j.setOnes();
+      j *= kNumResiduals * N3;
+    }
+
+    return true;
+  }
+};
+
+class LinearSolverAndEvaluatorCreationTest : public ::testing::Test {
+ public:
+  virtual void SetUp() {
+    x_ = 1.0;
+    y_ = 1.0;
+    z_ = 1.0;
+    problem_.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &x_, &y_);
+    problem_.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &y_, &z_);
+  }
+
+  void PreprocessForGivenLinearSolverAndVerify(
+      const LinearSolverType linear_solver_type) {
+    Solver::Options options;
+    options.linear_solver_type = linear_solver_type;
+    TrustRegionPreprocessor preprocessor;
+    PreprocessedProblem pp;
+    EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+    EXPECT_EQ(pp.options.linear_solver_type, linear_solver_type);
+    EXPECT_EQ(pp.linear_solver_options.type, linear_solver_type);
+    EXPECT_EQ(pp.evaluator_options.linear_solver_type, linear_solver_type);
+    EXPECT_TRUE(pp.linear_solver.get() != NULL);
+    EXPECT_TRUE(pp.evaluator.get() != NULL);
+  }
+
+ protected:
+  ProblemImpl problem_;
+  double x_;
+  double y_;
+  double z_;
+};
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, DenseQR) {
+  PreprocessForGivenLinearSolverAndVerify(DENSE_QR);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, DenseNormalCholesky) {
+  PreprocessForGivenLinearSolverAndVerify(DENSE_NORMAL_CHOLESKY);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, DenseSchur) {
+  PreprocessForGivenLinearSolverAndVerify(DENSE_SCHUR);
+}
+
+#if defined(CERES_USE_EIGEN_SPARSE) || \
+  !defined(CERES_NO_SUITESPARSE) ||   \
+  !defined(CERES_NO_CXSPARSE)
+TEST_F(LinearSolverAndEvaluatorCreationTest, SparseNormalCholesky) {
+  PreprocessForGivenLinearSolverAndVerify(SPARSE_NORMAL_CHOLESKY);
+}
+#endif
+
+#if defined(CERES_USE_EIGEN_SPARSE) || \
+  !defined(CERES_NO_SUITESPARSE) ||   \
+  !defined(CERES_NO_CXSPARSE)
+TEST_F(LinearSolverAndEvaluatorCreationTest, SparseSchur) {
+  PreprocessForGivenLinearSolverAndVerify(SPARSE_SCHUR);
+}
+#endif
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, CGNR) {
+  PreprocessForGivenLinearSolverAndVerify(CGNR);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, IterativeSchur) {
+  PreprocessForGivenLinearSolverAndVerify(ITERATIVE_SCHUR);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, MinimizerIsAwareOfBounds) {
+  problem_.SetParameterLowerBound(&x_, 0, 0.0);
+  Solver::Options options;
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+  EXPECT_EQ(pp.options.linear_solver_type, options.linear_solver_type);
+  EXPECT_EQ(pp.linear_solver_options.type, options.linear_solver_type);
+  EXPECT_EQ(pp.evaluator_options.linear_solver_type,
+            options.linear_solver_type);
+  EXPECT_TRUE(pp.linear_solver.get() != NULL);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+  EXPECT_TRUE(pp.minimizer_options.is_constrained);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, SchurTypeSolverWithBadOrdering) {
+  Solver::Options options;
+  options.linear_solver_type = DENSE_SCHUR;
+  options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+  options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&y_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&z_, 1);
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem_, &pp));
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, SchurTypeSolverWithGoodOrdering) {
+  Solver::Options options;
+  options.linear_solver_type = DENSE_SCHUR;
+  options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+  options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&z_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&y_, 1);
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+  EXPECT_EQ(pp.options.linear_solver_type, DENSE_SCHUR);
+  EXPECT_EQ(pp.linear_solver_options.type, DENSE_SCHUR);
+  EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_SCHUR);
+  EXPECT_TRUE(pp.linear_solver.get() != NULL);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+       SchurTypeSolverWithEmptyFirstEliminationGroup) {
+  problem_.SetParameterBlockConstant(&x_);
+  problem_.SetParameterBlockConstant(&z_);
+
+  Solver::Options options;
+  options.linear_solver_type = DENSE_SCHUR;
+  options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+  options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&z_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&y_, 1);
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+  EXPECT_EQ(pp.options.linear_solver_type, DENSE_QR);
+  EXPECT_EQ(pp.linear_solver_options.type, DENSE_QR);
+  EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_QR);
+  EXPECT_TRUE(pp.linear_solver.get() != NULL);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+       SchurTypeSolverWithEmptySecondEliminationGroup) {
+  problem_.SetParameterBlockConstant(&y_);
+
+  Solver::Options options;
+  options.linear_solver_type = DENSE_SCHUR;
+  options.linear_solver_ordering.reset(new ParameterBlockOrdering);
+  options.linear_solver_ordering->AddElementToGroup(&x_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&z_, 0);
+  options.linear_solver_ordering->AddElementToGroup(&y_, 1);
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+  EXPECT_EQ(pp.options.linear_solver_type, DENSE_SCHUR);
+  EXPECT_EQ(pp.linear_solver_options.type, DENSE_SCHUR);
+  EXPECT_EQ(pp.evaluator_options.linear_solver_type, DENSE_SCHUR);
+  EXPECT_TRUE(pp.linear_solver.get() != NULL);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+}
+
+TEST(TrustRegionPreprocessorTest, InnerIterationsWithOneParameterBlock) {
+  ProblemImpl problem;
+  double x = 1.0;
+  problem.AddResidualBlock(new DummyCostFunction<1, 1>, NULL, &x);
+
+  Solver::Options options;
+  options.use_inner_iterations = true;
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
+  EXPECT_TRUE(pp.linear_solver.get() != NULL);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+  EXPECT_TRUE(pp.inner_iteration_minimizer.get() == NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+       InnerIterationsWithTwoParameterBlocks) {
+  Solver::Options options;
+  options.use_inner_iterations = true;
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+  EXPECT_TRUE(pp.linear_solver.get() != NULL);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+  EXPECT_TRUE(pp.inner_iteration_minimizer.get() != NULL);
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest,
+       InvalidInnerIterationsOrdering) {
+  Solver::Options options;
+  options.use_inner_iterations = true;
+  options.inner_iteration_ordering.reset(new ParameterBlockOrdering);
+  options.inner_iteration_ordering->AddElementToGroup(&x_, 0);
+  options.inner_iteration_ordering->AddElementToGroup(&z_, 0);
+  options.inner_iteration_ordering->AddElementToGroup(&y_, 0);
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_FALSE(preprocessor.Preprocess(options, &problem_, &pp));
+}
+
+TEST_F(LinearSolverAndEvaluatorCreationTest, ValidInnerIterationsOrdering) {
+  Solver::Options options;
+  options.use_inner_iterations = true;
+  options.inner_iteration_ordering.reset(new ParameterBlockOrdering);
+  options.inner_iteration_ordering->AddElementToGroup(&x_, 0);
+  options.inner_iteration_ordering->AddElementToGroup(&z_, 0);
+  options.inner_iteration_ordering->AddElementToGroup(&y_, 1);
+
+  TrustRegionPreprocessor preprocessor;
+  PreprocessedProblem pp;
+  EXPECT_TRUE(preprocessor.Preprocess(options, &problem_, &pp));
+  EXPECT_TRUE(pp.linear_solver.get() != NULL);
+  EXPECT_TRUE(pp.evaluator.get() != NULL);
+  EXPECT_TRUE(pp.inner_iteration_minimizer.get() != NULL);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/trust_region_step_evaluator.cc b/internal/ceres/trust_region_step_evaluator.cc
new file mode 100644
index 0000000..c9167e6
--- /dev/null
+++ b/internal/ceres/trust_region_step_evaluator.cc
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <algorithm>
+#include "ceres/trust_region_step_evaluator.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+TrustRegionStepEvaluator::TrustRegionStepEvaluator(
+    const double initial_cost,
+    const int max_consecutive_nonmonotonic_steps)
+    : max_consecutive_nonmonotonic_steps_(max_consecutive_nonmonotonic_steps),
+      minimum_cost_(initial_cost),
+      current_cost_(initial_cost),
+      reference_cost_(initial_cost),
+      candidate_cost_(initial_cost),
+      accumulated_reference_model_cost_change_(0.0),
+      accumulated_candidate_model_cost_change_(0.0),
+      num_consecutive_nonmonotonic_steps_(0){
+}
+
+double TrustRegionStepEvaluator::StepQuality(
+    const double cost,
+    const double model_cost_change) const {
+  const double relative_decrease = (current_cost_ - cost) / model_cost_change;
+  const double historical_relative_decrease =
+      (reference_cost_ - cost) /
+      (accumulated_reference_model_cost_change_ + model_cost_change);
+  return std::max(relative_decrease, historical_relative_decrease);
+}
+
+void TrustRegionStepEvaluator::StepAccepted(
+    const double cost,
+    const double model_cost_change) {
+  // Algorithm 10.1.2 from Trust Region Methods by Conn, Gould &
+  // Toint.
+  //
+  // Step 3a
+  current_cost_ = cost;
+  accumulated_candidate_model_cost_change_ += model_cost_change;
+  accumulated_reference_model_cost_change_ += model_cost_change;
+
+  // Step 3b.
+  if (current_cost_ < minimum_cost_) {
+    minimum_cost_ = current_cost_;
+    num_consecutive_nonmonotonic_steps_ = 0;
+    candidate_cost_ = current_cost_;
+    accumulated_candidate_model_cost_change_ = 0.0;
+  } else {
+    // Step 3c.
+    ++num_consecutive_nonmonotonic_steps_;
+    if (current_cost_ > candidate_cost_) {
+      candidate_cost_ = current_cost_;
+      accumulated_candidate_model_cost_change_ = 0.0;
+    }
+  }
+
+  // Step 3d.
+  //
+  // At this point we have made too many non-monotonic steps and
+  // we are going to reset the value of the reference iterate so
+  // as to force the algorithm to descend.
+  //
+  // Note: In the original algorithm by Toint, this step was only
+  // executed if the step was non-monotonic, but that would not handle
+  // the case of max_consecutive_nonmonotonic_steps = 0. The small
+  // modification of doing this always handles that corner case
+  // correctly.
+  if (num_consecutive_nonmonotonic_steps_ ==
+      max_consecutive_nonmonotonic_steps_) {
+    reference_cost_ = candidate_cost_;
+    accumulated_reference_model_cost_change_ =
+        accumulated_candidate_model_cost_change_;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/trust_region_step_evaluator.h b/internal/ceres/trust_region_step_evaluator.h
new file mode 100644
index 0000000..06df102
--- /dev/null
+++ b/internal/ceres/trust_region_step_evaluator.h
@@ -0,0 +1,122 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2016 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_STEP_EVALUATOR_H_
+#define CERES_INTERNAL_TRUST_REGION_STEP_EVALUATOR_H_
+
+namespace ceres {
+namespace internal {
+
+// The job of the TrustRegionStepEvaluator is to evaluate the quality
+// of a step, i.e., how the cost of a step compares with the reduction
+// in the objective of the trust region problem.
+//
+// Classic trust region methods are descent methods, in that they only
+// accept a point if it strictly reduces the value of the objective
+// function. They do this by measuring the quality of a step as
+//
+//   cost_change / model_cost_change.
+//
+// Relaxing the monotonic descent requirement allows the algorithm to
+// be more efficient in the long term at the cost of some local
+// increase in the value of the objective function.
+//
+// This is because allowing for non-decreasing objective function
+// values in a principled manner allows the algorithm to "jump over
+// boulders" as the method is not restricted to move into narrow
+// valleys while preserving its convergence properties.
+//
+// The parameter max_consecutive_nonmonotonic_steps controls the
+// window size used by the step selection algorithm to accept
+// non-monotonic steps. Setting this parameter to zero, recovers the
+// classic montonic descent algorithm.
+//
+// Based on algorithm 10.1.2 (page 357) of "Trust Region
+// Methods" by Conn Gould & Toint, or equations 33-40 of
+// "Non-monotone trust-region algorithms for nonlinear
+// optimization subject to convex constraints" by Phil Toint,
+// Mathematical Programming, 77, 1997.
+//
+// Example usage:
+//
+// TrustRegionStepEvaluator* step_evaluator = ...
+//
+// cost = ... // Compute the non-linear objective function value.
+// model_cost_change = ... // Change in the value of the trust region objective.
+// if (step_evaluator->StepQuality(cost, model_cost_change) > threshold) {
+//   x = x + delta;
+//   step_evaluator->StepAccepted(cost, model_cost_change);
+// }
+class TrustRegionStepEvaluator {
+ public:
+  // initial_cost is as the name implies the cost of the starting
+  // state of the trust region minimizer.
+  //
+  // max_consecutive_nonmonotonic_steps controls the window size used
+  // by the step selection algorithm to accept non-monotonic
+  // steps. Setting this parameter to zero, recovers the classic
+  // montonic descent algorithm.
+  TrustRegionStepEvaluator(double initial_cost,
+                           int max_consecutive_nonmonotonic_steps);
+
+  // Return the quality of the step given its cost and the decrease in
+  // the cost of the model. model_cost_change has to be positive.
+  double StepQuality(double cost, double model_cost_change) const;
+
+  // Inform the step evaluator that a step with the given cost and
+  // model_cost_change has been accepted by the trust region
+  // minimizer.
+  void StepAccepted(double cost, double model_cost_change);
+
+ private:
+  const int max_consecutive_nonmonotonic_steps_;
+  // The minimum cost encountered up till now.
+  double minimum_cost_;
+  // The current cost of the trust region minimizer as informed by the
+  // last call to StepAccepted.
+  double current_cost_;
+  double reference_cost_;
+  double candidate_cost_;
+  // Accumulated model cost since the last time the reference model
+  // cost was updated, i.e., when a step with cost less than the
+  // current known minimum cost is accepted.
+  double accumulated_reference_model_cost_change_;
+  // Accumulated model cost since the last time the candidate model
+  // cost was updated, i.e., a non-monotonic step was taken with a
+  // cost that was greater than the current candidate cost.
+  double accumulated_candidate_model_cost_change_;
+  // Number of steps taken since the last time minimum_cost was updated.
+  int num_consecutive_nonmonotonic_steps_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_TRUST_REGION_STEP_EVALUATOR_H_
diff --git a/internal/ceres/trust_region_strategy.cc b/internal/ceres/trust_region_strategy.cc
new file mode 100644
index 0000000..2db6a6c
--- /dev/null
+++ b/internal/ceres/trust_region_strategy.cc
@@ -0,0 +1,59 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//         keir@google.com (Keir Mierle)
+
+#include "ceres/trust_region_strategy.h"
+#include "ceres/dogleg_strategy.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+TrustRegionStrategy::~TrustRegionStrategy() {}
+
+TrustRegionStrategy* TrustRegionStrategy::Create(const Options& options) {
+  switch (options.trust_region_strategy_type) {
+    case LEVENBERG_MARQUARDT:
+      return new LevenbergMarquardtStrategy(options);
+    case DOGLEG:
+      return new DoglegStrategy(options);
+    default:
+      LOG(FATAL) << "Unknown trust region strategy: "
+                 << options.trust_region_strategy_type;
+  }
+
+  LOG(FATAL) << "Unknown trust region strategy: "
+             << options.trust_region_strategy_type;
+  return NULL;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/trust_region_strategy.h b/internal/ceres/trust_region_strategy.h
new file mode 100644
index 0000000..36e8e98
--- /dev/null
+++ b/internal/ceres/trust_region_strategy.h
@@ -0,0 +1,164 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
+#define CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class LinearSolver;
+class SparseMatrix;
+
+// Interface for classes implementing various trust region strategies
+// for nonlinear least squares problems.
+//
+// The object is expected to maintain and update a trust region
+// radius, which it then uses to solve for the trust region step using
+// the jacobian matrix and residual vector.
+//
+// Here the term trust region radius is used loosely, as the strategy
+// is free to treat it as guidance and violate it as need be. e.g.,
+// the LevenbergMarquardtStrategy uses the inverse of the trust region
+// radius to scale the damping term, which controls the step size, but
+// does not set a hard limit on its size.
+class TrustRegionStrategy {
+ public:
+  struct Options {
+    Options()
+        : trust_region_strategy_type(LEVENBERG_MARQUARDT),
+          initial_radius(1e4),
+          max_radius(1e32),
+          min_lm_diagonal(1e-6),
+          max_lm_diagonal(1e32),
+          dogleg_type(TRADITIONAL_DOGLEG) {
+    }
+
+    TrustRegionStrategyType trust_region_strategy_type;
+    // Linear solver used for actually solving the trust region step.
+    LinearSolver* linear_solver;
+    double initial_radius;
+    double max_radius;
+
+    // Minimum and maximum values of the diagonal damping matrix used
+    // by LevenbergMarquardtStrategy. The DoglegStrategy also uses
+    // these bounds to construct a regularizing diagonal to ensure
+    // that the Gauss-Newton step computation is of full rank.
+    double min_lm_diagonal;
+    double max_lm_diagonal;
+
+    // Further specify which dogleg method to use
+    DoglegType dogleg_type;
+  };
+
+  // Per solve options.
+  struct PerSolveOptions {
+    PerSolveOptions()
+        : eta(0),
+          dump_format_type(TEXTFILE) {
+    }
+
+    // Forcing sequence for inexact solves.
+    double eta;
+
+    DumpFormatType dump_format_type;
+
+    // If non-empty and dump_format_type is not CONSOLE, the trust
+    // regions strategy will write the linear system to file(s) with
+    // name starting with dump_filename_base.  If dump_format_type is
+    // CONSOLE then dump_filename_base will be ignored and the linear
+    // system will be written to the standard error.
+    std::string dump_filename_base;
+  };
+
+  struct Summary {
+    Summary()
+        : residual_norm(0.0),
+          num_iterations(-1),
+          termination_type(LINEAR_SOLVER_FAILURE) {
+    }
+
+    // If the trust region problem is,
+    //
+    //   1/2 x'Ax + b'x + c,
+    //
+    // then
+    //
+    //   residual_norm = |Ax -b|
+    double residual_norm;
+
+    // Number of iterations used by the linear solver. If a linear
+    // solver was not called (e.g., DogLegStrategy after an
+    // unsuccessful step), then this would be zero.
+    int num_iterations;
+
+    // Status of the linear solver used to solve the Newton system.
+    LinearSolverTerminationType termination_type;
+  };
+
+  virtual ~TrustRegionStrategy();
+
+  // Use the current radius to solve for the trust region step.
+  virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+                              SparseMatrix* jacobian,
+                              const double* residuals,
+                              double* step) = 0;
+
+  // Inform the strategy that the current step has been accepted, and
+  // that the ratio of the decrease in the non-linear objective to the
+  // decrease in the trust region model is step_quality.
+  virtual void StepAccepted(double step_quality) = 0;
+
+  // Inform the strategy that the current step has been rejected, and
+  // that the ratio of the decrease in the non-linear objective to the
+  // decrease in the trust region model is step_quality.
+  virtual void StepRejected(double step_quality) = 0;
+
+  // Inform the strategy that the current step has been rejected
+  // because it was found to be numerically invalid.
+  // StepRejected/StepAccepted will not be called for this step, and
+  // the strategy is free to do what it wants with this information.
+  virtual void StepIsInvalid() = 0;
+
+  // Current trust region radius.
+  virtual double Radius() const = 0;
+
+  // Factory.
+  static TrustRegionStrategy* Create(const Options& options);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
diff --git a/internal/ceres/types.cc b/internal/ceres/types.cc
new file mode 100644
index 0000000..b833928
--- /dev/null
+++ b/internal/ceres/types.cc
@@ -0,0 +1,393 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <algorithm>
+#include <cctype>
+#include <string>
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+using std::string;
+
+#define CASESTR(x) case x: return #x
+#define STRENUM(x) if (value == #x) { *type = x; return true;}
+
+static void UpperCase(string* input) {
+  std::transform(input->begin(), input->end(), input->begin(), ::toupper);
+}
+
+const char* LinearSolverTypeToString(LinearSolverType type) {
+  switch (type) {
+    CASESTR(DENSE_NORMAL_CHOLESKY);
+    CASESTR(DENSE_QR);
+    CASESTR(SPARSE_NORMAL_CHOLESKY);
+    CASESTR(DENSE_SCHUR);
+    CASESTR(SPARSE_SCHUR);
+    CASESTR(ITERATIVE_SCHUR);
+    CASESTR(CGNR);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToLinearSolverType(string value, LinearSolverType* type) {
+  UpperCase(&value);
+  STRENUM(DENSE_NORMAL_CHOLESKY);
+  STRENUM(DENSE_QR);
+  STRENUM(SPARSE_NORMAL_CHOLESKY);
+  STRENUM(DENSE_SCHUR);
+  STRENUM(SPARSE_SCHUR);
+  STRENUM(ITERATIVE_SCHUR);
+  STRENUM(CGNR);
+  return false;
+}
+
+const char* PreconditionerTypeToString(PreconditionerType type) {
+  switch (type) {
+    CASESTR(IDENTITY);
+    CASESTR(JACOBI);
+    CASESTR(SCHUR_JACOBI);
+    CASESTR(CLUSTER_JACOBI);
+    CASESTR(CLUSTER_TRIDIAGONAL);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToPreconditionerType(string value, PreconditionerType* type) {
+  UpperCase(&value);
+  STRENUM(IDENTITY);
+  STRENUM(JACOBI);
+  STRENUM(SCHUR_JACOBI);
+  STRENUM(CLUSTER_JACOBI);
+  STRENUM(CLUSTER_TRIDIAGONAL);
+  return false;
+}
+
+const char* SparseLinearAlgebraLibraryTypeToString(
+    SparseLinearAlgebraLibraryType type) {
+  switch (type) {
+    CASESTR(SUITE_SPARSE);
+    CASESTR(CX_SPARSE);
+    CASESTR(EIGEN_SPARSE);
+    CASESTR(NO_SPARSE);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToSparseLinearAlgebraLibraryType(
+    string value,
+    SparseLinearAlgebraLibraryType* type) {
+  UpperCase(&value);
+  STRENUM(SUITE_SPARSE);
+  STRENUM(CX_SPARSE);
+  STRENUM(EIGEN_SPARSE);
+  STRENUM(NO_SPARSE);
+  return false;
+}
+
+const char* DenseLinearAlgebraLibraryTypeToString(
+    DenseLinearAlgebraLibraryType type) {
+  switch (type) {
+    CASESTR(EIGEN);
+    CASESTR(LAPACK);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToDenseLinearAlgebraLibraryType(
+    string value,
+    DenseLinearAlgebraLibraryType* type) {
+  UpperCase(&value);
+  STRENUM(EIGEN);
+  STRENUM(LAPACK);
+  return false;
+}
+
+const char* TrustRegionStrategyTypeToString(TrustRegionStrategyType type) {
+  switch (type) {
+    CASESTR(LEVENBERG_MARQUARDT);
+    CASESTR(DOGLEG);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToTrustRegionStrategyType(string value,
+                                     TrustRegionStrategyType* type) {
+  UpperCase(&value);
+  STRENUM(LEVENBERG_MARQUARDT);
+  STRENUM(DOGLEG);
+  return false;
+}
+
+const char* DoglegTypeToString(DoglegType type) {
+  switch (type) {
+    CASESTR(TRADITIONAL_DOGLEG);
+    CASESTR(SUBSPACE_DOGLEG);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToDoglegType(string value, DoglegType* type) {
+  UpperCase(&value);
+  STRENUM(TRADITIONAL_DOGLEG);
+  STRENUM(SUBSPACE_DOGLEG);
+  return false;
+}
+
+const char* MinimizerTypeToString(MinimizerType type) {
+  switch (type) {
+    CASESTR(TRUST_REGION);
+    CASESTR(LINE_SEARCH);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToMinimizerType(string value, MinimizerType* type) {
+  UpperCase(&value);
+  STRENUM(TRUST_REGION);
+  STRENUM(LINE_SEARCH);
+  return false;
+}
+
+const char* LineSearchDirectionTypeToString(LineSearchDirectionType type) {
+  switch (type) {
+    CASESTR(STEEPEST_DESCENT);
+    CASESTR(NONLINEAR_CONJUGATE_GRADIENT);
+    CASESTR(LBFGS);
+    CASESTR(BFGS);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToLineSearchDirectionType(string value,
+                                     LineSearchDirectionType* type) {
+  UpperCase(&value);
+  STRENUM(STEEPEST_DESCENT);
+  STRENUM(NONLINEAR_CONJUGATE_GRADIENT);
+  STRENUM(LBFGS);
+  STRENUM(BFGS);
+  return false;
+}
+
+const char* LineSearchTypeToString(LineSearchType type) {
+  switch (type) {
+    CASESTR(ARMIJO);
+    CASESTR(WOLFE);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToLineSearchType(string value, LineSearchType* type) {
+  UpperCase(&value);
+  STRENUM(ARMIJO);
+  STRENUM(WOLFE);
+  return false;
+}
+
+const char* LineSearchInterpolationTypeToString(
+    LineSearchInterpolationType type) {
+  switch (type) {
+    CASESTR(BISECTION);
+    CASESTR(QUADRATIC);
+    CASESTR(CUBIC);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToLineSearchInterpolationType(
+    string value,
+    LineSearchInterpolationType* type) {
+  UpperCase(&value);
+  STRENUM(BISECTION);
+  STRENUM(QUADRATIC);
+  STRENUM(CUBIC);
+  return false;
+}
+
+const char* NonlinearConjugateGradientTypeToString(
+    NonlinearConjugateGradientType type) {
+  switch (type) {
+    CASESTR(FLETCHER_REEVES);
+    CASESTR(POLAK_RIBIERE);
+    CASESTR(HESTENES_STIEFEL);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToNonlinearConjugateGradientType(
+    string value,
+    NonlinearConjugateGradientType* type) {
+  UpperCase(&value);
+  STRENUM(FLETCHER_REEVES);
+  STRENUM(POLAK_RIBIERE);
+  STRENUM(HESTENES_STIEFEL);
+  return false;
+}
+
+const char* CovarianceAlgorithmTypeToString(
+    CovarianceAlgorithmType type) {
+  switch (type) {
+    CASESTR(DENSE_SVD);
+    CASESTR(SPARSE_QR);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToCovarianceAlgorithmType(
+    string value,
+    CovarianceAlgorithmType* type) {
+  UpperCase(&value);
+  STRENUM(DENSE_SVD);
+  STRENUM(SPARSE_QR);
+  return false;
+}
+
+const char* NumericDiffMethodTypeToString(
+    NumericDiffMethodType type) {
+  switch (type) {
+    CASESTR(CENTRAL);
+    CASESTR(FORWARD);
+    CASESTR(RIDDERS);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToNumericDiffMethodType(
+    string value,
+    NumericDiffMethodType* type) {
+  UpperCase(&value);
+  STRENUM(CENTRAL);
+  STRENUM(FORWARD);
+  STRENUM(RIDDERS);
+  return false;
+}
+
+const char* VisibilityClusteringTypeToString(
+    VisibilityClusteringType type) {
+  switch (type) {
+    CASESTR(CANONICAL_VIEWS);
+    CASESTR(SINGLE_LINKAGE);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+bool StringToVisibilityClusteringType(
+    string value,
+    VisibilityClusteringType* type) {
+  UpperCase(&value);
+  STRENUM(CANONICAL_VIEWS);
+  STRENUM(SINGLE_LINKAGE);
+  return false;
+}
+
+const char* TerminationTypeToString(TerminationType type) {
+  switch (type) {
+    CASESTR(CONVERGENCE);
+    CASESTR(NO_CONVERGENCE);
+    CASESTR(FAILURE);
+    CASESTR(USER_SUCCESS);
+    CASESTR(USER_FAILURE);
+    default:
+      return "UNKNOWN";
+  }
+}
+
+#undef CASESTR
+#undef STRENUM
+
+bool IsSchurType(LinearSolverType type) {
+  return ((type == SPARSE_SCHUR) ||
+          (type == DENSE_SCHUR)  ||
+          (type == ITERATIVE_SCHUR));
+}
+
+bool IsSparseLinearAlgebraLibraryTypeAvailable(
+    SparseLinearAlgebraLibraryType type) {
+  if (type == SUITE_SPARSE) {
+#ifdef CERES_NO_SUITESPARSE
+    return false;
+#else
+    return true;
+#endif
+  }
+
+  if (type == CX_SPARSE) {
+#ifdef CERES_NO_CXSPARSE
+    return false;
+#else
+    return true;
+#endif
+  }
+
+  if (type == EIGEN_SPARSE) {
+#ifdef CERES_USE_EIGEN_SPARSE
+    return true;
+#else
+    return false;
+#endif
+  }
+
+  LOG(WARNING) << "Unknown sparse linear algebra library " << type;
+  return false;
+}
+
+bool IsDenseLinearAlgebraLibraryTypeAvailable(
+    DenseLinearAlgebraLibraryType type) {
+  if (type == EIGEN) {
+    return true;
+  }
+  if (type == LAPACK) {
+#ifdef CERES_NO_LAPACK
+    return false;
+#else
+    return true;
+#endif
+  }
+
+  LOG(WARNING) << "Unknown dense linear algebra library " << type;
+  return false;
+}
+
+}  // namespace ceres
diff --git a/internal/ceres/visibility.cc b/internal/ceres/visibility.cc
new file mode 100644
index 0000000..cb962a6
--- /dev/null
+++ b/internal/ceres/visibility.cc
@@ -0,0 +1,159 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kushalav@google.com (Avanish Kushal)
+
+#include "ceres/visibility.h"
+
+#include <cmath>
+#include <ctime>
+#include <algorithm>
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/block_structure.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::max;
+using std::pair;
+using std::set;
+using std::vector;
+
+void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
+                       const int num_eliminate_blocks,
+                       vector< set<int> >* visibility) {
+  CHECK_NOTNULL(visibility);
+
+  // Clear the visibility vector and resize it to hold a
+  // vector for each camera.
+  visibility->resize(0);
+  visibility->resize(block_structure.cols.size() - num_eliminate_blocks);
+
+  for (int i = 0; i < block_structure.rows.size(); ++i) {
+    const vector<Cell>& cells = block_structure.rows[i].cells;
+    int block_id = cells[0].block_id;
+    // If the first block is not an e_block, then skip this row block.
+    if (block_id >= num_eliminate_blocks) {
+      continue;
+    }
+
+    for (int j = 1; j < cells.size(); ++j) {
+      int camera_block_id = cells[j].block_id - num_eliminate_blocks;
+      DCHECK_GE(camera_block_id, 0);
+      DCHECK_LT(camera_block_id, visibility->size());
+      (*visibility)[camera_block_id].insert(block_id);
+    }
+  }
+}
+
+WeightedGraph<int>* CreateSchurComplementGraph(
+    const vector<set<int> >& visibility) {
+  const time_t start_time = time(NULL);
+  // Compute the number of e_blocks/point blocks. Since the visibility
+  // set for each e_block/camera contains the set of e_blocks/points
+  // visible to it, we find the maximum across all visibility sets.
+  int num_points = 0;
+  for (int i = 0; i < visibility.size(); i++) {
+    if (visibility[i].size() > 0) {
+      num_points = max(num_points, (*visibility[i].rbegin()) + 1);
+    }
+  }
+
+  // Invert the visibility. The input is a camera->point mapping,
+  // which tells us which points are visible in which
+  // cameras. However, to compute the sparsity structure of the Schur
+  // Complement efficiently, its better to have the point->camera
+  // mapping.
+  vector<set<int> > inverse_visibility(num_points);
+  for (int i = 0; i < visibility.size(); i++) {
+    const set<int>& visibility_set = visibility[i];
+    for (set<int>::const_iterator it = visibility_set.begin();
+         it != visibility_set.end();
+         ++it) {
+      inverse_visibility[*it].insert(i);
+    }
+  }
+
+  // Map from camera pairs to number of points visible to both cameras
+  // in the pair.
+  HashMap<pair<int, int>, int > camera_pairs;
+
+  // Count the number of points visible to each camera/f_block pair.
+  for (vector<set<int> >::const_iterator it = inverse_visibility.begin();
+       it != inverse_visibility.end();
+       ++it) {
+    const set<int>& inverse_visibility_set = *it;
+    for (set<int>::const_iterator camera1 = inverse_visibility_set.begin();
+         camera1 != inverse_visibility_set.end();
+         ++camera1) {
+      set<int>::const_iterator camera2 = camera1;
+      for (++camera2; camera2 != inverse_visibility_set.end(); ++camera2) {
+        ++(camera_pairs[make_pair(*camera1, *camera2)]);
+      }
+    }
+  }
+
+  WeightedGraph<int>* graph = new WeightedGraph<int>;
+
+  // Add vertices and initialize the pairs for self edges so that self
+  // edges are guaranteed. This is needed for the Canonical views
+  // algorithm to work correctly.
+  static const double kSelfEdgeWeight = 1.0;
+  for (int i = 0; i < visibility.size(); ++i) {
+    graph->AddVertex(i);
+    graph->AddEdge(i, i, kSelfEdgeWeight);
+  }
+
+  // Add an edge for each camera pair.
+  for (HashMap<pair<int, int>, int>::const_iterator it = camera_pairs.begin();
+       it != camera_pairs.end();
+       ++it) {
+    const int camera1 = it->first.first;
+    const int camera2 = it->first.second;
+    CHECK_NE(camera1, camera2);
+
+    const int count = it->second;
+    // Static cast necessary for Windows.
+    const double weight = static_cast<double>(count) /
+        (sqrt(static_cast<double>(
+                  visibility[camera1].size() * visibility[camera2].size())));
+    graph->AddEdge(camera1, camera2, weight);
+  }
+
+  VLOG(2) << "Schur complement graph time: " << (time(NULL) - start_time);
+  return graph;
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/visibility.h b/internal/ceres/visibility.h
new file mode 100644
index 0000000..605682f
--- /dev/null
+++ b/internal/ceres/visibility.h
@@ -0,0 +1,78 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kushalav@google.com (Avanish Kushal)
+//         sameeragarwal@google.com (Sameer Agarwal)
+//
+// Functions to manipulate visibility information from the block
+// structure of sparse matrices.
+
+#ifndef CERES_INTERNAL_VISIBILITY_H_
+#define CERES_INTERNAL_VISIBILITY_H_
+
+#include <set>
+#include <vector>
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+struct CompressedRowBlockStructure;
+
+// Given a compressed row block structure, computes the set of
+// e_blocks "visible" to each f_block. If an e_block co-occurs with an
+// f_block in a residual block, it is visible to the f_block. The
+// first num_eliminate_blocks columns blocks are e_blocks and the rest
+// f_blocks.
+//
+// In a structure from motion problem, e_blocks correspond to 3D
+// points and f_blocks correspond to cameras.
+void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
+                       int num_eliminate_blocks,
+                       std::vector<std::set<int> >* visibility);
+
+// Given f_block visibility as computed by the ComputeVisibility
+// function above, construct and return a graph whose vertices are
+// f_blocks and an edge connects two vertices if they have atleast one
+// e_block in common. The weight of this edge is normalized dot
+// product between the visibility vectors of the two
+// vertices/f_blocks.
+//
+// This graph reflects the sparsity structure of reduced camera
+// matrix/Schur complement matrix obtained by eliminating the e_blocks
+// from the normal equations.
+//
+// Caller acquires ownership of the returned WeightedGraph pointer
+// (heap-allocated).
+WeightedGraph<int>* CreateSchurComplementGraph(
+    const std::vector<std::set<int> >& visibility);
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_VISIBILITY_H_
diff --git a/internal/ceres/visibility_based_preconditioner.cc b/internal/ceres/visibility_based_preconditioner.cc
new file mode 100644
index 0000000..90550b2
--- /dev/null
+++ b/internal/ceres/visibility_based_preconditioner.cc
@@ -0,0 +1,587 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/visibility_based_preconditioner.h"
+
+#include <algorithm>
+#include <functional>
+#include <iterator>
+#include <set>
+#include <utility>
+#include <vector>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/canonical_views_clustering.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/graph_algorithms.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/single_linkage_clustering.h"
+#include "ceres/visibility.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::make_pair;
+using std::pair;
+using std::set;
+using std::swap;
+using std::vector;
+
+// TODO(sameeragarwal): Currently these are magic weights for the
+// preconditioner construction. Move these higher up into the Options
+// struct and provide some guidelines for choosing them.
+//
+// This will require some more work on the clustering algorithm and
+// possibly some more refactoring of the code.
+static const double kCanonicalViewsSizePenaltyWeight = 3.0;
+static const double kCanonicalViewsSimilarityPenaltyWeight = 0.0;
+static const double kSingleLinkageMinSimilarity = 0.9;
+
+VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
+    const CompressedRowBlockStructure& bs,
+    const Preconditioner::Options& options)
+    : options_(options), num_blocks_(0), num_clusters_(0) {
+  CHECK_GT(options_.elimination_groups.size(), 1);
+  CHECK_GT(options_.elimination_groups[0], 0);
+  CHECK(options_.type == CLUSTER_JACOBI || options_.type == CLUSTER_TRIDIAGONAL)
+      << "Unknown preconditioner type: " << options_.type;
+  num_blocks_ = bs.cols.size() - options_.elimination_groups[0];
+  CHECK_GT(num_blocks_, 0) << "Jacobian should have atleast 1 f_block for "
+                           << "visibility based preconditioning.";
+
+  // Vector of camera block sizes
+  block_size_.resize(num_blocks_);
+  for (int i = 0; i < num_blocks_; ++i) {
+    block_size_[i] = bs.cols[i + options_.elimination_groups[0]].size;
+  }
+
+  const time_t start_time = time(NULL);
+  switch (options_.type) {
+    case CLUSTER_JACOBI:
+      ComputeClusterJacobiSparsity(bs);
+      break;
+    case CLUSTER_TRIDIAGONAL:
+      ComputeClusterTridiagonalSparsity(bs);
+      break;
+    default:
+      LOG(FATAL) << "Unknown preconditioner type";
+  }
+  const time_t structure_time = time(NULL);
+  InitStorage(bs);
+  const time_t storage_time = time(NULL);
+  InitEliminator(bs);
+  const time_t eliminator_time = time(NULL);
+
+  sparse_cholesky_.reset(
+      SparseCholesky::Create(options_.sparse_linear_algebra_library_type, AMD));
+
+  const time_t init_time = time(NULL);
+  VLOG(2) << "init time: " << init_time - start_time
+          << " structure time: " << structure_time - start_time
+          << " storage time:" << storage_time - structure_time
+          << " eliminator time: " << eliminator_time - storage_time;
+}
+
+VisibilityBasedPreconditioner::~VisibilityBasedPreconditioner() {}
+
+// Determine the sparsity structure of the CLUSTER_JACOBI
+// preconditioner. It clusters cameras using their scene
+// visibility. The clusters form the diagonal blocks of the
+// preconditioner matrix.
+void VisibilityBasedPreconditioner::ComputeClusterJacobiSparsity(
+    const CompressedRowBlockStructure& bs) {
+  vector<set<int> > visibility;
+  ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
+  CHECK_EQ(num_blocks_, visibility.size());
+  ClusterCameras(visibility);
+  cluster_pairs_.clear();
+  for (int i = 0; i < num_clusters_; ++i) {
+    cluster_pairs_.insert(make_pair(i, i));
+  }
+}
+
+// Determine the sparsity structure of the CLUSTER_TRIDIAGONAL
+// preconditioner. It clusters cameras using using the scene
+// visibility and then finds the strongly interacting pairs of
+// clusters by constructing another graph with the clusters as
+// vertices and approximating it with a degree-2 maximum spanning
+// forest. The set of edges in this forest are the cluster pairs.
+void VisibilityBasedPreconditioner::ComputeClusterTridiagonalSparsity(
+    const CompressedRowBlockStructure& bs) {
+  vector<set<int> > visibility;
+  ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
+  CHECK_EQ(num_blocks_, visibility.size());
+  ClusterCameras(visibility);
+
+  // Construct a weighted graph on the set of clusters, where the
+  // edges are the number of 3D points/e_blocks visible in both the
+  // clusters at the ends of the edge. Return an approximate degree-2
+  // maximum spanning forest of this graph.
+  vector<set<int> > cluster_visibility;
+  ComputeClusterVisibility(visibility, &cluster_visibility);
+  scoped_ptr<WeightedGraph<int> > cluster_graph(
+      CHECK_NOTNULL(CreateClusterGraph(cluster_visibility)));
+  scoped_ptr<WeightedGraph<int> > forest(
+      CHECK_NOTNULL(Degree2MaximumSpanningForest(*cluster_graph)));
+  ForestToClusterPairs(*forest, &cluster_pairs_);
+}
+
+// Allocate storage for the preconditioner matrix.
+void VisibilityBasedPreconditioner::InitStorage(
+    const CompressedRowBlockStructure& bs) {
+  ComputeBlockPairsInPreconditioner(bs);
+  m_.reset(new BlockRandomAccessSparseMatrix(block_size_, block_pairs_));
+}
+
+// Call the canonical views algorithm and cluster the cameras based on
+// their visibility sets. The visibility set of a camera is the set of
+// e_blocks/3D points in the scene that are seen by it.
+//
+// The cluster_membership_ vector is updated to indicate cluster
+// memberships for each camera block.
+void VisibilityBasedPreconditioner::ClusterCameras(
+    const vector<set<int> >& visibility) {
+  scoped_ptr<WeightedGraph<int> > schur_complement_graph(
+      CHECK_NOTNULL(CreateSchurComplementGraph(visibility)));
+
+  HashMap<int, int> membership;
+
+  if (options_.visibility_clustering_type == CANONICAL_VIEWS) {
+    vector<int> centers;
+    CanonicalViewsClusteringOptions clustering_options;
+    clustering_options.size_penalty_weight = kCanonicalViewsSizePenaltyWeight;
+    clustering_options.similarity_penalty_weight =
+        kCanonicalViewsSimilarityPenaltyWeight;
+    ComputeCanonicalViewsClustering(
+        clustering_options, *schur_complement_graph, &centers, &membership);
+    num_clusters_ = centers.size();
+  } else if (options_.visibility_clustering_type == SINGLE_LINKAGE) {
+    SingleLinkageClusteringOptions clustering_options;
+    clustering_options.min_similarity = kSingleLinkageMinSimilarity;
+    num_clusters_ = ComputeSingleLinkageClustering(
+        clustering_options, *schur_complement_graph, &membership);
+  } else {
+    LOG(FATAL) << "Unknown visibility clustering algorithm.";
+  }
+
+  CHECK_GT(num_clusters_, 0);
+  VLOG(2) << "num_clusters: " << num_clusters_;
+  FlattenMembershipMap(membership, &cluster_membership_);
+}
+
+// Compute the block sparsity structure of the Schur complement
+// matrix. For each pair of cameras contributing a non-zero cell to
+// the schur complement, determine if that cell is present in the
+// preconditioner or not.
+//
+// A pair of cameras contribute a cell to the preconditioner if they
+// are part of the same cluster or if the the two clusters that they
+// belong have an edge connecting them in the degree-2 maximum
+// spanning forest.
+//
+// For example, a camera pair (i,j) where i belonges to cluster1 and
+// j belongs to cluster2 (assume that cluster1 < cluster2).
+//
+// The cell corresponding to (i,j) is present in the preconditioner
+// if cluster1 == cluster2 or the pair (cluster1, cluster2) were
+// connected by an edge in the degree-2 maximum spanning forest.
+//
+// Since we have already expanded the forest into a set of camera
+// pairs/edges, including self edges, the check can be reduced to
+// checking membership of (cluster1, cluster2) in cluster_pairs_.
+void VisibilityBasedPreconditioner::ComputeBlockPairsInPreconditioner(
+    const CompressedRowBlockStructure& bs) {
+  block_pairs_.clear();
+  for (int i = 0; i < num_blocks_; ++i) {
+    block_pairs_.insert(make_pair(i, i));
+  }
+
+  int r = 0;
+  const int num_row_blocks = bs.rows.size();
+  const int num_eliminate_blocks = options_.elimination_groups[0];
+
+  // Iterate over each row of the matrix. The block structure of the
+  // matrix is assumed to be sorted in order of the e_blocks/point
+  // blocks. Thus all row blocks containing an e_block/point occur
+  // contiguously. Further, if present, an e_block is always the first
+  // parameter block in each row block.  These structural assumptions
+  // are common to all Schur complement based solvers in Ceres.
+  //
+  // For each e_block/point block we identify the set of cameras
+  // seeing it. The cross product of this set with itself is the set
+  // of non-zero cells contibuted by this e_block.
+  //
+  // The time complexity of this is O(nm^2) where, n is the number of
+  // 3d points and m is the maximum number of cameras seeing any
+  // point, which for most scenes is a fairly small number.
+  while (r < num_row_blocks) {
+    int e_block_id = bs.rows[r].cells.front().block_id;
+    if (e_block_id >= num_eliminate_blocks) {
+      // Skip the rows whose first block is an f_block.
+      break;
+    }
+
+    set<int> f_blocks;
+    for (; r < num_row_blocks; ++r) {
+      const CompressedRow& row = bs.rows[r];
+      if (row.cells.front().block_id != e_block_id) {
+        break;
+      }
+
+      // Iterate over the blocks in the row, ignoring the first block
+      // since it is the one to be eliminated and adding the rest to
+      // the list of f_blocks associated with this e_block.
+      for (int c = 1; c < row.cells.size(); ++c) {
+        const Cell& cell = row.cells[c];
+        const int f_block_id = cell.block_id - num_eliminate_blocks;
+        CHECK_GE(f_block_id, 0);
+        f_blocks.insert(f_block_id);
+      }
+    }
+
+    for (set<int>::const_iterator block1 = f_blocks.begin();
+         block1 != f_blocks.end();
+         ++block1) {
+      set<int>::const_iterator block2 = block1;
+      ++block2;
+      for (; block2 != f_blocks.end(); ++block2) {
+        if (IsBlockPairInPreconditioner(*block1, *block2)) {
+          block_pairs_.insert(make_pair(*block1, *block2));
+        }
+      }
+    }
+  }
+
+  // The remaining rows which do not contain any e_blocks.
+  for (; r < num_row_blocks; ++r) {
+    const CompressedRow& row = bs.rows[r];
+    CHECK_GE(row.cells.front().block_id, num_eliminate_blocks);
+    for (int i = 0; i < row.cells.size(); ++i) {
+      const int block1 = row.cells[i].block_id - num_eliminate_blocks;
+      for (int j = 0; j < row.cells.size(); ++j) {
+        const int block2 = row.cells[j].block_id - num_eliminate_blocks;
+        if (block1 <= block2) {
+          if (IsBlockPairInPreconditioner(block1, block2)) {
+            block_pairs_.insert(make_pair(block1, block2));
+          }
+        }
+      }
+    }
+  }
+
+  VLOG(1) << "Block pair stats: " << block_pairs_.size();
+}
+
+// Initialize the SchurEliminator.
+void VisibilityBasedPreconditioner::InitEliminator(
+    const CompressedRowBlockStructure& bs) {
+  LinearSolver::Options eliminator_options;
+  eliminator_options.elimination_groups = options_.elimination_groups;
+  eliminator_options.num_threads = options_.num_threads;
+  eliminator_options.e_block_size = options_.e_block_size;
+  eliminator_options.f_block_size = options_.f_block_size;
+  eliminator_options.row_block_size = options_.row_block_size;
+  eliminator_.reset(SchurEliminatorBase::Create(eliminator_options));
+  const bool kFullRankETE = true;
+  eliminator_->Init(
+      eliminator_options.elimination_groups[0], kFullRankETE, &bs);
+}
+
+// Update the values of the preconditioner matrix and factorize it.
+bool VisibilityBasedPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
+                                               const double* D) {
+  const time_t start_time = time(NULL);
+  const int num_rows = m_->num_rows();
+  CHECK_GT(num_rows, 0);
+
+  // We need a dummy rhs vector and a dummy b vector since the Schur
+  // eliminator combines the computation of the reduced camera matrix
+  // with the computation of the right hand side of that linear
+  // system.
+  //
+  // TODO(sameeragarwal): Perhaps its worth refactoring the
+  // SchurEliminator::Eliminate function to allow NULL for the rhs. As
+  // of now it does not seem to be worth the effort.
+  Vector rhs = Vector::Zero(m_->num_rows());
+  Vector b = Vector::Zero(A.num_rows());
+
+  // Compute a subset of the entries of the Schur complement.
+  eliminator_->Eliminate(&A, b.data(), D, m_.get(), rhs.data());
+
+  // Try factorizing the matrix. For CLUSTER_JACOBI, this should
+  // always succeed modulo some numerical/conditioning problems. For
+  // CLUSTER_TRIDIAGONAL, in general the preconditioner matrix as
+  // constructed is not positive definite. However, we will go ahead
+  // and try factorizing it. If it works, great, otherwise we scale
+  // all the cells in the preconditioner corresponding to the edges in
+  // the degree-2 forest and that guarantees positive
+  // definiteness. The proof of this fact can be found in Lemma 1 in
+  // "Visibility Based Preconditioning for Bundle Adjustment".
+  //
+  // Doing the factorization like this saves us matrix mass when
+  // scaling is not needed, which is quite often in our experience.
+  LinearSolverTerminationType status = Factorize();
+
+  if (status == LINEAR_SOLVER_FATAL_ERROR) {
+    return false;
+  }
+
+  // The scaling only affects the tri-diagonal case, since
+  // ScaleOffDiagonalBlocks only pays attenion to the cells that
+  // belong to the edges of the degree-2 forest. In the CLUSTER_JACOBI
+  // case, the preconditioner is guaranteed to be positive
+  // semidefinite.
+  if (status == LINEAR_SOLVER_FAILURE && options_.type == CLUSTER_TRIDIAGONAL) {
+    VLOG(1) << "Unscaled factorization failed. Retrying with off-diagonal "
+            << "scaling";
+    ScaleOffDiagonalCells();
+    status = Factorize();
+  }
+
+  VLOG(2) << "Compute time: " << time(NULL) - start_time;
+  return (status == LINEAR_SOLVER_SUCCESS);
+}
+
+// Consider the preconditioner matrix as meta-block matrix, whose
+// blocks correspond to the clusters. Then cluster pairs corresponding
+// to edges in the degree-2 forest are off diagonal entries of this
+// matrix. Scaling these off-diagonal entries by 1/2 forces this
+// matrix to be positive definite.
+void VisibilityBasedPreconditioner::ScaleOffDiagonalCells() {
+  for (set<pair<int, int> >::const_iterator it = block_pairs_.begin();
+       it != block_pairs_.end();
+       ++it) {
+    const int block1 = it->first;
+    const int block2 = it->second;
+    if (!IsBlockPairOffDiagonal(block1, block2)) {
+      continue;
+    }
+
+    int r, c, row_stride, col_stride;
+    CellInfo* cell_info =
+        m_->GetCell(block1, block2, &r, &c, &row_stride, &col_stride);
+    CHECK(cell_info != NULL)
+        << "Cell missing for block pair (" << block1 << "," << block2 << ")"
+        << " cluster pair (" << cluster_membership_[block1] << " "
+        << cluster_membership_[block2] << ")";
+
+    // Ah the magic of tri-diagonal matrices and diagonal
+    // dominance. See Lemma 1 in "Visibility Based Preconditioning
+    // For Bundle Adjustment".
+    MatrixRef m(cell_info->values, row_stride, col_stride);
+    m.block(r, c, block_size_[block1], block_size_[block2]) *= 0.5;
+  }
+}
+
+// Compute the sparse Cholesky factorization of the preconditioner
+// matrix.
+LinearSolverTerminationType VisibilityBasedPreconditioner::Factorize() {
+  // Extract the TripletSparseMatrix that is used for actually storing
+  // S and convert it into a CompressedRowSparseMatrix.
+  const TripletSparseMatrix* tsm =
+      down_cast<BlockRandomAccessSparseMatrix*>(m_.get())->mutable_matrix();
+
+  scoped_ptr<CompressedRowSparseMatrix> lhs;
+  const CompressedRowSparseMatrix::StorageType storage_type =
+      sparse_cholesky_->StorageType();
+  if (storage_type == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
+    lhs.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+    lhs->set_storage_type(CompressedRowSparseMatrix::UPPER_TRIANGULAR);
+  } else {
+    lhs.reset(
+        CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm));
+    lhs->set_storage_type(CompressedRowSparseMatrix::LOWER_TRIANGULAR);
+  }
+
+  std::string message;
+  return sparse_cholesky_->Factorize(lhs.get(), &message);
+}
+
+void VisibilityBasedPreconditioner::RightMultiply(const double* x,
+                                                  double* y) const {
+  CHECK_NOTNULL(x);
+  CHECK_NOTNULL(y);
+  CHECK_NOTNULL(sparse_cholesky_.get());
+  std::string message;
+  sparse_cholesky_->Solve(x, y, &message);
+}
+
+int VisibilityBasedPreconditioner::num_rows() const { return m_->num_rows(); }
+
+// Classify camera/f_block pairs as in and out of the preconditioner,
+// based on whether the cluster pair that they belong to is in the
+// preconditioner or not.
+bool VisibilityBasedPreconditioner::IsBlockPairInPreconditioner(
+    const int block1, const int block2) const {
+  int cluster1 = cluster_membership_[block1];
+  int cluster2 = cluster_membership_[block2];
+  if (cluster1 > cluster2) {
+    swap(cluster1, cluster2);
+  }
+  return (cluster_pairs_.count(make_pair(cluster1, cluster2)) > 0);
+}
+
+bool VisibilityBasedPreconditioner::IsBlockPairOffDiagonal(
+    const int block1, const int block2) const {
+  return (cluster_membership_[block1] != cluster_membership_[block2]);
+}
+
+// Convert a graph into a list of edges that includes self edges for
+// each vertex.
+void VisibilityBasedPreconditioner::ForestToClusterPairs(
+    const WeightedGraph<int>& forest,
+    HashSet<pair<int, int> >* cluster_pairs) const {
+  CHECK_NOTNULL(cluster_pairs)->clear();
+  const HashSet<int>& vertices = forest.vertices();
+  CHECK_EQ(vertices.size(), num_clusters_);
+
+  // Add all the cluster pairs corresponding to the edges in the
+  // forest.
+  for (HashSet<int>::const_iterator it1 = vertices.begin();
+       it1 != vertices.end();
+       ++it1) {
+    const int cluster1 = *it1;
+    cluster_pairs->insert(make_pair(cluster1, cluster1));
+    const HashSet<int>& neighbors = forest.Neighbors(cluster1);
+    for (HashSet<int>::const_iterator it2 = neighbors.begin();
+         it2 != neighbors.end();
+         ++it2) {
+      const int cluster2 = *it2;
+      if (cluster1 < cluster2) {
+        cluster_pairs->insert(make_pair(cluster1, cluster2));
+      }
+    }
+  }
+}
+
+// The visibilty set of a cluster is the union of the visibilty sets
+// of all its cameras. In other words, the set of points visible to
+// any camera in the cluster.
+void VisibilityBasedPreconditioner::ComputeClusterVisibility(
+    const vector<set<int> >& visibility,
+    vector<set<int> >* cluster_visibility) const {
+  CHECK_NOTNULL(cluster_visibility)->resize(0);
+  cluster_visibility->resize(num_clusters_);
+  for (int i = 0; i < num_blocks_; ++i) {
+    const int cluster_id = cluster_membership_[i];
+    (*cluster_visibility)[cluster_id].insert(visibility[i].begin(),
+                                             visibility[i].end());
+  }
+}
+
+// Construct a graph whose vertices are the clusters, and the edge
+// weights are the number of 3D points visible to cameras in both the
+// vertices.
+WeightedGraph<int>* VisibilityBasedPreconditioner::CreateClusterGraph(
+    const vector<set<int> >& cluster_visibility) const {
+  WeightedGraph<int>* cluster_graph = new WeightedGraph<int>;
+
+  for (int i = 0; i < num_clusters_; ++i) {
+    cluster_graph->AddVertex(i);
+  }
+
+  for (int i = 0; i < num_clusters_; ++i) {
+    const set<int>& cluster_i = cluster_visibility[i];
+    for (int j = i + 1; j < num_clusters_; ++j) {
+      vector<int> intersection;
+      const set<int>& cluster_j = cluster_visibility[j];
+      set_intersection(cluster_i.begin(),
+                       cluster_i.end(),
+                       cluster_j.begin(),
+                       cluster_j.end(),
+                       back_inserter(intersection));
+
+      if (intersection.size() > 0) {
+        // Clusters interact strongly when they share a large number
+        // of 3D points. The degree-2 maximum spanning forest
+        // alorithm, iterates on the edges in decreasing order of
+        // their weight, which is the number of points shared by the
+        // two cameras that it connects.
+        cluster_graph->AddEdge(i, j, intersection.size());
+      }
+    }
+  }
+  return cluster_graph;
+}
+
+// Canonical views clustering returns a HashMap from vertices to
+// cluster ids. Convert this into a flat array for quick lookup. It is
+// possible that some of the vertices may not be associated with any
+// cluster. In that case, randomly assign them to one of the clusters.
+//
+// The cluster ids can be non-contiguous integers. So as we flatten
+// the membership_map, we also map the cluster ids to a contiguous set
+// of integers so that the cluster ids are in [0, num_clusters_).
+void VisibilityBasedPreconditioner::FlattenMembershipMap(
+    const HashMap<int, int>& membership_map,
+    vector<int>* membership_vector) const {
+  CHECK_NOTNULL(membership_vector)->resize(0);
+  membership_vector->resize(num_blocks_, -1);
+
+  HashMap<int, int> cluster_id_to_index;
+  // Iterate over the cluster membership map and update the
+  // cluster_membership_ vector assigning arbitrary cluster ids to
+  // the few cameras that have not been clustered.
+  for (HashMap<int, int>::const_iterator it = membership_map.begin();
+       it != membership_map.end();
+       ++it) {
+    const int camera_id = it->first;
+    int cluster_id = it->second;
+
+    // If the view was not clustered, randomly assign it to one of the
+    // clusters. This preserves the mathematical correctness of the
+    // preconditioner. If there are too many views which are not
+    // clustered, it may lead to some quality degradation though.
+    //
+    // TODO(sameeragarwal): Check if a large number of views have not
+    // been clustered and deal with it?
+    if (cluster_id == -1) {
+      cluster_id = camera_id % num_clusters_;
+    }
+
+    const int index = FindWithDefault(
+        cluster_id_to_index, cluster_id, cluster_id_to_index.size());
+
+    if (index == cluster_id_to_index.size()) {
+      cluster_id_to_index[cluster_id] = index;
+    }
+
+    CHECK_LT(index, num_clusters_);
+    membership_vector->at(camera_id) = index;
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/visibility_based_preconditioner.h b/internal/ceres/visibility_based_preconditioner.h
new file mode 100644
index 0000000..40ce2c7
--- /dev/null
+++ b/internal/ceres/visibility_based_preconditioner.h
@@ -0,0 +1,197 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Preconditioners for linear systems that arise in Structure from
+// Motion problems. VisibilityBasedPreconditioner implements:
+//
+//  CLUSTER_JACOBI
+//  CLUSTER_TRIDIAGONAL
+//
+// Detailed descriptions of these preconditions beyond what is
+// documented here can be found in
+//
+// Visibility Based Preconditioning for Bundle Adjustment
+// A. Kushal & S. Agarwal, CVPR 2012.
+//
+// http://www.cs.washington.edu/homes/sagarwal/vbp.pdf
+//
+// The two preconditioners share enough code that its most efficient
+// to implement them as part of the same code base.
+
+#ifndef CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
+#define CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
+
+#include <set>
+#include <utility>
+#include <vector>
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/preconditioner.h"
+#include "ceres/sparse_cholesky.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockRandomAccessSparseMatrix;
+class BlockSparseMatrix;
+struct CompressedRowBlockStructure;
+class SchurEliminatorBase;
+
+// This class implements visibility based preconditioners for
+// Structure from Motion/Bundle Adjustment problems. The name
+// VisibilityBasedPreconditioner comes from the fact that the sparsity
+// structure of the preconditioner matrix is determined by analyzing
+// the visibility structure of the scene, i.e. which cameras see which
+// points.
+//
+// The key idea of visibility based preconditioning is to identify
+// cameras that we expect have strong interactions, and then using the
+// entries in the Schur complement matrix corresponding to these
+// camera pairs as an approximation to the full Schur complement.
+//
+// CLUSTER_JACOBI identifies these camera pairs by clustering cameras,
+// and considering all non-zero camera pairs within each cluster. The
+// clustering in the current implementation is done using the
+// Canonical Views algorithm of Simon et al. (see
+// canonical_views_clustering.h). For the purposes of clustering, the
+// similarity or the degree of interaction between a pair of cameras
+// is measured by counting the number of points visible in both the
+// cameras. Thus the name VisibilityBasedPreconditioner. Further, if we
+// were to permute the parameter blocks such that all the cameras in
+// the same cluster occur contiguously, the preconditioner matrix will
+// be a block diagonal matrix with blocks corresponding to the
+// clusters. Thus in analogy with the Jacobi preconditioner we refer
+// to this as the CLUSTER_JACOBI preconditioner.
+//
+// CLUSTER_TRIDIAGONAL adds more mass to the CLUSTER_JACOBI
+// preconditioner by considering the interaction between clusters and
+// identifying strong interactions between cluster pairs. This is done
+// by constructing a weighted graph on the clusters, with the weight
+// on the edges connecting two clusters proportional to the number of
+// 3D points visible to cameras in both the clusters. A degree-2
+// maximum spanning forest is identified in this graph and the camera
+// pairs contained in the edges of this forest are added to the
+// preconditioner. The detailed reasoning for this construction is
+// explained in the paper mentioned above.
+//
+// Degree-2 spanning trees and forests have the property that they
+// correspond to tri-diagonal matrices. Thus there exist a permutation
+// of the camera blocks under which the CLUSTER_TRIDIAGONAL
+// preconditioner matrix is a block tridiagonal matrix, and thus the
+// name for the preconditioner.
+//
+// Thread Safety: This class is NOT thread safe.
+//
+// Example usage:
+//
+//   LinearSolver::Options options;
+//   options.preconditioner_type = CLUSTER_JACOBI;
+//   options.elimination_groups.push_back(num_points);
+//   options.elimination_groups.push_back(num_cameras);
+//   VisibilityBasedPreconditioner preconditioner(
+//      *A.block_structure(), options);
+//   preconditioner.Update(A, NULL);
+//   preconditioner.RightMultiply(x, y);
+class VisibilityBasedPreconditioner : public BlockSparseMatrixPreconditioner {
+ public:
+  // Initialize the symbolic structure of the preconditioner. bs is
+  // the block structure of the linear system to be solved. It is used
+  // to determine the sparsity structure of the preconditioner matrix.
+  //
+  // It has the same structural requirement as other Schur complement
+  // based solvers. Please see schur_eliminator.h for more details.
+  VisibilityBasedPreconditioner(const CompressedRowBlockStructure& bs,
+                                const Preconditioner::Options& options);
+  virtual ~VisibilityBasedPreconditioner();
+
+  // Preconditioner interface
+  virtual void RightMultiply(const double* x, double* y) const;
+  virtual int num_rows() const;
+
+  friend class VisibilityBasedPreconditionerTest;
+
+ private:
+  virtual bool UpdateImpl(const BlockSparseMatrix& A, const double* D);
+  void ComputeClusterJacobiSparsity(const CompressedRowBlockStructure& bs);
+  void ComputeClusterTridiagonalSparsity(const CompressedRowBlockStructure& bs);
+  void InitStorage(const CompressedRowBlockStructure& bs);
+  void InitEliminator(const CompressedRowBlockStructure& bs);
+  LinearSolverTerminationType Factorize();
+  void ScaleOffDiagonalCells();
+
+  void ClusterCameras(const std::vector<std::set<int> >& visibility);
+  void FlattenMembershipMap(const HashMap<int, int>& membership_map,
+                            std::vector<int>* membership_vector) const;
+  void ComputeClusterVisibility(
+      const std::vector<std::set<int> >& visibility,
+      std::vector<std::set<int> >* cluster_visibility) const;
+  WeightedGraph<int>* CreateClusterGraph(
+      const std::vector<std::set<int> >& visibility) const;
+  void ForestToClusterPairs(const WeightedGraph<int>& forest,
+                            HashSet<std::pair<int, int> >* cluster_pairs) const;
+  void ComputeBlockPairsInPreconditioner(const CompressedRowBlockStructure& bs);
+  bool IsBlockPairInPreconditioner(int block1, int block2) const;
+  bool IsBlockPairOffDiagonal(int block1, int block2) const;
+
+  Preconditioner::Options options_;
+
+  // Number of parameter blocks in the schur complement.
+  int num_blocks_;
+  int num_clusters_;
+
+  // Sizes of the blocks in the schur complement.
+  std::vector<int> block_size_;
+
+  // Mapping from cameras to clusters.
+  std::vector<int> cluster_membership_;
+
+  // Non-zero camera pairs from the schur complement matrix that are
+  // present in the preconditioner, sorted by row (first element of
+  // each pair), then column (second).
+  std::set<std::pair<int, int> > block_pairs_;
+
+  // Set of cluster pairs (including self pairs (i,i)) in the
+  // preconditioner.
+  HashSet<std::pair<int, int> > cluster_pairs_;
+  scoped_ptr<SchurEliminatorBase> eliminator_;
+
+  // Preconditioner matrix.
+  scoped_ptr<BlockRandomAccessSparseMatrix> m_;
+  scoped_ptr<SparseCholesky> sparse_cholesky_;
+  CERES_DISALLOW_COPY_AND_ASSIGN(VisibilityBasedPreconditioner);
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
diff --git a/internal/ceres/visibility_based_preconditioner_test.cc b/internal/ceres/visibility_based_preconditioner_test.cc
new file mode 100644
index 0000000..d2f13bc
--- /dev/null
+++ b/internal/ceres/visibility_based_preconditioner_test.cc
@@ -0,0 +1,342 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/visibility_based_preconditioner.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/collections_port.h"
+#include "ceres/file.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// TODO(sameeragarwal): Re-enable this test once serialization is
+// working again.
+
+// using testing::AssertionResult;
+// using testing::AssertionSuccess;
+// using testing::AssertionFailure;
+
+// static const double kTolerance = 1e-12;
+
+// class VisibilityBasedPreconditionerTest : public ::testing::Test {
+//  public:
+//   static const int kCameraSize = 9;
+
+//  protected:
+//   void SetUp() {
+//     string input_file = TestFileAbsolutePath("problem-6-1384-000.lsqp");
+
+//     scoped_ptr<LinearLeastSquaresProblem> problem(
+//         CHECK_NOTNULL(CreateLinearLeastSquaresProblemFromFile(input_file)));
+//     A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+//     b_.reset(problem->b.release());
+//     D_.reset(problem->D.release());
+
+//     const CompressedRowBlockStructure* bs =
+//         CHECK_NOTNULL(A_->block_structure());
+//     const int num_col_blocks = bs->cols.size();
+
+//     num_cols_ = A_->num_cols();
+//     num_rows_ = A_->num_rows();
+//     num_eliminate_blocks_ = problem->num_eliminate_blocks;
+//     num_camera_blocks_ = num_col_blocks - num_eliminate_blocks_;
+//     options_.elimination_groups.push_back(num_eliminate_blocks_);
+//     options_.elimination_groups.push_back(
+//         A_->block_structure()->cols.size() - num_eliminate_blocks_);
+
+//     vector<int> blocks(num_col_blocks - num_eliminate_blocks_, 0);
+//     for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+//       blocks[i - num_eliminate_blocks_] = bs->cols[i].size;
+//     }
+
+//     // The input matrix is a real jacobian and fairly poorly
+//     // conditioned. Setting D to a large constant makes the normal
+//     // equations better conditioned and makes the tests below better
+//     // conditioned.
+//     VectorRef(D_.get(), num_cols_).setConstant(10.0);
+
+//     schur_complement_.reset(new BlockRandomAccessDenseMatrix(blocks));
+//     Vector rhs(schur_complement_->num_rows());
+
+//     scoped_ptr<SchurEliminatorBase> eliminator;
+//     LinearSolver::Options eliminator_options;
+//     eliminator_options.elimination_groups = options_.elimination_groups;
+//     eliminator_options.num_threads = options_.num_threads;
+
+//     eliminator.reset(SchurEliminatorBase::Create(eliminator_options));
+//     eliminator->Init(num_eliminate_blocks_, bs);
+//     eliminator->Eliminate(A_.get(), b_.get(), D_.get(),
+//                           schur_complement_.get(), rhs.data());
+//   }
+
+
+//   AssertionResult IsSparsityStructureValid() {
+//     preconditioner_->InitStorage(*A_->block_structure());
+//     const HashSet<pair<int, int> >& cluster_pairs = get_cluster_pairs();
+//     const vector<int>& cluster_membership = get_cluster_membership();
+
+//     for (int i = 0; i < num_camera_blocks_; ++i) {
+//       for (int j = i; j < num_camera_blocks_; ++j) {
+//         if (cluster_pairs.count(make_pair(cluster_membership[i],
+//                                           cluster_membership[j]))) {
+//           if (!IsBlockPairInPreconditioner(i, j)) {
+//             return AssertionFailure()
+//                 << "block pair (" << i << "," << j << "missing";
+//           }
+//         } else {
+//           if (IsBlockPairInPreconditioner(i, j)) {
+//             return AssertionFailure()
+//                << "block pair (" << i << "," << j << "should not be present";
+//           }
+//         }
+//       }
+//     }
+//     return AssertionSuccess();
+//   }
+
+//   AssertionResult PreconditionerValuesMatch() {
+//     preconditioner_->Update(*A_, D_.get());
+//     const HashSet<pair<int, int> >& cluster_pairs = get_cluster_pairs();
+//     const BlockRandomAccessSparseMatrix* m = get_m();
+//     Matrix preconditioner_matrix;
+//     m->matrix()->ToDenseMatrix(&preconditioner_matrix);
+//     ConstMatrixRef full_schur_complement(schur_complement_->values(),
+//                                          m->num_rows(),
+//                                          m->num_rows());
+//     const int num_clusters = get_num_clusters();
+//     const int kDiagonalBlockSize =
+//         kCameraSize * num_camera_blocks_ / num_clusters;
+
+//     for (int i = 0; i < num_clusters; ++i) {
+//       for (int j = i; j < num_clusters; ++j) {
+//         double diff = 0.0;
+//         if (cluster_pairs.count(make_pair(i, j))) {
+//           diff =
+//               (preconditioner_matrix.block(kDiagonalBlockSize * i,
+//                                            kDiagonalBlockSize * j,
+//                                            kDiagonalBlockSize,
+//                                            kDiagonalBlockSize) -
+//                full_schur_complement.block(kDiagonalBlockSize * i,
+//                                            kDiagonalBlockSize * j,
+//                                            kDiagonalBlockSize,
+//                                            kDiagonalBlockSize)).norm();
+//         } else {
+//           diff = preconditioner_matrix.block(kDiagonalBlockSize * i,
+//                                              kDiagonalBlockSize * j,
+//                                              kDiagonalBlockSize,
+//                                              kDiagonalBlockSize).norm();
+//         }
+//         if (diff > kTolerance) {
+//           return AssertionFailure()
+//               << "Preconditioner block " << i << " " << j << " differs "
+//               << "from expected value by " << diff;
+//         }
+//       }
+//     }
+//     return AssertionSuccess();
+//   }
+
+//   // Accessors
+//   int get_num_blocks() { return preconditioner_->num_blocks_; }
+
+//   int get_num_clusters() { return preconditioner_->num_clusters_; }
+//   int* get_mutable_num_clusters() { return &preconditioner_->num_clusters_; }
+
+//   const vector<int>& get_block_size() {
+//     return preconditioner_->block_size_; }
+
+//   vector<int>* get_mutable_block_size() {
+//     return &preconditioner_->block_size_; }
+
+//   const vector<int>& get_cluster_membership() {
+//     return preconditioner_->cluster_membership_;
+//   }
+
+//   vector<int>* get_mutable_cluster_membership() {
+//     return &preconditioner_->cluster_membership_;
+//   }
+
+//   const set<pair<int, int> >& get_block_pairs() {
+//     return preconditioner_->block_pairs_;
+//   }
+
+//   set<pair<int, int> >* get_mutable_block_pairs() {
+//     return &preconditioner_->block_pairs_;
+//   }
+
+//   const HashSet<pair<int, int> >& get_cluster_pairs() {
+//     return preconditioner_->cluster_pairs_;
+//   }
+
+//   HashSet<pair<int, int> >* get_mutable_cluster_pairs() {
+//     return &preconditioner_->cluster_pairs_;
+//   }
+
+//   bool IsBlockPairInPreconditioner(const int block1, const int block2) {
+//     return preconditioner_->IsBlockPairInPreconditioner(block1, block2);
+//   }
+
+//   bool IsBlockPairOffDiagonal(const int block1, const int block2) {
+//     return preconditioner_->IsBlockPairOffDiagonal(block1, block2);
+//   }
+
+//   const BlockRandomAccessSparseMatrix* get_m() {
+//     return preconditioner_->m_.get();
+//   }
+
+//   int num_rows_;
+//   int num_cols_;
+//   int num_eliminate_blocks_;
+//   int num_camera_blocks_;
+
+//   scoped_ptr<BlockSparseMatrix> A_;
+//   scoped_array<double> b_;
+//   scoped_array<double> D_;
+
+//   Preconditioner::Options options_;
+//   scoped_ptr<VisibilityBasedPreconditioner> preconditioner_;
+//   scoped_ptr<BlockRandomAccessDenseMatrix> schur_complement_;
+// };
+
+// TEST_F(VisibilityBasedPreconditionerTest, OneClusterClusterJacobi) {
+//   options_.type = CLUSTER_JACOBI;
+//   preconditioner_.reset(
+//       new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+
+//   // Override the clustering to be a single clustering containing all
+//   // the cameras.
+//   vector<int>& cluster_membership = *get_mutable_cluster_membership();
+//   for (int i = 0; i < num_camera_blocks_; ++i) {
+//     cluster_membership[i] = 0;
+//   }
+
+//   *get_mutable_num_clusters() = 1;
+
+//   HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+//   cluster_pairs.clear();
+//   cluster_pairs.insert(make_pair(0, 0));
+
+//   EXPECT_TRUE(IsSparsityStructureValid());
+//   EXPECT_TRUE(PreconditionerValuesMatch());
+
+//   // Multiplication by the inverse of the preconditioner.
+//   const int num_rows = schur_complement_->num_rows();
+//   ConstMatrixRef full_schur_complement(schur_complement_->values(),
+//                                        num_rows,
+//                                        num_rows);
+//   Vector x(num_rows);
+//   Vector y(num_rows);
+//   Vector z(num_rows);
+
+//   for (int i = 0; i < num_rows; ++i) {
+//     x.setZero();
+//     y.setZero();
+//     z.setZero();
+//     x[i] = 1.0;
+//     preconditioner_->RightMultiply(x.data(), y.data());
+//     z = full_schur_complement
+//         .selfadjointView<Eigen::Upper>()
+//         .llt().solve(x);
+//     double max_relative_difference =
+//         ((y - z).array() / z.array()).matrix().lpNorm<Eigen::Infinity>();
+//     EXPECT_NEAR(max_relative_difference, 0.0, kTolerance);
+//   }
+// }
+
+
+
+// TEST_F(VisibilityBasedPreconditionerTest, ClusterJacobi) {
+//   options_.type = CLUSTER_JACOBI;
+//   preconditioner_.reset(
+//       new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+
+//   // Override the clustering to be equal number of cameras.
+//   vector<int>& cluster_membership = *get_mutable_cluster_membership();
+//   cluster_membership.resize(num_camera_blocks_);
+//   static const int kNumClusters = 3;
+
+//   for (int i = 0; i < num_camera_blocks_; ++i) {
+//     cluster_membership[i] = (i * kNumClusters) / num_camera_blocks_;
+//   }
+//   *get_mutable_num_clusters() = kNumClusters;
+
+//   HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+//   cluster_pairs.clear();
+//   for (int i = 0; i < kNumClusters; ++i) {
+//     cluster_pairs.insert(make_pair(i, i));
+//   }
+
+//   EXPECT_TRUE(IsSparsityStructureValid());
+//   EXPECT_TRUE(PreconditionerValuesMatch());
+// }
+
+
+// TEST_F(VisibilityBasedPreconditionerTest, ClusterTridiagonal) {
+//   options_.type = CLUSTER_TRIDIAGONAL;
+//   preconditioner_.reset(
+//       new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+//   static const int kNumClusters = 3;
+
+//   // Override the clustering to be 3 clusters.
+//   vector<int>& cluster_membership = *get_mutable_cluster_membership();
+//   cluster_membership.resize(num_camera_blocks_);
+//   for (int i = 0; i < num_camera_blocks_; ++i) {
+//     cluster_membership[i] = (i * kNumClusters) / num_camera_blocks_;
+//   }
+//   *get_mutable_num_clusters() = kNumClusters;
+
+//   // Spanning forest has structure 0-1 2
+//   HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+//   cluster_pairs.clear();
+//   for (int i = 0; i < kNumClusters; ++i) {
+//     cluster_pairs.insert(make_pair(i, i));
+//   }
+//   cluster_pairs.insert(make_pair(0, 1));
+
+//   EXPECT_TRUE(IsSparsityStructureValid());
+//   EXPECT_TRUE(PreconditionerValuesMatch());
+// }
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/visibility_test.cc b/internal/ceres/visibility_test.cc
new file mode 100644
index 0000000..73517da
--- /dev/null
+++ b/internal/ceres/visibility_test.cc
@@ -0,0 +1,206 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kushalav@google.com (Avanish Kushal)
+//         sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/visibility.h"
+
+#include <set>
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/graph.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using std::set;
+using std::vector;
+
+class VisibilityTest : public ::testing::Test {
+};
+
+TEST(VisibilityTest, SimpleMatrix) {
+  //   A = [1 0 0 0 0 1
+  //        1 0 0 1 0 0
+  //        0 1 1 0 0 0
+  //        0 1 0 0 1 0]
+
+  int num_cols = 6;
+  int num_eliminate_blocks = 2;
+  CompressedRowBlockStructure bs;
+
+  // Row 1
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+    row.cells.push_back(Cell(5, 0));
+  }
+
+  // Row 2
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 2;
+    row.cells.push_back(Cell(0, 1));
+    row.cells.push_back(Cell(3, 1));
+  }
+
+  // Row 3
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 4;
+    row.cells.push_back(Cell(1, 2));
+    row.cells.push_back(Cell(2, 2));
+  }
+
+  // Row 4
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 6;
+    row.cells.push_back(Cell(1, 3));
+    row.cells.push_back(Cell(4, 3));
+  }
+  bs.cols.resize(num_cols);
+
+  vector< set<int> > visibility;
+  ComputeVisibility(bs, num_eliminate_blocks, &visibility);
+  ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
+  for (int i = 0; i < visibility.size(); ++i) {
+    ASSERT_EQ(visibility[i].size(), 1);
+  }
+
+  scoped_ptr<WeightedGraph<int> > graph(CreateSchurComplementGraph(visibility));
+  EXPECT_EQ(graph->vertices().size(), visibility.size());
+  for (int i = 0; i < visibility.size(); ++i) {
+    EXPECT_EQ(graph->VertexWeight(i), 1.0);
+  }
+
+  for (int i = 0; i < visibility.size(); ++i) {
+    for (int j = i; j < visibility.size(); ++j) {
+      double edge_weight = 0.0;
+      if ((i == 1 && j == 3) || (i == 0 && j == 2) || (i == j)) {
+        edge_weight = 1.0;
+      }
+
+      EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
+          << "Edge: " << i << " " << j
+          << " weight: " << graph->EdgeWeight(i, j)
+          << " expected weight: " << edge_weight;
+    }
+  }
+}
+
+
+TEST(VisibilityTest, NoEBlocks) {
+  //   A = [1 0 0 0 0 0
+  //        1 0 0 0 0 0
+  //        0 1 0 0 0 0
+  //        0 1 0 0 0 0]
+
+  int num_cols = 6;
+  int num_eliminate_blocks = 2;
+  CompressedRowBlockStructure bs;
+
+  // Row 1
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 0;
+    row.cells.push_back(Cell(0, 0));
+  }
+
+  // Row 2
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 2;
+    row.cells.push_back(Cell(0, 1));
+  }
+
+  // Row 3
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 4;
+    row.cells.push_back(Cell(1, 2));
+  }
+
+  // Row 4
+  {
+    bs.rows.push_back(CompressedRow());
+    CompressedRow& row = bs.rows.back();
+    row.block.size = 2;
+    row.block.position = 6;
+    row.cells.push_back(Cell(1, 3));
+  }
+  bs.cols.resize(num_cols);
+
+  vector<set<int> > visibility;
+  ComputeVisibility(bs, num_eliminate_blocks, &visibility);
+  ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
+  for (int i = 0; i < visibility.size(); ++i) {
+    ASSERT_EQ(visibility[i].size(), 0);
+  }
+
+  scoped_ptr<WeightedGraph<int> > graph(CreateSchurComplementGraph(visibility));
+  EXPECT_EQ(graph->vertices().size(), visibility.size());
+  for (int i = 0; i < visibility.size(); ++i) {
+    EXPECT_EQ(graph->VertexWeight(i), 1.0);
+  }
+
+  for (int i = 0; i < visibility.size(); ++i) {
+    for (int j = i; j < visibility.size(); ++j) {
+      double edge_weight = 0.0;
+      if (i == j) {
+        edge_weight = 1.0;
+      }
+      EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
+          << "Edge: " << i << " " << j
+          << " weight: " << graph->EdgeWeight(i, j)
+          << " expected weight: " << edge_weight;
+    }
+  }
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/wall_time.cc b/internal/ceres/wall_time.cc
new file mode 100644
index 0000000..c353973
--- /dev/null
+++ b/internal/ceres/wall_time.cc
@@ -0,0 +1,96 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#include "ceres/wall_time.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#else
+#include <ctime>
+#endif
+
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <sys/time.h>
+#endif
+
+namespace ceres {
+namespace internal {
+
+double WallTimeInSeconds() {
+#ifdef CERES_USE_OPENMP
+  return omp_get_wtime();
+#else
+#ifdef _WIN32
+  return static_cast<double>(std::time(NULL));
+#else
+  timeval time_val;
+  gettimeofday(&time_val, NULL);
+  return (time_val.tv_sec + time_val.tv_usec * 1e-6);
+#endif
+#endif
+}
+
+EventLogger::EventLogger(const std::string& logger_name)
+    : start_time_(WallTimeInSeconds()),
+      last_event_time_(start_time_),
+      events_("") {
+  StringAppendF(&events_,
+                "\n%s\n                                   Delta   Cumulative\n",
+                logger_name.c_str());
+}
+
+EventLogger::~EventLogger() {
+  if (VLOG_IS_ON(3)) {
+    AddEvent("Total");
+    VLOG(2) << "\n" << events_ << "\n";
+  }
+}
+
+void EventLogger::AddEvent(const std::string& event_name) {
+  if (!VLOG_IS_ON(3)) {
+    return;
+  }
+
+  const double current_time = WallTimeInSeconds();
+  const double relative_time_delta = current_time - last_event_time_;
+  const double absolute_time_delta = current_time - start_time_;
+  last_event_time_ = current_time;
+
+  StringAppendF(&events_,
+                "  %30s : %10.5f   %10.5f\n",
+                event_name.c_str(),
+                relative_time_delta,
+                absolute_time_delta);
+}
+
+}  // namespace internal
+}  // namespace ceres
diff --git a/internal/ceres/wall_time.h b/internal/ceres/wall_time.h
new file mode 100644
index 0000000..966aa67
--- /dev/null
+++ b/internal/ceres/wall_time.h
@@ -0,0 +1,88 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#ifndef CERES_INTERNAL_WALL_TIME_H_
+#define CERES_INTERNAL_WALL_TIME_H_
+
+#include <map>
+#include <string>
+#include "ceres/internal/port.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Returns time, in seconds, from some arbitrary starting point. If
+// OpenMP is available then the high precision openmp_get_wtime()
+// function is used. Otherwise on unixes, gettimeofday is used. The
+// granularity is in seconds on windows systems.
+double WallTimeInSeconds();
+
+// Log a series of events, recording for each event the time elapsed
+// since the last event and since the creation of the object.
+//
+// The information is output to VLOG(3) upon destruction. A
+// name::Total event is added as the final event right before
+// destruction.
+//
+// Example usage:
+//
+//  void Foo() {
+//    EventLogger event_logger("Foo");
+//    Bar1();
+//    event_logger.AddEvent("Bar1")
+//    Bar2();
+//    event_logger.AddEvent("Bar2")
+//    Bar3();
+//  }
+//
+// Will produce output that looks like
+//
+//  Foo
+//      Bar1:  time1  time1
+//      Bar2:  time2  time1 + time2;
+//     Total:  time3  time1 + time2 + time3;
+class EventLogger {
+ public:
+  explicit EventLogger(const std::string& logger_name);
+  ~EventLogger();
+  void AddEvent(const std::string& event_name);
+
+ private:
+  const double start_time_;
+  double last_event_time_;
+  std::string events_;
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_INTERNAL_WALL_TIME_H_
diff --git a/jni/Android.mk b/jni/Android.mk
new file mode 100644
index 0000000..8dbb593
--- /dev/null
+++ b/jni/Android.mk
@@ -0,0 +1,254 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: settinger@google.com (Scott Ettinger)
+#         keir@google.com (Keir Mierle)
+#
+# Builds Ceres for Android, using the standard toolchain (not
+# standalone). It uses LLVM's libc++ as the standard library. It is a
+# modern BSD licensed implementation of the standard c++ library. We
+# do this to avoid any licensing issues that may arise from using
+# GCC's libstdc++ which is licensed under GPL3.
+#
+# Building
+# --------
+#
+# You will have to specify the environment EIGEN_PATH to point to the
+# Eigen sources when building. For example:
+#
+#   EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
+#
+# It is also possible to specify CERES_EXTRA_DEFINES, in case you need
+# to pass more definitions to the C compiler.
+#
+# Using the library
+# -----------------
+# Copy the static library:
+#
+#   ../obj/local/armeabi-v7a/libceres.a
+#
+# into your own project, then link it into your binary in your
+# Android.mk file.
+#
+# Reducing binary size
+# --------------------
+# This build includes the Schur specializations, which increase the
+# size of the binary. If you don't need them for your application,
+# consider adding:
+#
+#   -DCERES_RESTRICT_SCHUR_SPECIALIZATION
+#
+# to the LOCAL_CFLAGS variable below.
+#
+# Changing the logging library
+# ----------------------------
+# Ceres Solver ships with a replacement for glog that provides a
+# simple and small implementation that builds on Android. However, if
+# you wish to supply a header only version yourself, then you may
+# define CERES_GLOG_DIR to point to it.
+
+LOCAL_PATH := $(call my-dir)
+
+# Ceres requires at least NDK version r9d to compile.
+ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r9d" $(NDK_ROOT)), true)
+  $(error Ceres requires NDK version r9d or greater)
+endif
+
+EIGEN_PATH := $(EIGEN_PATH)
+CERES_INCLUDE_PATHS := $(CERES_EXTRA_INCLUDES)
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../include
+CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../config
+
+# Use the alternate glog implementation if provided by the user.
+ifdef CERES_GLOG_DIR
+  CERES_INCLUDE_PATHS += $(CERES_GLOG_DIR)
+else
+  CERES_INCLUDE_PATHS += $(LOCAL_PATH)/../internal/ceres/miniglog
+endif
+CERES_SRC_PATH := ../internal/ceres
+
+include $(CLEAR_VARS)
+LOCAL_C_INCLUDES := $(CERES_INCLUDE_PATHS)
+LOCAL_C_INCLUDES += $(EIGEN_PATH)
+
+LOCAL_CPP_EXTENSION := .cc
+LOCAL_CFLAGS := $(CERES_EXTRA_DEFINES) \
+                -DCERES_NO_LAPACK \
+                -DCERES_NO_SUITESPARSE \
+                -DCERES_NO_CXSPARSE \
+                -DCERES_STD_UNORDERED_MAP
+
+
+# If the user did not enable threads in CERES_EXTRA_DEFINES, then add
+# CERES_NO_THREADS.
+#
+# TODO(sameeragarwal): Update comments here and in the docs to
+# demonstrate how OpenMP can be used by the user.
+ifeq (,$(findstring CERES_HAVE_PTHREAD, $(LOCAL_CFLAGS)))
+  LOCAL_CFLAGS += -DCERES_NO_THREADS
+endif
+
+LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
+                   $(CERES_SRC_PATH)/blas.cc \
+                   $(CERES_SRC_PATH)/block_evaluate_preparer.cc \
+                   $(CERES_SRC_PATH)/block_jacobian_writer.cc \
+                   $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
+                   $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
+                   $(CERES_SRC_PATH)/block_random_access_diagonal_matrix.cc \
+                   $(CERES_SRC_PATH)/block_random_access_matrix.cc \
+                   $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/block_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/block_structure.cc \
+                   $(CERES_SRC_PATH)/callbacks.cc \
+                   $(CERES_SRC_PATH)/canonical_views_clustering.cc \
+                   $(CERES_SRC_PATH)/cgnr_solver.cc \
+                   $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
+                   $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/conditioned_cost_function.cc \
+                   $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
+                   $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
+                   $(CERES_SRC_PATH)/corrector.cc \
+                   $(CERES_SRC_PATH)/covariance.cc \
+                   $(CERES_SRC_PATH)/covariance_impl.cc \
+                   $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
+                   $(CERES_SRC_PATH)/dense_qr_solver.cc \
+                   $(CERES_SRC_PATH)/dense_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/detect_structure.cc \
+                   $(CERES_SRC_PATH)/dogleg_strategy.cc \
+                   $(CERES_SRC_PATH)/dynamic_compressed_row_jacobian_writer.cc \
+                   $(CERES_SRC_PATH)/dynamic_compressed_row_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/dynamic_sparse_normal_cholesky_solver.cc \
+                   $(CERES_SRC_PATH)/eigensparse.cc \
+                   $(CERES_SRC_PATH)/evaluator.cc \
+                   $(CERES_SRC_PATH)/file.cc \
+                   $(CERES_SRC_PATH)/function_sample.cc \
+                   $(CERES_SRC_PATH)/gradient_checker.cc \
+                   $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
+                   $(CERES_SRC_PATH)/gradient_problem.cc \
+                   $(CERES_SRC_PATH)/gradient_problem_solver.cc \
+                   $(CERES_SRC_PATH)/is_close.cc \
+                   $(CERES_SRC_PATH)/implicit_schur_complement.cc \
+                   $(CERES_SRC_PATH)/inner_product_computer.cc \
+                   $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
+                   $(CERES_SRC_PATH)/lapack.cc \
+                   $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
+                   $(CERES_SRC_PATH)/line_search.cc \
+                   $(CERES_SRC_PATH)/line_search_direction.cc \
+                   $(CERES_SRC_PATH)/line_search_minimizer.cc \
+                   $(CERES_SRC_PATH)/linear_least_squares_problems.cc \
+                   $(CERES_SRC_PATH)/linear_operator.cc \
+                   $(CERES_SRC_PATH)/line_search_preprocessor.cc \
+                   $(CERES_SRC_PATH)/linear_solver.cc \
+                   $(CERES_SRC_PATH)/local_parameterization.cc \
+                   $(CERES_SRC_PATH)/loss_function.cc \
+                   $(CERES_SRC_PATH)/low_rank_inverse_hessian.cc \
+                   $(CERES_SRC_PATH)/minimizer.cc \
+                   $(CERES_SRC_PATH)/normal_prior.cc \
+                   $(CERES_SRC_PATH)/parameter_block_ordering.cc \
+                   $(CERES_SRC_PATH)/partitioned_matrix_view.cc \
+                   $(CERES_SRC_PATH)/polynomial.cc \
+                   $(CERES_SRC_PATH)/preconditioner.cc \
+                   $(CERES_SRC_PATH)/preprocessor.cc \
+                   $(CERES_SRC_PATH)/problem.cc \
+                   $(CERES_SRC_PATH)/problem_impl.cc \
+                   $(CERES_SRC_PATH)/program.cc \
+                   $(CERES_SRC_PATH)/reorder_program.cc \
+                   $(CERES_SRC_PATH)/residual_block.cc \
+                   $(CERES_SRC_PATH)/residual_block_utils.cc \
+                   $(CERES_SRC_PATH)/schur_complement_solver.cc \
+                   $(CERES_SRC_PATH)/schur_eliminator.cc \
+                   $(CERES_SRC_PATH)/schur_jacobi_preconditioner.cc \
+                   $(CERES_SRC_PATH)/schur_templates.cc \
+                   $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
+                   $(CERES_SRC_PATH)/single_linkage_clustering.cc \
+                   $(CERES_SRC_PATH)/solver.cc \
+                   $(CERES_SRC_PATH)/solver_utils.cc \
+                   $(CERES_SRC_PATH)/sparse_cholesky.cc \
+                   $(CERES_SRC_PATH)/sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
+                   $(CERES_SRC_PATH)/split.cc \
+                   $(CERES_SRC_PATH)/stringprintf.cc \
+                   $(CERES_SRC_PATH)/suitesparse.cc \
+                   $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
+                   $(CERES_SRC_PATH)/trust_region_minimizer.cc \
+                   $(CERES_SRC_PATH)/trust_region_preprocessor.cc \
+                   $(CERES_SRC_PATH)/trust_region_step_evaluator.cc \
+                   $(CERES_SRC_PATH)/trust_region_strategy.cc \
+                   $(CERES_SRC_PATH)/types.cc \
+                   $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
+                   $(CERES_SRC_PATH)/visibility.cc \
+                   $(CERES_SRC_PATH)/wall_time.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_8.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_9.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_d_d.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_d_d_d.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_2.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_3.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_4.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_4.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_8.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_9.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_d.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_d_d.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_2.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_3.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_4.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_4_4_d.cc
+
+ifndef CERES_GLOG_DIR
+LOCAL_SRC_FILES += $(CERES_SRC_PATH)/miniglog/glog/logging.cc
+endif
+
+LOCAL_MODULE := ceres
+include $(BUILD_STATIC_LIBRARY)
diff --git a/jni/Application.mk b/jni/Application.mk
new file mode 100644
index 0000000..e3b7114
--- /dev/null
+++ b/jni/Application.mk
@@ -0,0 +1,39 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+APP_BUILD_SCRIPT := $(call my-dir)/Android.mk
+APP_PROJECT_PATH := $(call my-dir)
+
+APP_CPPFLAGS += -fno-exceptions
+APP_CPPFLAGS += -fno-rtti
+APP_OPTIM := release
+
+# Use libc++ from LLVM. It is a modern BSD licensed implementation of
+# the standard C++ library.
+APP_STL := c++_static
+APP_ABI := armeabi-v7a
diff --git a/jni/assert_ndk_version.sh b/jni/assert_ndk_version.sh
new file mode 100755
index 0000000..0704492
--- /dev/null
+++ b/jni/assert_ndk_version.sh
@@ -0,0 +1,100 @@
+#!/bin/bash
+
+# Bash script to assert that the current version of the NDK is at least the
+# specified version. Prints 'true' to standard out if it's the right version,
+# 'false' if it's not.
+#
+# Typically used like this, in your jni/Android.mk:
+#
+#   ifneq ($(shell $(LOCAL_PATH)/assert_ndk_version.sh "r5c" "ndk-dir"), true)
+#     $(error NDK version r5c or greater required)
+#   endif
+#
+# See https://gist.github.com/2878774 for asserting SDK version.
+#
+# Retrieved from: https://gist.github.com/jorgenpt/1961404 on 2014-06-03.
+#
+# Copyright (c) 2012, Lookout, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+#    this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+# OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: jorgenpt@gmail.com (Jorgen Tjerno)
+#         alexs.mac@gmail.com (Alex Stewart)
+
+# Extracts 'r5c' into '5 c', also handles newer versions of the form
+# 'r9d (64-bit)' and versions >= 10.
+function get_major_minor() {
+  # r9d (64-bit) -> '9d', also handle versions >= 10.
+  local version=$(echo "$1" | sed 's/r\([0-9]\{1,2\}[a-z]\{0,1\}\).*/\1/')
+  local major=$(echo "$version" | sed 's/\([0-9]\{1,2\}\).*/\1/')
+  local minor=$(echo "$version" | sed 's/^[0-9]*//')
+  echo "$major $minor"
+}
+
+if [[ -z "$2" ]]; then
+  echo "Usage: $0 <required version> <NDK_ROOT>" >&2
+  echo " For example: $0 r5c android-ndk-r9d" >&2
+  exit 1
+fi
+
+# Assert that the expected version is at least 4.
+declare -a expected_version
+expected_version=( $(get_major_minor "$1") )
+if [[ ${expected_version[0]} -le 4 ]]; then
+  echo "Cannot test for versions less than r5: r4 doesn't have a version file." >&2
+  echo false
+  exit 1
+fi
+
+release_file="$2/RELEASE.TXT"
+
+# NDK version r4 or earlier doesn't have a RELEASE.txt, and we just asserted
+# that the person was looking for r5 or above, so that implies that this is an
+# invalid version.
+if [ ! -s "$release_file" ]; then
+  echo false
+  exit 0
+fi
+
+# Make sure the data is at least kinda sane.
+version=$(grep '^r' $release_file)
+declare -a actual_version
+actual_version=( $(get_major_minor "$version") )
+if [ -z "$version" ] || [ -z "${actual_version[0]}" ]; then
+  echo "Invalid RELEASE.txt: $(cat $release_file)" >&2
+  echo false
+  exit 1
+fi
+
+if [[ ${actual_version[0]} -lt ${expected_version[0]} ]]; then
+  echo "false"
+elif [[ ${actual_version[0]} -eq ${expected_version[0]} ]]; then
+  # This uses < and not -lt because they're string identifiers (a, b, c, etc)
+  if [[ "${actual_version[1]}" < "${expected_version[1]}" ]]; then
+    echo "false"
+  else
+    echo "true"
+  fi
+else
+  echo "true"
+fi
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..25aeb7c
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<!--
+  Copyright 2017 Google Inc. All rights reserved.
+  http://ceres-solver.org/
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+  * Neither the name of Google Inc. nor the names of its contributors may be
+    used to endorse or promote products derived from this software without
+    specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<package format="2">
+  <name>ceres-solver</name>
+  <version>1.13.0</version>
+  <description>A large scale non-linear optimization library.</description>
+  <maintainer email="ceres-solver@googlegroups.com">
+    The Ceres Solver Authors
+  </maintainer>
+  <license>New BSD</license>
+  <url type="website">http://ceres-solver.org/</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>atlas</depend>
+  <depend>eigen</depend>
+  <depend>gfortran</depend>
+  <depend>libgflags-dev</depend>
+  <depend>libgoogle-glog-dev</depend>
+  <depend>suitesparse</depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
diff --git a/scripts/make_docs.py b/scripts/make_docs.py
new file mode 100644
index 0000000..c1e711f
--- /dev/null
+++ b/scripts/make_docs.py
@@ -0,0 +1,124 @@
+#!/usr/bin/python
+# encoding: utf-8
+#
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: sameeragarwal@google.com (Sameer Agarwal)
+#
+# Note: You will need Sphinx and Pygments installed for this to work.
+
+from __future__ import print_function
+import glob
+import io
+import os
+import sys
+
+# Number of arguments
+N = len(sys.argv)
+
+if N < 3:
+  print('make_docs.py src_root destination_root')
+  sys.exit(1)
+
+src_dir    = sys.argv[1] + '/docs/source'
+build_root = sys.argv[2]
+cache_dir  = build_root + '/doctrees'
+html_dir   = build_root + '/html'
+
+# Called from Command Line
+if N == 3:
+  sphinx_exe = 'sphinx-build'
+
+# Called from CMake (using the SPHINX_EXECUTABLE found)
+elif N == 4:
+  sphinx_exe = sys.argv[3]
+
+# Run Sphinx to build the documentation.
+os.system('%s -b html -d %s %s %s' %(sphinx_exe, cache_dir, src_dir, html_dir))
+
+replacements = [
+  # By default MathJax uses does not use TeX fonts. This simple search
+  # and replace fixes that.
+  ('''config=TeX-AMS-MML_HTMLorMML"></script>''',
+   '''config=TeX-AMS_HTML">
+      MathJax.Hub.Config({
+          "HTML-CSS": {
+            availableFonts: ["TeX"]
+          }
+        });
+      </script>'''),
+
+  # The title for the homepage is not ideal, so change it.
+  ('<title>Ceres Solver &mdash; Ceres Solver</title>',
+   '<title>Ceres Solver &mdash; A Large Scale Non-linear Optimization Library</title>')
+]
+
+# This is a nasty hack to strip the breadcrumb navigation. A better strategy is
+# to fork the upstream template, but that is no fun either. Whitespace matters!
+# This doesn't use regular expressions since the escaping makes it untenable.
+breadcrumb_start_other = \
+'''<div role="navigation" aria-label="breadcrumbs navigation">
+  <ul class="wy-breadcrumbs">
+    <li><a href="index.html">Docs</a> &raquo;</li>
+
+    <li>'''
+
+# The index page has a slightly different breadcrumb.
+breadcrumb_start_index = breadcrumb_start_other.replace('index.html', '#')
+
+breadcrumb_end = \
+'''</li>
+      <li class="wy-breadcrumbs-aside">
+
+      </li>
+  </ul>
+  <hr/>
+</div>'''
+
+for name in glob.glob('%s/*.html' % html_dir):
+  print('Postprocessing: ', name)
+  with io.open(name, encoding="utf-8") as fptr:
+    out = fptr.read()
+
+  for input_pattern, output_pattern in replacements:
+    out = out.replace(input_pattern, output_pattern)
+
+  try:
+    breadcrumb_start = breadcrumb_start_index \
+                       if name.endswith('index.html') \
+                       else breadcrumb_start_other
+    pre_breadcrumb_start, post_breadcrumb_start = out.split(breadcrumb_start)
+    title, post_breadcrumb_end = post_breadcrumb_start.split(breadcrumb_end)
+    print('Stripping breadcrumb for -', title)
+    out = pre_breadcrumb_start + post_breadcrumb_end
+  except ValueError:
+    print('Skipping breadcrumb strip for', name)
+
+  with io.open(name, 'w', encoding="utf-8") as fptr:
+    fptr.write(out)
diff --git a/scripts/make_release b/scripts/make_release
new file mode 100755
index 0000000..ce5d5cd
--- /dev/null
+++ b/scripts/make_release
@@ -0,0 +1,82 @@
+#!/bin/bash
+#
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: mierle@gmail.com (Keir Mierle)
+#
+# Note: You will need Sphinx and Pygments installed for this to work.
+
+if [ -z $1 ] ; then
+  echo 'usage: scripts/make_release <version>'
+  echo '       must be run from toplevel Ceres source directory'
+  exit 1
+fi
+
+TMP="/tmp/ceres-solver-$1"
+DOCS_TMP="/tmp/ceres-solver-docs-$1"
+VERSION=$(grep '#define CERES_VERSION_' include/ceres/version.h | \
+          sed -e 's/#define CERES_VERSION_STRING.*$//' | \
+          sed -e 's/\(^#define CERES_VERSION_[MR^S].[A-Z]*\) \([0-9]\)/\2/' | \
+          tr '\n' '.' | \
+          sed -e 's/..$//')
+GIT_COMMIT=$(git log -1 HEAD |grep commit)
+
+if [[ $1 != $VERSION ]] ; then
+  echo "ERROR: Version from the command line $1 does not match CERES_VERSION"
+  echo "       in include/ceres/version.h, which is $VERSION. You may not be in the "
+  echo "       toplevel source dir."
+  exit 1
+fi
+
+# Export repository.
+git checkout-index -f -a --prefix=$TMP/
+
+# Build the VERSION file.
+VERSIONFILE=$TMP/VERSION
+echo "version $VERSION" >> $VERSIONFILE
+echo "$GIT_COMMIT" >> $VERSIONFILE
+
+# Build the documentation.
+python $TMP/scripts/make_docs.py $TMP $DOCS_TMP
+cp -pr $DOCS_TMP/html $TMP/docs
+
+# Build the tarball.
+cd /tmp
+tar -cvzf "ceres-solver-$1.tar.gz" "ceres-solver-$1"
+
+# Don't leave a mess behind.
+rm -rf $TMP
+rm -rf $DOCS_TMP
+
+# Reminder to upload.
+cat <<EOF
+
+TODO:
+  - Upload /tmp/ceres-solver-$1.tar.gz
+EOF
-- 
2.7.4